Human Motor Function Modeling and Estimation


The research plan in modelling and analysis of the human motor behaviour is to capitalize on the group’s expertise in the development of reduced complexity models that can be used for real-time control of the robots or assistive devices in environments with dynamic uncertainties. Rather than a direct copy, our objective is to extract human sensorimotor principles that can be potentially replicated by the artificial systems.


  1. A. Ajoudani, "Transferring Human Impedance Regulation Skills to Robots", Tracts in Advances Robotics Star, Springer, 2016.
  2. A. Ajoudani, C. Faneg, N. G. Tsagarakis, and A. Bicchi, "A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control", IEEE International Conference on Intelligent Robots and Systems (IROS), 2015.
  3. A. Ajoudani, E. Hocaoglu, A. Altobelli, M. Rossi, E. Battaglia, N. Tsagarakis, A. Bicchi , "Reflex Control of the Pisa/IIT SoftHand during Object Slippage", IEEE International Conference on Robotics and Automation (ICRA), 2016.