Arash Ajoudani

Senior Researcher Tenured - Principal Investigator

Contacts

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About

 

Arash Ajoudani is a tenured senior scientist at the Italian Institute of Technology (IIT), where he leads the Human-Robot Interfaces and physical Interaction (HRI²) laboratory. He received his PhD degree in Robotics and Automation from University of Pisa and IIT in July 2014. His PhD thesis was a finalist for the Georges Giralt PhD award 2015 - best European PhD thesis in robotics.

He is a recipient of the European Research Council (ERC) starting grant 2019. He was a winner of the Amazon Research Awards 2019, the winner of the Solution Award 2019 (Premio Innovazione Robotica at MECSPE2019), the winner of the KUKA Innovation Award 2018, the winner of the Werob best poster award 2018, a finalist for the best conference paper award at Humanoids 2018, a finalist for the best interactive paper award at Humanoids 2016, a finalist for the best oral presentation award at Automatica (SIDRA) 2014, the winner of the best student paper award and a finalist for the best conference paper award at ROBIO 2013, and a finalist for the best manipulation paper award at ICRA 2012.

He is the coordinator of the Horizon-2020 project SOPHIA with a consortium of 12 partners from the leading European research and industrial organisations. He has contributed to several successful European projects (H2020 and FP7) such as WALKMAN, WearHap, SOMA, and SoftPro.

He is the author of the book "Transferring Human Impedance Regulation Skills to Robots" in the Springer Tracts in Advanced Robotics (STAR), and several publications in journals, international conferences, and book chapters. He is currently serving as the executive manager of the IEEE-RAS Young Reviewers' Program (YRP), and as chair and representative of the IEEE-RAS Young Professionals Committee. He has been serving as a member of scientific advisory committee and as an associate editor for several international journals and conferences such as IEEE RAL, Biorob, ICORR, etc. His main research interests are in physical human-robot interaction and cooperation, robotic manipulation, robust and adaptive control, assistive robotics, and tele-robotics.

For more information, please visit the HRI² laboratory's page: https://hri.iit.it 

arash

Projects

Ongoing Projects:

  • ERC Starting Grant Ergo-Lean: Rethinking Human Ergonomics in Lean Manufacturing and Service Industry 

  • H2020 SOPHIA: Socio-Physical Interaction Skills for Cooperative Human-Robot Systems in Agile Production

  • JOiiNT LAB: IIT-KMR Joint Laboratory

  • BRIC National Grant BRISK

  • Commercial Grant HIRO

 

Past Projects:

  • Amazon Research Awards - E-LOG
  • H2020-ICT - SoftPro: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn.

  • H2020-ICT - SOMA: SOft-embodied intelligent MAnipulation (H2020 EU 2.1.1.5).

  • FP7- Walkman: Whole-body Adaptive Locomotion and Manipulation (FP7-ICT-2013-10).

  • FP7 - Wearhaps: Wearable haptics for humans and robots. European Community’s Seventh Framework Program (FP7-ICT-2011-9-2.1).

 

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IIT Publications

  • 2020
  • Balatti P.iit, Fusaro F.iit, Villa N.iit, Lamon E.iit, Ajoudani A.iit
    DOI

    A Collaborative Robotic Approach to Autonomous Pallet Jack Transportation and Positioning

    IEEE Access, vol. 8, pp. 142191-142204
  • Wu Y., Zhao F., Tao T., Ajoudani A.iit

    A Framework for Autonomous Impedance Regulation of Robots Based on Imitation Learning and Optimal Control

    IEEE Robotics and Automation Letters
  • Fortini L., Lorenzini M., Kim W.iit, De Momi E., Ajoudani A.iit

    A Framework for Real-time and Personalisable Human Ergonomics Monitoring

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Kim W., Peternel L., Lorenzini M., Babic J., Ajoudani A.iit

    A Human-Robot Collaboration Framework for Improving Ergonomics During Dexterous Operation of Power Tools

    Robotics and Computer-Integrated Manufacturing
  • Balatti P.iit, Kanoulas D., Tsagarakis N.iit, Ajoudani A.iit
    DOI

    A method for autonomous robotic manipulation through exploratory interactions with uncertain environments

    Autonomous Robots
  • Mobedi E.iit, Villa N., Kim W.iit, Ajoudani A.iit

    An Adaptive Control Approach to Robotic Assembly with Uncertainties in Vision and Dynamics

    The 29th IEEE International Conference on Robot and Human Interactive Communication
  • RuizGarate V.iit, Ajoudani A.iit
    DOI

    An approach to object-level stiffness regulation of hand-arm systems subject to under-actuation constraints

    Autonomous Robots
  • Wu Y.iit, Zhao F., Kim W.iit, Ajoudani A.iit
    DOI

    An intuitive formulation of the human arm active endpoint stiffness

    Sensors, vol. 20, (no. 18), pp. 1-15
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    An online method to detect and locate an external load on the human body with applications in ergonomics assessment

    Sensors, vol. 20, (no. 16), pp. 1-18
  • Ciullo A.S.iit, Veerbeek J.M., Temperli E., Luft A.R., Tonis F.J., Haarman C.J.W., Ajoudani A.iit, Catalano M.G.iit, Held J.P.O., Bicchi A.iit
    DOI

    A Novel Soft Robotic Supernumerary Hand for Severely Affected Stroke Patients

    IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, (no. 5), pp. 1168-1177
  • Gholami S.iit, Ruiz Garate V.iit, De Momi E., Ajoudani A.iit

    A Probabilistic Shared-Control Framework for Mobile Manipulators

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Fortini L., Lorenzini M., Kim W.iit, De Momi E., Ajoudani A.iit

    A Real-time Tool for Human Ergonomics Assessment based on Joint Compressive Forces

    The 29th IEEE International Conference on Robot and Human Interactive Communication
  • Gholami S.iit, Ruiz Garate V.iit, De Momi E., Ajoudani A.iit

    A Shared-Autonomy Approach to Goal Detection and Navigation Control of Mobile Collaborative Robots

    The 29th IEEE International Conference on Robot and Human Interactive Communication
  • Lamon E.iit, Fusaro F.iit, Balatti P.iit, Kim W.iit, Ajoudani A.iit

    A Visuo-Haptic Guidance Interface for the Mobile Collaborative Robotic Assistant (MOCA)

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Peternel L., Fang C., Laghi M., Bicchi A.iit, Tsagarakis N.iit, Ajoudani A.iit

    Human Arm Posture Optimisation in Bilateral Teleoperation through Interface Reconfiguration

    8th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2020)
  • Caldwell DG., Ajoudani A.iit, Lee J., Tsagarakis N.iit

    Intelligent, Adaptive Humanoids for Human Assistance

    Mechatronics and Robotics, Publisher: CRC Press
  • Kim W.iit, Balatti P.iit, Lamon E.iit, Ajoudani A.iit

    MOCA-MAN: A MObile and reconfigurable Collaborative Robot Assistant for conjoined huMAN-robot actions

    2020 International Conference on Robotics and Automation (ICRA)
  • Ajoudani A.iit, Albrecht P., Bianchi M., Cherubini A., Del Ferraro S., Fraisse P., Fritzsche L., Garabini M., Ranavolo A., Rosen P.H., Sartori M., Tsagarakis N.iit, Vanderborght B.iit, Wischniewski S.iit
    DOI

    Smart Collaborative Systems for Enabling Flexible and Ergonomic Work Practices [Industry Activities]

    IEEE Robotics and Automation Magazine, vol. 27, (no. 2), pp. 169-176
  • Ranavolo A., Ajoudani A.iit, Cherubini A., Bianchi M., Fritzsche L., Iavicoli S., Sartori M., Silvetti A., Vanderborght B., Varrecchia T., Draicchio F.
    DOI

    The sensor-based biomechanical risk assessment at the base of the need for revising of standards for human ergonomics

    Sensors, vol. 20, (no. 20), pp. 1-15
  • Ranavolo A., Ajoudani A.iit, Cherubini A., Bianchi M., Fritzsche L., Iavicoli S., Sartori M., Silvetti A., Vanderborght B., Varrecchia T., Draicchio F.

    The Sensors-based Biomechanical Risk Assessment at the base of the Need for Revising of Standards for Human Ergonomics

    MDPI Sensors
  • Lamon E.iit, Lenori M., Kim W.iit, Ajoudani A.iit

    Towards an Intelligent Collaborative Robotic System for Mixed Case Palletizing

    IEEE International Conference on Robotics and Automation (ICRA)
  • Vogel J., Ajoudani A.iit
    DOI

    Virtual Conferences in Times of COVID-19: Embracing the Potential [Young Professionals]

    IEEE Robotics and Automation Magazine, vol. 27, (no. 3)
  • 2019
  • Lamon E.iit, De Franco A.iit, Peternel L.iit, Ajoudani A.iit
    DOI

    A Capability-Aware Role Allocation Approach to Industrial Assembly Tasks

    IEEE Robotics and Automation Letters, vol. 4, (no. 4), pp. 3378-3385
  • Fortini L.iit, Balatti P.iit, Lamon E.iit, De Momi E.iit, Ajoudani A.
    DOI

    A Collaborative Robotic Approach to Gaze-Based Upper-Limb Assisted Reaching

    IWOBI 2019 - IEEE International Work Conference on Bioinspired Intelligence, Proceedings, pp. 63-68
  • Kim W.iit, Lorenzini M.iit, Balatti P.iit, Nguyen D.H.P.iit, Pattacini U.iit, Tikhanoff V.iit, Peternel L., Fantacci C.iit, Natale L.iit, Metta G.iit, AJOUDANI A.iit
    DOI

    Adaptable workstations for human–robot collaboration: A reconfigurable framework for improving worker ergonomics and productivity

    IEEE Robotics and Automation Magazine
  • Trompetto C., Marinelli L., Mori L., Puce L., Ciullo A.iit, Zenzeri J.iit, Felici F., Ajoudani A.iit, Catalano M. G.iit, Bicchi A.

    An Active Supernumerary Hand For Grasping Assistance and Rehabilitation

    Workshop Innovation in Rehabilitation Technologies
  • Balatti P.iit, De Franco A., Lamon E.iit, De Momi E., Ajoudani A.iit

    An Augmented Reality Interface for Improving Task Performance in Close-Proximity Teleoperation

    Istituto di Robotica e Macchine Intelligenti ​3D
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit

    A New Overloading Fatigue Model for Ergonomic Risk Assessment with Application to Human-Robot Collaboration

    IEEE International Conference on Robotics and Automation
  • De Franco A., Lamon E.iit, Balatti P.iit, De Momi E., Ajoudani A.
    DOI

    An Intuitive Augmented Reality Interface for Task Scheduling, Monitoring, and Work Performance Improvement in Human-Robot Collaboration

    IWOBI 2019 - IEEE International Work Conference on Bioinspired Intelligence, Proceedings, pp. 75-80
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    A real-time graphic interface for the monitoring of the human joint overloadings with application to assistive exoskeletons

    Biosystems and Biorobotics, vol. 22, pp. 281-285
  • Fang C., Ajoudani A., Bicchi A.iit, Tsagarakis N.G.iit
    DOI

    A Real-Time Identification and Tracking Method for the Musculoskeletal Model of Human Arm

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, pp. 3472-3479
  • Peternel L.iit, Fang C.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    A selective muscle fatigue management approach to ergonomic human-robot co-manipulation

    Robotics and Computer-Integrated Manufacturing, vol. 58, pp. 69-79
  • Scibilia A.iit, Laghi M.iit, De Momi E., Peternel L.iit, Ajoudani A.iit
    DOI

    A Self-Adaptive Robot Control Framework for Improved Tracking and Interaction Performances in Low-Stiffness Teleoperation

    IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 628-634
  • Ciullo A.S.iit, Catalano M.G.iit, Bicchi A.iit, Ajoudani A.iit
    DOI

    A supernumerary soft robotic hand-arm system for improving worker ergonomics

    Biosystems and Biorobotics, vol. 22, pp. 520-524
  • Wu Y.iit, Balatti P.iit, Lorenzini M.iit, Zhao F., Kim W.iit, Ajoudani A.iit
    DOI

    A Teleoperation Interface for Loco-Manipulation Control of Mobile Collaborative Robotic Assistant

    IEEE Robotics and Automation Letters, vol. 4, (no. 4), pp. 3593-3600
  • Wu Y., Balatti P.iit, Lorenzini M., Zhao F., Kim W.iit, Ajoudani A.iit

    A Teleoperation Interface for Loco-manipulation Control of MObile Collaborative robotic Assistant (MOCA)

    IEEE Robotics and Automation Letters
  • Xiloyannis M., Annese E., Canesi M., Kodian A., Bicchi A., Micera S., Ajoudani A.iit, Masia L.

    Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit

    Frontiers in Neurorobotics
  • Fang C.iit, Kashiri N.iit, Rigano G.F.iit, Ajoudani A.iit, Tsagarakis N.G.iit
    DOI

    Exploitation of environment support contacts for manipulation effort reduction of a robot arm

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2019-May, pp. 9502-9508
  • Wischniewski S., Ajoudani A.iit
    DOI

    How Can Assistive Robotics Improve Personal and Work Life? A Million Dollar Question

    IEEE Robotics and Automation Magazine, vol. 26, (no. 2)
  • Fang C.iit, Rigano G.iit, Kashiri N.iit, Ajoudani A.iit, Lee J.iit, Tsagarakis N.iit
    DOI

    Online Joint Stiffness Transfer from Human Arm to Anthropomorphic Arm

    Proceedings - 2018 IEEE International Conference on Systems, Man, and Cybernetics, SMC 2018, pp. 1457-1464
  • Laghi M.iit, Maimeri M.iit, Marchand M., Leparoux C., Catalano M.iit, Ajoudani A.iit, Bicchi A.iit
    DOI

    Shared-Autonomy Control for Intuitive Bimanual Tele-Manipulation

    IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 417-424
  • Lorenzini M., Fusaro F.iit, Balatti P.iit, De Momi E., Mastrogiovanni F., Wansoo K., Ajoudani A.iit

    Toward a Synergistic Framework for Human-Robot Coexistence and Collaboration (HRC2)

    Istituto di Robotica e Macchine Intelligenti ​3D
  • Lamon E.iit, Peternel L.iit, Ajoudani A.iit
    DOI

    Towards a Prolonged Productivity in Industry 4.0: A Framework for Fatigue Minimisation in Robot-Robot Co-Manipulation

    IEEE-RAS International Conference on Humanoid Robots, vol. 2018-November, pp. 684-689
  • Kim W.iit, Lorenzini M.iit, Balatti P.iit, Wu Y.iit, Ajoudani A.iit
    DOI

    Towards Ergonomic Control of Collaborative Effort in Multi-human Mobile-robot Teams

    IEEE International Conference on Intelligent Robots and Systems, pp. 3005-3011
  • Balatti P.iit, Kanoulas D.iit, Tsagarakis N.iit, Ajoudani A.iit

    Towards Robot Interaction Autonomy: Explore, Identify, and Interact

    IEEE International Conference on Robotics and Automation
  • Laghi M.iit, Ajoudani A.iit, Catalano M. G.iit, Bicchi A.iit
    DOI

    Unifying bilateral teleoperation and tele-impedance for enhanced user experience

    The International Journal of Robotics Research
  • Laghi M.iit, Ajoudani A.iit, Catalano M.iit, Bicchi A.iit

    Unifying bilateral teleoperation and tele-impedance for enhanced user experience

    International Journal of Robotics Research
  • Ciullo A. S., Veerbeek J. M., Temperli E., Luft A. R., Bicchi A.iit, Ajoudani A.iit, Catalano M.iit, Held J. P. O.

    Usability of a soft robotic device for the severely impaired hand after stroke

    World Confederation for Physical Therapy
  • 2018
  • Ruiz Garate V.iit, Pozzi M., Prattichizzo D., Ajoudani A.iit
    DOI

    A bio-inspired grasp stiffness control for robotic hands

    Frontiers in Robotics and AI
  • Lorenzini M.iit, Kim W.iit, Demomi E., Ajoudani A.iit

    A Learning-based Approach to the Real-time Estimation of the Feet Ground Reaction Forces and Centres of Pressure in Humans

    National Congress of Bioengineering
  • Peternel L.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    A Method for Robot Motor Fatigue Management in Physical Interaction and Human-Robot Collaboration Tasks

    IEEE International Conference on Intelligent Robots and Systems, pp. 2850-2856
  • Peternel L.iit, Tsagarakis N.G.iit, Ajoudani A.iit

    A Method for Robot Motor Fatigue Management in Physical Interaction and Human-Robot Collaboration Tasks

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. In Proceedings
  • Ciullo A.S.iit, Felici F.iit, Catalano M.G.iit, Grioli G.iit, Ajoudani A.iit, Bicchi A.iit
    DOI

    Analytical and Experimental Analysis for Position Optimization of a Grasp Assistance Supernumerary Robotic Hand

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 4305-4312
  • Kim W.iit, Lee J.iit, Peternel L.iit, Tsagarakis N.G.iit, Ajoudani A.iit
    DOI

    Anticipatory Robot Assistance for the Prevention of Human Static Joint Overloading in Human-Robot Collaboration

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 68 - 75
  • Fang C., Ajoudani A.iit, Bicchi A., Tsagarakis N.iit

    A Real-Time Identification andTracking Method for the Musculoskeletal Model of Human Arm

    Proceedings of the IEEE International Conference on Systems, Man and Cybernetics
  • Balatti P.iit, Kanoulas D.iit, Rigano G.iit, Muratore L.iit, Tsagarakis N.iit, Ajoudani A.iit

    A Self-tuning Impedance Controller for Autonomous Robotic Manipulation

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Balatti P., Kanoulas D.iit, Rigano G.F.iit, Muratorc L.iit, Tsagarakis N.G.iit, Ajoudani A.
    DOI

    A Self-Tuning Impedance Controller for Autonomous Robotic Manipulation

    IEEE International Conference on Intelligent Robots and Systems, pp. 5885-5891
  • Ciullo A.iit, Catalano M.iit, Bicchi A., Ajoudani A.iit

    A Supernumerary Soft RoboticHand-Arm System for Improving Worker Ergonomics

    The International Symposiumon Wearable Robotics
  • Li Z., Huang B., Ajoudani A.iit, Yang C., Su C.-Y., Bicchi A.iit
    DOI

    Asymmetric Bimanual Control of Dual-Arm Exoskeletons for Human-Cooperative Manipulations

    IEEE Transactions on Robotics, vol. 34, (no. 1), pp. 264-271
  • Lorenzini M.iit, Kim W.iit, De Momi E., Ajoudani A.iit
    DOI

    A synergistic approach to the Real-Time estimation of the feet ground reaction forces and centers of pressure in humans with application to Human-Robot collaboration

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3654-3661
  • Kim W.iit, Lorenzini M.iit, Kapicioglu K., Ajoudani A.iit
    DOI

    ErgoTac: A Tactile Feedback Interface for Improving Human Ergonomics in Workplaces

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 4179-4186
  • Ajoudani A.iit, Faust A.
    DOI

    Getting involved for a rewarding experience [Young Professionals]

    IEEE Robotics and Automation Magazine, vol. 25, (no. 3)
  • Ruiz Garate V.iit, Pozzi M., Prattichizzo D., Tsagarakis N.iit, Ajoudani A.iit

    Grasp Stiffness Control in Robotic Hands through Coordinated Optimization of Pose and Joint Stiffness

    IEEE Robotics and Automation Letters
  • Ruiz Garate V.iit, Pozzi M.iit, Prattichizzo D.iit, Tsagarakis N.iit, Ajoudani A.iit

    Grasp Stiffness Control in Robotic Hands through Coordinated Optimization of Pose and Joint Stiffness

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Garate V.R.iit, Pozzi M.iit, Prattichizzo D.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

    IEEE Robotics and Automation Letters, vol. 3, (no. 4), pp. 3952-3959
  • Peternel L.iit, Fang C.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation

    IEEE International Conference on Intelligent Robots and Systems, pp. 1340-1346
  • Peternel L.iit, Fang C., Tsagarakis N.G.iit, Ajoudani A.iit

    Online Human Muscle Force Estimation for Fatigue Management in Human-Robot Co-Manipulation

    Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, vol. In Proceedings of
  • Fang C.iit, Ajoudani A.iit, Bicchi A.iit, Tsagarakis N.G.iit
    DOI

    Online Model Based Estimation of Complete Joint Stiffness of Human Arm

    IEEE Robotics and Automation Letters, vol. 3, (no. 1), pp. 84-91
  • Lorenzini M.iit, Kim W.iit, Demomi E., Ajoudani A.iit

    Real-time Graphic Interface for the Monitoring of the Human Joint Overloadings with Application to Assistive Exoskeletons

    The International Symposium on Wearable Robotics
  • Peternel L.iit, Tsagarakis N.iit, Caldwell D.iit, Ajoudani A.iit
    DOI

    Robot adaptation to human physical fatigue in human–robot co-manipulation

    Autonomous Robots, vol. 42, (no. 5), pp. 1011-1021
  • Fani S.iit, Ciotti S.iit, Catalano M.G.iit, Grioli G.iit, Tognetti A., Valenza G., Ajoudani A.iit, Bianchi M.
    DOI

    Simplifying telerobotics: Wearability and teleimpedance improves human-robot interactions in teleoperation

    IEEE Robotics and Automation Magazine, vol. 25, (no. 1), pp. 77-88
  • Ciullo A.iit, Felici F., Catalano M.iit, Grioli G.iit, Ajoudani A.iit, Bicchi A.iit

    Toward an Active Supernumerary Hand for Grasping Assistance: Analytical and Experimental Analysis for Performance Optimization

    IEEE Robotics and Automation Letters
  • Ciullo A.iit, Felici F., Catalano M.iit, Grioli G.iit, Ajoudani A.iit, Bicchi A.

    Toward an Active Supernumerary Hand for Grasping Assistance: Analytical and Experimental Analysis for Performance Optimization

    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
  • Lamon E.iit, Peternel L.iit, Ajoudani A.iit

    Towards a Prolonged Productivity in Industry 4.0: A Framework for Fatigue Minimization in Robot-Robot Co-Manipulation

    IEEE-RAS International Conference on Humanoid Robots (Humanoids)
  • Tsagarakis N.G.iit, Negrello F.iit, Garabini M., Choi W.iit, Baccelliere L.iit, Loc V.G.iit, Noorden J.iit, Catalano M.iit, Ferrati M., Muratore L.iit, Kryczka P.iit, Hoffman E.M.iit, Settimi A.iit, Rocchi A.iit, Margan A.iit, Cordasco S.iit, Kanoulas D.iit, Cardellino A.iit, Natale L.iit, Dallali H.iit, Malzahn J.iit, Kashiri N.iit, Varricchio V., Pallottino L., Pavan C., Lee J.iit, Ajoudani A.iit, Caldwell D.G.iit, Bicchi A.iit
    DOI

    WALK-MAN humanoid platform

    Springer Tracts in Advanced Robotics, vol. 121, pp. 495-548
  • 2017
  • Laghi M.iit, Ajoudani A.iit, Catalano M.iit, Bicchi A.iit

    A Bilateral Tele-Impedance Controller for Remote Interaction with Transmission Time Delay

    IEEE International Conference on Intelligent Robots and Systems
  • Peternel L.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    A human-robot co-manipulation approach based on human sensorimotor information

    IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, (no. 7), pp. 811-822
  • Balatti P.iit, Muratore L.iit, Peternel L.iit, Hoffman Mingo E.iit, Tsagarakis G. N., Ajoudani A.iit

    A Manipulation Framework for Debris Removal using WALK-MAN Humanoid

    10th International Workshop on Human-Friendly Robotics (HFR 2017)
  • Peternel L.iit, Rozo L.iit, Caldwell D.iit, Ajoudani A.iit
    DOI

    A Method for Derivation of Robot Task-Frame Control Authority from Repeated Sensory Observations

    IEEE Robotics and Automation Letters, vol. 2, (no. 2), pp. 719 - 726
  • Kim W.iit, Lee J.iit, Tsagarakis N.G.iit, Ajoudani A.iit
    DOI

    A Real-time and Reduced-Complexity Approach to the Detection and Monitoring of Static Joint Overloading in Humans

    IEEE International Conference on Rehabilitation Robotics, pp. 828 - 834
  • Li Z., Huang B., Ajoudani A.iit, Yang C., Su C. Y., Bicchi A.iit

    Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations

    IEEE Transactions on Robotics
  • Ajoudani A.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    Choosing poses for force and stiffness control

    IEEE Transactions on Robotics, vol. 33, (no. 6), pp. 1483-1490
  • Huang B., Li Z., Wu X., Ajoudani A.iit, Bicchi A.iit, Liu J.
    DOI

    Coordination Control of a Dual-Arm Exoskeleton Robot Using Human Impedance Transfer Skills

    IEEE Transactions on Systems, Man, and Cybernetics: Systems
  • Fani S.iit, Ciotti M., Catalano M.iit, Gorli G., Tognetti A., Valenza G., Ajoudani A.iit, Bianchi M.

    Integrating Wearable Haptics and Teleimpedance Methods for Augmented Human-Robot Interaction with Synergy-inspired Robotic Systems

    IEEE Robotics and Automation Magazine
  • Canesi M., Xiloyannis M., Ajoudani A.iit, Bicchi A.iit, Masia L.

    Modular One-to-many Clutchable Actuator for a Soft Elbow Exosuit

    IEEE International Conference on Rehabilitation Robotics
  • Garate V.R.iit, Tsagarakis N.iit, Biechi A.iit, Ajoudani A.iit
    DOI

    On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands

    IEEE-RAS International Conference on Humanoid Robots, pp. 113-120
  • Garate V., Tsagarakis N.iit, Bicchi A.iit, Ajoudani A.iit

    On the Common-Mode and Configuration-Dependent Stiffness Control of Multiple Degrees of Freedom Hands

    IEEE-RAS International Conference on Humanoid Robots
  • Ajoudani A.iit, Zanchettin AM., Inaldi S., Albu-Schaeffer A., Kosuge K., Khatib O.
    DOI

    Progress and prospects of the human–robot collaboration

    Autonomous Robots, (no. Special Issue: Learning for Human-Robot Collaboration), pp. 1-19
  • Ajoudani A.iit, Fang C.iit, Tsagarakis N.iit, Bicchi A.iit
    DOI

    Reduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation

    International Journal of Robotics Research
  • Peternel L.iit, Tsagarakis N.iit, Caldwell D.iit, Ajoudani A.iit

    Robot Adaptation to Human Physical Fatigue in Human-Robot Co-Manipulation

    Autonomous Robots
  • peternel L.iit, Ajoudani A.iit

    Robots Learning from Robots: A Proof of Concept Study for Co-Manipulation Tasks

    IEEE-RAS International Conference on Humanoid Robots
  • Fang C.iit, Lee J.iit, Ajoudani A.iit, Zhou C.iit, Tsagarakis N.G.iit, Caldwell D.G.iit
    DOI

    RRT-based motion planning with sampling in redundancy space for robots with anthropomorphic arms

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1612-1618
  • Schiatti L.iit, Tessadori J.iit, Barresi G.iit, Mattos L.S.iit, Ajoudani A.iit
    DOI

    Soft brain-machine interfaces for assistive robotics: A novel control approach

    IEEE International Conference on Rehabilitation Robotics, pp. 863-869
  • Peternel L.iit, Kim W.iit, Babic J., Ajoudani A.iit

    Towards Ergonomic Control of Human-Robot Co-Manipulation and Handover

    IEEE-RAS International Conference on Humanoid Robots
  • Peternel L.iit, Kim W.iit, Babic J., Ajoudani A.iit
    DOI

    Towards ergonomie control of human-robot co-manipulation and handover

    IEEE-RAS International Conference on Humanoid Robots, pp. 55-60
  • Tsagarakis N.G.iit, Caldwell D.G.iit, Negrello F.iit, Choi W.iit, Baccelliere L.iit, Loc V.G.iit, Noorden J.iit, Muratore L.iit, Margan A.iit, Cardellino A.iit, Natale L.iit, Mingo Hoffman E.iit, Dallali H.iit, Kashiri N.iit, Malzahn J.iit, Lee J.iit, Kryczka P.iit, Kanoulas D.iit, Garabini M., Catalano M.iit, Ferrati M., Varricchio V., Pallottino L., Pavan C., Bicchi A., Settimi A., Rocchi A., Ajoudani A.
    DOI

    WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments

    Journal of Field Robotics, vol. 34, (no. 7), pp. 1225-1259
  • 2016
  • Peternel L.iit, Tsagarakis N.iit, Caldwell D.iit, Ajoudani A.iit
    DOI

    Adaptation of robot physical behaviour to human fatigue in human-robot co-manipulation

    IEEE-RAS International Conference on Humanoid Robots, pp. 489-494
  • Yang C., Liang P., Ajoudani A.iit, Li Z., Bicchi A.
    DOI

    Development of a robotic teaching interface for human to human skill transfer

    IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 710-716
  • Kashiri N.iit, Ajoudani A.iit, Caldwell D.G.iit, Tsagarakis N.G.iit
    DOI

    Evaluation of hip kinematics influence on the performance of a quadrupedal robot leg

    ICINCO 2016 - Proceedings of the 13th International Conference on Informatics in Control, Automation and Robotics, vol. 1, pp. 205-212
  • Ajoudani A.iit, Hocaoglu E.iit, Altobelli A.iit, Rossi M.iit, Battaglia E., Tsagarakis N.iit, Bicchi A.iit
    DOI

    Reflex control of the Pisa/IIT SoftHand during object slippage

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 1972-1979
  • Brygo A.iit, Sarakoglou I.iit, Ajoudani A.iit, Hernandez N.G., Grioli G.iit, Catalano M.iit, Caldwell D.G.iit, Tsagarakis N.iit
    DOI

    Synergy-based interface for bilateral tele-manipulations of a master-slave system with large asymmetries

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2016-June, pp. 4859-4865
  • Ajoudani A.iit, Godfrey S.iit, Tsagarakis N.iit, Bicchi A.iit
    DOI

    Teleimpedance Control: Overview and application

    Human and Robot Hands, Publisher: Springer Series on Touch and Haptic Systems
  • Peternel L.iit, Tsagarakis N.iit, Ajoudani A.iit
    DOI

    Towards multi-modal intention interfaces for human-robot co-manipulation

    IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 2663-2669
  • Ajoudani A.iit
    DOI

    Transferring Human Impedance Regulation Skills to Robots

    Springer Tracts in Advanced Robotics, Publisher: Springer
  • 2015
  • Ajoudani A.iit, Fang C.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control

    IEEE International Conference on Intelligent Robots and Systems, vol. 2015-December, pp. 1017-1023
  • Rossi M.iit, Altobelli A.iit, Godfrey S.B.iit, Ajoudani A.iit, Bicchi A.iit
    DOI

    Electromyographic mapping of finger stiffness in tripod grasp: A proof of concept

    IEEE International Conference on Rehabilitation Robotics, vol. 2015-September, pp. 181-186
  • Bagheri M.iit, Ajoudani A.iit, Lee J.iit, Caldwell D.G.iit, Tsagarakis N.G.iit
    DOI

    Kinematic analysis and design considerations for optimal base frame arrangement of humanoid shoulders

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 2710-2715
  • Ajoudani A.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    On the role of robot configuration in Cartesian stiffness control

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 1010-1016
  • Mosadeghzad M.iit, Karavas N.iit, Ajoudani A.iit, Tsagarakis N.G.iit, Spyrakos-Papastavridis E.iit, Caldwell D.G.iit
    DOI

    Optimal human-inspired ankle stiffness regulation for humanoid balancing control

    IEEE-RAS International Conference on Humanoid Robots, vol. 2015-February, pp. 902-907
  • YANG C., Liang P., Li Z., Ajoudani A.iit, Su C., Bicchi A.iit

    Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
  • Yang C., Liang P., Li Z., Ajoudani A.iit, Su C.-Y., Bicchi A.iit
    DOI

    Teaching by demonstration on dual-arm robot using variable stiffness transferring

    2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015, pp. 1202-1208
  • Karavas N.iit, Ajoudani A.iit, Tsagarakis N.iit, Saglia J.iit, Bicchi A.iit, Caldwell D.iit
    DOI

    Tele-impedance based assistive control for a compliant knee exoskeleton

    Robotics and Autonomous Systems, vol. 73, pp. 78-90
  • 2014
  • Rosales C., Ajoudani A.iit, Gabiccini M.iit, Bicchi A.iit
    DOI

    Active gathering of frictional properties from objects

    IEEE International Conference on Intelligent Robots and Systems, pp. 3982-3987
  • Ajoudani A.iit, Lee J.iit, Rocchi A.iit, Ferrati M.iit, Hoffman E.M.iit, Settimi A.iit, Caldwell D.G.iit, Bicchi A.iit, Tsagarakis N.G.iit
    DOI

    A manipulation framework for compliant humanoid COMAN: Application to a valve turning task

    IEEE-RAS International Conference on Humanoid Robots, vol. 2015-February, pp. 664-670
  • Godfrey S. B., Ajoudani A.iit, Bianchi M., Catalano M. G.iit, Grioli G.iit, Bicchi A.iit
    DOI

    Exploring haptic feedback for the Pisa/IIT SoftHand

    Haptics Symposium
  • Ajoudani A.iit, Godfrey S.B.iit, Bianchi M., Catalano M.G.iit, Grioli G., Tsagarakis N.iit, Bicchi A.
    DOI

    Exploring teleimpedance and tactile feedback for intuitive control of the pisa/IIT soft hand

    IEEE Transactions on Haptics, vol. 7, (no. 2), pp. 203-215
  • Ajoudani A.iit, Tsagarakis N.G.iit, Lee J.iit, Gabiccini M.iit, Bicchi A.iit
    DOI

    Natural redundancy resolution in dual-arm manipulation using configuration dependent stiffness (CDS) control

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1480-1486
  • Castellini C., Artemiadis P., Wininger M., Ajoudani A.iit, Alimusaj M., Bicchi A.iit, Caputo B., Craelius W., Dosen S., Englehart K., Farina D., Gijsberts A., Godfrey S.B.iit, Hargrove L., Ison M., Kuiken T., Markovic M., Pilarski P.M., Rupp R., Scheme E.
    DOI

    Proceedings of the first workshop on peripheral machine interfaces: Going beyond traditional surface electromyography

    Frontiers in Neurorobotics, vol. 8, (no. AUG)
  • Lee J.iit, Ajoudani A.iit, Hoffman E.M.iit, Rocchi A.iit, Settimi A., Ferrati M., Bicchi A.iit, Tsagarakis N.G.iit, Caldwell D.G.iit
    DOI

    Upper-body impedance control with variable stiffness for a door opening task

    IEEE-RAS International Conference on Humanoid Robots, vol. 2015-February, pp. 713-719
  • 2013
  • Godfrey S.B.iit, Ajoudani A.iit, Catalano M.iit, Grioli G.iit, Bicchi A.iit
    DOI

    A synergy-driven approach to a myoelectric hand

    IEEE International Conference on Rehabilitation Robotics
  • Karavas N.iit, Ajoudani A.iit, Tsagarakis N.iit, Caldwell D.iit
    DOI

    Human-inspired balancing assistance: Application to a knee exoskeleton

    2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, pp. 292-297
  • Ajoudani A.iit, Gabiccini M.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    Human-like impedance and minimum effort control for natural and efficient manipulation

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 4499-4505
  • Karavas N.iit, Ajoudani A., Tsagarakis N.iit, Saglia J.iit, Bicchi A., Caldwell D.iit
    DOI

    Tele-Impedance based stiffness and motion augmentation for a knee exoskeleton device

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 2194-2200
  • Ajoudani A.iit, Godfrey S.B.iit, Catalano M.iit, Grioli G.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    Teleimpedance control of a synergy-driven anthropomorphic hand

    IEEE International Conference on Intelligent Robots and Systems, pp. 1985-1991
  • 2012
  • Ajoudani A., Gabiccini M.iit, Tsagarakis N.iit, Albu-Schaffer A., Bicchi A.
    DOI

    TeleImpedance: Exploring the role of common-mode and configuration- dependant stiffness

    IEEE-RAS International Conference on Humanoid Robots, pp. 363-369
  • Ajoudani A.iit, Tsagarakis N.iit, Bicchi A.iit
    DOI

    Tele-impedance: Teleoperation with impedance regulation using a body-machine interface

    International Journal of Robotics Research, vol. 31, (no. 13), pp. 1642-1655
  • Ajoudani A.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    Tele-impedance: Towards transferring human impedance regulation skills to robots

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 382-388
  • Carrera A., Ahmadzadeh S.R.iit, Ajoudani A.iit, Kormushev P.iit, Carreras M., Caldwell D.G.iit
    DOI

    Towards autonomous robotic valve turning

    Cybernetics and Information Technologies, vol. 12, (no. 3), pp. 17-26
  • 2011
  • Ajoudani A.iit, Tsagarakis N.G.iit, Bicchi A.
    DOI

    Tele-Impedance based teleoperation: Peg-in-hole experimental results

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 2239-2240
  • Ajoudani A.iit, Tsagarakis N.G.iit, Bicchi A.iit
    DOI

    Tele-impedance: Preliminary results on measuring and replicating human arm impedance in tele operated robots

    2011 IEEE International Conference on Robotics and Biomimetics, ROBIO 2011, pp. 216-222
  • 2009
  • Ajoudani A., Erfanian A.
    DOI

    A neuro-sliding-mode control with adaptive modeling of uncertainty for control of movement in paralyzed limbs using functional electrical stimulation

    IEEE Transactions on Biomedical Engineering, vol. 56, (no. 7), pp. 1771-1780
  • 2007
  • Ajoudani A., Erfanian A.
    DOI

    Neuro-sliding mode control with modular models for control of knee-joint angle using quadriceps electrical stimulation

    Annual International Conference of the IEEE Engineering in Medicine and Biology - Proceedings, pp. 2424-2427
  • 2006
  • Ajoudani A., Erfanian A.

    Neuro-Sliding Mode Control of Knee-Joint Angle by Using Quadriceps Electrical Stimulation

    11th Annual Conference of the International FES Society (IFESS 2006)

Dissemination Talks

  • 2020
  • Leonori M.iit, Villa N., Ajoudani A.iit

    INTERFACCE UOMO-ROBOT E ROBOT COLLABORATIVI

  • 2019
  • Ajoudani A.iit

    Colleghi Robot: A che Punto Siamo Arrivati

  • Ajoudani A.iit

    Colleghi robot (our Robotic Colleagues)

  • Ajoudani A.iit

    INTELLIGENZA ARTIFICIALE E SOSTENIBILITÀ

  • Ajoudani A.iit

    Robot collaborativi, i nostri colleghi di oggi e di domani

  • 2016
  • Ajoudani A.iit

    What’s Human About technology

Scientific Talks

  • 2019
  • Balatti P.iit, De Franco A., Lamon E.iit, De Momi E., Ajoudani A.iit

    An Augmented Reality Interface for Improving Task Performance in Close-Proximity Teleoperation

Awards

  1. ERC starting Grant 2019 for project Ergo-Lean  

  2. Winner of the Robotics Solution Award (Premio Innovazione Robotica) - MECSPE 2019 (Italy's largest industrial organisation)

  3. Winner of the Amazon Research Awards 2019

  4. Winner of the Best Conference Paper (poster category) Award - WeRob 2018

  5. Best Conference (oral presentation category) Award Finalist - IEEE Humanoids 2018

  6. Winner of the KUKA Innovation Award 2018 - Hannover Messe 2018

  7. Best Interactive Paper Award Finalist - IEEE Humanoids 2016

  8. Georges Giralt Phd Award (Best European PhD Thesis in Robotics) Finalist 2015 - ERF2015

  9. Best Presentation Award Finalist - Automatica.it 2014 

  10. Winner of the Best Student Paper Award - IEEE ROBIO2013

  11. Best Conference Paper Award Finalist - IEEE ROBIO2013

  12. Best Manipulation Paper Award Finalist - IEEE/RAS ICRA 2012