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Partners

COUNTRYPARTICIPANT ORGANISATION NAMESHORT NAMEPRINCIPAL ROLESMORE INFO
Istituto Italiano di Tecnologia
IIT
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Istituto Nazionale Assicurazione contro gli Infortuni sul Lavoro
INAIL

Sergio Iavicoli

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Institut national de recherche en informatique et en automatique
INRIA
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Institut Jožef Stefan
JSI
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Deutsches Zentrum für Luft- und Raumfahrt
DLR
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Xsens Technologies
XSENS
Giovanni Bellusci
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IMK automotive GmbH (SME)
IMK
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Otto Bock HealthCare GmbH
OBGH
Graimann Bernhard
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AnyBody Technology A/S (SME)
ABT
Michael Damsgaard
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Istituto Italiano di Tecnologia

Coordinator

The Fondazione Istituto Italiano di Tecnologia brings in the consortium its expertise in tactile technologies, humanoid technologies, whole-body dynamics estimations in human and humanoids. Francesco Nori has a longstanding experience in EU projects and brings in ANDY his expertise in coordinating EU projects of similar structure (CoDyCo).

People

Francesco Nori

Project Coordinator
Affiliation: IIT
Tenure Track Researcher

Lorenzo Rosasco

Affiliation: IIT Unige MIT
Researcher

Daniele Pucci

Affiliation: IIT
PI

Chiara Andreoli

Affiliation: IIT
Project Manager

Claudia Latella

Affiliation: IIT
Postdoctoral Researcher

Francisco Javier Andrade Chavez

Affiliation: IIT
Postdoctoral Researcher

Enrico Valli

Affiliation: IIT
Research Fellow

Gianluca Milani

Affiliation: IIT
Research Fellow

Kourosh Darvish

Affiliation: IIT
Postdoctoral Researcher

Diego Ferigo

Affiliation: IIT
PhD Fellow

Ines Sorrentino

Affiliation: IIT
Research Fellow

Lorenzo Rapetti

Affiliation: IIT
PhD Felllow

Yeshasvi Tirupachuri

Affiliation: IIT
PhD Fellow

L’Istituto Nazionale per l'Assicurazione contro gli Infortuni sul Lavoro e le malattie professionali

Inail, the Italian National Institute for Insurance against Accidents at Work, is a public non-profit entity safeguarding workers against physical injuries and occupational diseases.

People

Sergio Iavicoli

Affiliation: INAIL
Director of INAIL Department of Occupational and Environmental Medicine, Epidemiology and Hygiene

Alberto Ranavolo

Affiliation: INAIL
Researcher

Marco Mirabile

Affiliation: INAIL
Researcher

Angelo Tirabassi

Affiliation: INAIL
Researcher

Cristina Di Tecco

Affiliation: INAIL
Researcher

Institut national de recherche en informatique et en automatique

INRIA contribution will be in the acquisiton of the ANDYDATASET, then in the development of modeling, learning and control strategies for human-robot physical interaction and machine learning. The first contribution will be in the acquisition of experimental datasets of humans interacting with robots (ANDYDATASET). We will organize the acquisition in research labs and in end-users sites, thanks to the collaboration of the end-users of the advisory board. The second contribution will be in the application and development of machine learning strategies for controlling the robot during pHRI. The third contribution will be in the realization of the scenario of human-humanoid collaborative assembly with the iCub humanoid. Finally, INRIA has several managing responsabilities, in terms of ethics, data management, exploitation management and relations with the end-user advisory board. For these activities, the PI and the heads from the Department of Industrial Relations of INRIA will cooperate with the project governance to ensure the successful exploitation of the project outcomes.

People

Serena Ivaldi

Affiliation INRIA
PI

Jean-Baptiste Mouret

Affiliation INRIA
Researcher

Francois Charpillet

Affiliation INRIA
Researcher

Olivier Rochel

Affiliation INRIA
Researcher

Francis Colas

Affiliation: INRIA
Researcher

Pauline Maurice

Affiliation: INRIA
Postdoctoral Researcher

Adrien Malaisé

Affiliation: INRIA
PhD Student

Stephane Dalmas

Affiliation: INRIA
Technology Transfer

Philippe Schaeffer

Affiliation: INRIA
Technology Transfer

Waldez Gomes

Affiliation: INRIA

PhD Student

Luigi Penco

Affiliation: INRIA

PhD student

Institut Jožef Stefan

The role of JSI will be in development of adequate dynamic models of the human body in tight physical interaction with an industrial collaborative robot for Scenario 1, an exoskeleton for Scenario 2 and a humanoid robot for Scenario 3. The common denominator of all three scenarios is the extension of human body schema and the consideration of the interacting robotic system as a tool operated by the human. Special attention will be devoted to understand the dynamic properties of the multi-contact interaction between the human and the robotic system. To facilitate control and machine learning in all three scenarios, modelling will be leveraged by the use of optimization methods to develop optimality principles underlying human motion in collaboration/interaction with the robotic systems.

People

Jan Babič

Affiliation Jozef Stefan Institute (JSI)
PI

Tadej Petrič

Affiliation Jozef Stefan Institute (JSI)
Researcher

Jernej Camernik

Affiliation Jozef Stefan Institute (JSI)
PhD Student

Deutsches Zentrum für Luft- und Raumfahrt

The main contribution of DLR revolves around learning predictive models through machine learning (ML). In particular, DLR will conduct basic research on all validation scenarios through contributions on Objectives 2 and 3. The ANDYSUIT developed as a result of Objective 1 will provide an unprecedented wealth of data recorded live from a human subject, namely contact forces, joint torques and muscle activations detected through surface electromyography, tactile and pressure sensors, stretch sensing and so on. Using these data, within Objective 2, DLR will develop innovative methodologies to classify human motion and to diagnose human musculoskeletal disorders; classification will be enforced in real time during physical interaction (e.g., pulling, pushing, peg inserting, etc.). Off-line regression techniques will be used to model human-joint torques while performing interaction tasks. DLR will also provide the system and software for realizing the use cases in Scenario 1, see also “Significant infrastructure” below, and play an assistive role in applying reinforcement learning techniques to synthesise efficient controllers for human-robot physical interaction. Lastly, given the DLR’s expertise in the field, the institute will assist with the acquisition, calibration and testing of the EMG sensors; provide knowledge when recording data from them; and actively employ them on-line in the application Scenarios.

People

Freek Stulp

Affiliation DLR
PI

Claudio Castellini

Affiliation DLR
Researcher

Xsens Technologies BV

Xsens Technologies BV coordinates the ANDY activities for developing the ANDYSUIT a wearable force and motion tracking technology. Xsens brings into the consortium its experience in the development and commercialization of a wearable motion tracking system, the Xsens MVN Analyze (https://www.xsens.com/products/xsens-mvn-analyze/). This technology will be enhanced with additional wearable sensors (e.g. the Xsens Force Shoes) to make it suitable for simultaneous force and motion tracking.

People

Kim Sunesen

Affiliation Xsens Technologies
Project Manager

IMK automotive GmbH (SME)

IMK will bring two key contributions in the project: long practical experience in ergonomic risk assessment and outstanding expertise in digital human modelling and human work simulation. The main role of IMK is to develop a software prototype that is able to simulate human-robot collaboration based on sensor data collected from ANDYSUIT. The software will also be able to estimate ergonomic risks and provide indications for ergonomic improvements. Current methods for ergonomic risk assessment, which are mainly based on observation data, will be advanced by taking into account the objectively measured force and movement data provided by the ANDYSUIT. The new software prototype will serve as a foundation for significantly extending the capabilities of the existing “EMA” (Editor for Manual Work Activities) software. It can then be used for conducting virtual tests for human-robot collaboration scenarios in terms of safety, ergonomics and efficiency. Additionally, IMK will support the setup, execution and evaluation of pilot cases and also support the dissemination and exploitation of project results by using its large network of research partners and industrial clients.

People

Lars Fritzsche

Affiliation imk automotive GmbH
Division Manager Ergonomics

Sebastian Bauer

Affiliation imk automotive GmbH

 Division Manager IT

Otto Bock HealthCare GmbH

Otto Bock will take care of the following activities:

  • define the and contribute to the requirements of technologies, prototypes and evaluation scenarios of this project;
  • play a main role in the Scenario 2 (support for manual labor tasks – upper extremity);
  • adapt an already existing orthotic device for upper limb support in car assembly and develop it further to an actuated exoskeleton
  • co-develop the interfaces to the sensor-system (ANDYSUIT);
  • develop together with IIT the control mechanisms for the exoskeleton;
  • OBGH will participate in the evaluation of the Scenario 2

People

Bernhard Graimann

Affiliation OBHC
Researcher

Jonas Bornmann

Affiliation OBHC
Researcher

Annedore Kurzweg

Affiliation OBHC
Researcher

Markus Tüttemann

Affiliation OBHC
Research

Olaf Kroll-Orywahl

Affiliation: OBHC
Head of Development Orthotics

AnyBody Technology A/S (SME)

AnyBody Technology A/S (SME) contributes to the project with its expertise in detailed musculoskeletal modeling, here-under modeling of man-machine interfaces. This plays a fundamental role in the dynamic modeling activities; not only to develop the models but also to find the best parameters and tuning approaches for the models for a given subject. Furthermore, ABT expertise will be exploited in the development of the ANDYDATASET dataset and in the development of the estimation technologies. Musculoskeletal models will be one of the tools to estimate properties that cannot be measured directly or accurately. Detailed musculoskeletal models will also be a tool to accurately estimate parameters that are being approximated during the real-time applications and as such, they can be used while verifying the accuracy of these applications.

A primary focus of ABT will be to bring as much of the detailed musculoskeletal model information into the real-time dynamics models as possible and to bring as much of efficiency as possible back into the detailed musculoskeletal models for independent usage, for instance as part of detailed post-processing ergonomic analysis of scenarios such as the three scenarios of the project. Enhanced ergonomic assessment models based on detailed musculoskeletal model data are also a focus area of ABT.

People

Michael Damsgaard

Affiliation ABT
Development Manager

Pavel Galibarov

Affiliation ABT
Researcher
Today our team @DIC_LAB_IIT @IITalk is @MakerFaireRome showing #AnDy research results in #human#robot collaboration! A lot of young people is visiting us! #H2020 #Europe @CORDIS_EU
AnDy consortium is going to have the review meeting today - good luck! twitter.com/serena_ivaldi/…
#Andy project @RoboticsEU is about collaboration among #humans and #robots - how we can do this? Extimating human movements online! @clatella86 @IITalk presented these results @RoboticsSciSys conference in Freiburg #womeninrobotics - congrats!
A lot of interest for #AnDy @RoboticsEU during the workshop about physical #human#robot collaboration @icra2019 organized by Pauline Maurice and Serena Invaldi @serena_ivaldi @Larsen_Inria Megan Huber @meghanehuber Neville Hogan @MIT and Claudia Latella @clatella86 @IITalk
An.Dy has received funding from the European Union's Horizon 2020 Research and Innovation Programme under Grant Agreement No. 731540