HFR2014 Pontedera

HFR 2014
7th International Workshop on Human-Friendly Robotics
7th International Workshop on Human-Friendly Robotics


The 7th International Workshop on Human-Friendly Robotics (HFR 2014) will be organized on October 23-24, 2014, by the BioRobotics Institute at Museo Piaggio, in Pontedera.


The growing need to automate daily tasks, combined with new robot technologies, is driving the development of human-friendly robots, i.e., safe and dependable machines, operating in the close vicinity to humans or directly interacting with them in a wide range of domains. The technological shift from classical industrial robots, which are safely kept away from humans in cages, to robots, which are used in close collaboration with humans, is facing major challenges that need to be overcome.

The objective of the workshop is to bring together researchers so to share knowledge on design, control, safety and ethical issues, concerning the introduction of robots into everyday life.


¦ Fundaments of human-friendly robots: mechatronic design, control, analyses (safety measurements, performance metrics, impedance estimation, etc.)
¦ Applications of human-friendly robots: physical interaction (medical and rehabilitation devices, prostheses and orthoses, telerobotics, etc.), cognitive interaction (robot assisted therapy, personal and entertainment robots, robot learning, etc.)
¦ Social and ethical issues

download and print the full program

October 23, 2014

  • 8.45 - 9.00: Welcome
  • 9.00 - 10.00: Invited talk
    • Prof. Domenico Prattichizzo, Università di Siena Dept. of Information Engineering
      Wearable haptics and wearable robotics for novel paradigms of human-robot integration
  • 10.00 - 11.00:Session 1 (Chair: Nicola Vitiello)
    • J. Liu, M. Saveriano, D. Lee, Robot Compliant Behavior through Reinforcement Learning[ abstract ]
    • M. Controzzi, M. Rank, I. Strazzulla, C. Peccia, A.M. Wing, C. Cipriani, Improving the fluency of the robot to human handovers using a human inspired feed-forward release controller[ abstract ]
    • N. Mansfeld, M.C. Özparpucu, S. Haddadin, Braking elastic joint robots in near-minimum time[ abstract ]
  • 11.00 - 11.20: COFFEE BREAK
  • 11.20 - 13.00: Session 2 (Chair: Fabrizio Flacco)
    • S. Mazzoleni, F. Posteraro, P. Dario, A set of kinematic parameters as performance metrics for assessing  motor recovery in stroke patients during upper limb robot-assisted therapy[ abstract ]
    • B. Allotta, R. Conti, L. Governi, E. Meli, A. Ridolfi, A low-cost wearable hand exoskeleton for hand opening disabilities[ abstract ]
    • S. Romiti, M. Cempini, M. Cortese, F. Posteraro, N. Vitiello, Usability of a SEA-based upper-limb rehabilitation device[ abstract ]
    • M. D’Alonzo, C. Cipriani, Vibrotactile feedback elicits embodiment of robotic hand in active motor task[ abstract ]
    • A. Calanca, P. Fiorini, Force Control Beyond the Passivity Interaction Paradigm[ abstract ]
  • 13.00 - 14.00: LUNCH
  • 14.00 - 15.00:Invited talk
    • Prof. Nikos Tsagarakis, Istituto Italiano di Tecnologia - Dept. of Advanced Robotics
      Compliant Actuation Technologies for Emerging Robust, Friendly and Efficient Robots
  • 15.00 - 16.00:Session 3 (Chair: Giorgio Grioli)
    • F. Del Sette, S. Rossi, F. Patanè, P. Cappa, WAKE-up: 3D Prototyping & Improvements[ abstract ]
    • J. Hyung Jung, Phase Difference Analysis of Angular  Momentum in Human Walking for Stability of Lower Limb Exoskeleton[ abstract ]
    • G. Mathijssen, R. Furnémont, D. Lefeber, B. Vanderborght, MACCEPA-based Series-Parallel Elastic Actuators (SPEA) for the next generation of robotic co-workers[ abstract ]
  • 16.00 - 16.15: COFFEE BREAK
  • 16.15 - 17.15: Session 4 (Chair: Matteo Saveriano)
    • I. Baldoli, S. Tognarelli, F. Cecchi, A. Menciassi, C. Laschi, A novel active neonatal pulmonary simulator for high-fidelity training in mechanical ventilation[ abstract ]
    • L. Fiorini, A. Manzi, F. Cavallo, P. Dario, Design of Cloud Robotics Solution for Independent Living: the KuBo example[ abstract ]
    • A. Grassi, I. Baldoli, F. Cecchi, C. Laschi, New devices to measure sucking and grasping for the study of the mirror-neurons system in infants[ abstract ]
  • 17.15 - 17.45: The Natural Machine Motion Initiative – Giorgio Grioli, Istituto Italiano di Tecnologia
  • 17.45 -18.30: Session 5 (Chair: Sami Haddadin)
    • D. Mazzei, A. Zaraki, L. Cominelli, R. Garofalo, A. Cisternino, D. De Rossi, An Extended Abstract - Building an Empathic Social Robot[ abstract ]
    • A. Sciutti, O. Palinko, L. Patanè, F. Rea, F. Nori, N. Noceti, F. Odone, A. Verri, G. Sandini, Bidirectional Human-robot action reading[ abstract ]
  • 20:30: SOCIAL DINNER

October 24, 2014

  • 9.00 - 10.00:Invited talk
    • Prof. Heike Vallery TU Delft (Delft University of Technology) - BioMechanical Engineering Mechatronic Concepts for Minimalistic Support of Gait and Balance
  • 10.00 - 11.00:Session 1 (Chair: Nicola Vitiello)
    • M. Cianchetti, C. Laschi,  Soft Mechatronics for Human-Friendly Robotics[ abstract ]
    • E. Magrini, F. Flacco, A. De Luca, Motion and Force Control for Safe Physical Human-Robot Interaction Based on Estimated Contact Forces[ abstract ]
  • 11.00 - 11.20: COFFEE BREAK
  • 11.20 - 13.00:Session 2 (Chair: Sami Haddadin)
    • M. Ragaglia, L. Bascetta, P. Rocco, A. M. Zanchettin, Towards Safe Human-Robot Interaction: evaluating in real-time the severity of possible collisions in industrial scenarios[ abstract ]
    • A. Zube, A. Jung, C. Frese, Robot Path Adaptation for Shared Human-Robot Workspaces[ abstract ]
    • G. Palli, L. Pan, M. Hosseini, L. Moriello, C. Melchiorri, Implementation of a Variable Stiffness Joint Based on the Twisted String Actuators[ abstract ]
    • S. Terryn, G. Mathijssen, J. Brancart, G. Van Assche, B. Vanderborght, Feasibility study on self-healing compliant actuators[ abstract ]
    • G. Passetti, F. Cecchi, A. Pratesi, F.P. Falotico, I. Mannari, C. Laschi, P. Dario, A novel mechatronic baby gym for promoting infants motor development[ abstract ]
  • 13.00 - 14.00: LUNCH
  • 14.00 - 14.40: Session 3 (Chair: Gianluca Palli)
    • V. R. Garate, J.F. Collard, R. Ronsse, Bio-Inspired model for locomotion assistance[ abstract ]
    • A. Parri, T. Yan, S. Crea, N. Vitiello, On-line detection of cyclical motion tasks: an oscillator-based approach[ abstract ]
  • 14.40 - 15.10: The CYBERLEGs Project, Live demo
    • Nicola Vitiello, Scuola Superiore Sant’Anna – The BioRobotics Institute
  • 15.10 - 18.00: Lab Tour @The BioRobotics Institute




Museo Piaggio
V.le Rinaldo Piaggio, 7
Pontedera - Pisa
How To Reach HFR 2014



Authors Area


Important Dates

• Paper (one A4) submission due:
September 20, 2014
• Notification of acceptance:
September 30, 2014



Previous HFR Workshops