Alireza Madani

Berk Guler, Pouya P. Niaz, Alireza Madani et al.

In this paper, we propose a supervised learning approach based on an Artificial Neural Network (ANN) model for real-time classification of subtasks in a physical human-robot interaction (pHRI) task involving contact with a stiff environment. In this regard, we consider three subtasks for a given pHRI task: Idle, Driving, and Contact. Based on this classification, the parameters of an admittance controller that regulates the interaction between human and robot are adjusted adaptively in real time to make the robot more transparent to the operator (i.e. less resistant) during the Driving phase and more stable during the Contact phase. The Idle phase is primarily used to detect the initiation of task. Experimental results have shown that the ANN model can learn to detect the subtasks under different admittance controller conditions with an accuracy of 98% for 12 participants. Finally, we show that the admittance adaptation based on the proposed subtask classifier leads to 20% lower human effort (i.e. higher transparency) in the Driving phase and 25% lower oscillation amplitude (i.e. higher stability) during drilling in the Contact phase compared to an admittance controller with fixed parameters.

Feras Kiki, Pouya P. Niaz, Alireza Madani et al.

Assessing human muscle fatigue is critical for optimizing performance and safety in physical human-robot interaction(pHRI). This work presents a data-driven framework to estimate fatigue in dynamic, cyclic pHRI using arm-mounted surface electromyography(sEMG). Subject-specific machine-learning regression models(Random Forest, XGBoost, and Linear Regression predict the fraction of cycles to fatigue(FCF) from three frequency-domain and one time-domain EMG features, and are benchmarked against a convolutional neural network(CNN) that ingests spectrograms of filtered EMG. Framing fatigue estimation as regression (rather than classification) captures continuous progression toward fatigue, supporting earlier detection, timely intervention, and adaptive robot control. In experiments with ten participants, a collaborative robot under admittance control guided repetitive lateral (left-right) end-effector motions until muscular fatigue. Average FCF RMSE across participants was 20.8+/-4.3% for the CNN, 23.3+/-3.8% for Random Forest, 24.8+/-4.5% for XGBoost, and 26.9+/-6.1% for Linear Regression. To probe cross-task generalization, one participant additionally performed unseen vertical (up-down) and circular repetitions; models trained only on lateral data were tested directly and largely retained accuracy, indicating robustness to changes in movement direction, arm kinematics, and muscle recruitment, while Linear Regression deteriorated. Overall, the study shows that both feature-based ML and spectrogram-based DL can estimate remaining work capacity during repetitive pHRI, with the CNN delivering the lowest error and the tree-based models close behind. The reported transfer to new motion patterns suggests potential for practical fatigue monitoring without retraining for every task, improving operator protection and enabling fatigue-aware shared autonomy, for safer fatigue-adaptive pHRI control.