Physical Human–Robot Interaction (pHRI)

Physical Human–Robot Interaction (pHRI) represents the future of work in factories, hospitals, and homes. We focus on developing and advancing pHRI setups and algorithms towards enabling safe, intelligent, and seamless collaboration and coordination between humans and robots. Our holistic approach to pHRI integrates the latest advances in Actuation (cobots, including variable stiffness and compliant mechanisms), Sensing (human physical ergonomics and cognitive state monitoring), and Robot Control and Planning (conventional control theory combined with learning and optimization). 

Research Focus Areas

Being a Serbian focal point in research and leading Serbian hub in pHRI, we combine basic with applied research to support integration of novel robotics system in industry. Our work is built on a modular ROS-based software architecture that enables safe, secure, and efficient pHRI, and specifically features the following: 

  • Cobot-supported neuroergonomic workstations, demonstrated in labor-intensive tasks such as assembly and polishing 
  • Robot action planning based on real-time human data, including ergonomic and cognitive monitoring 
  • Novel control methods for cobots, compliant and variable-stiffness robots, including geometric approaches to Cartesian impedance control 
  • Advanced cobot training methodologies, integrating immersive technologies such as augmented reality (AR) 

Through this integrative research direction, we aim to create adaptive robotic systems that enhance human capability, safety, and productivity. In this mission we already supported ABB Serbia, Galeb Group, Servoteh, Ivamax, etc.   

Research Infrastructure

We serve as a leading entry point and proof-of-concept site in Serbia for advanced collaborative robotics technologies and pHRI research platforms, including: 

  • The first collaborative robot (Franka Emika Panda) 
  • The first cognitive cobot (MAiRA M pro) with integrated vision and speech interaction 
  • The first collaborative mobile manipulator (KAIROS omniwheel base with Franka Research III cobot) 

Related ETF Robotics TestBeds for research in pHRI: 

  • Neuroergonomic workstation 
  • Modular human-robot sorting station 
  • Collaborative mobile robot 

 

Key References

N. Knezevic, A. Savic, Z. Gordic, A. Ajoudani, K. Jovanovic, “Towards Industry 5.0 – A Neuroergonomic Workstation for Human-Centered Cobot-Supported Manual Assembly Proces”, IEEE Robotics and Automation Magazine, 2024. 

A. Vukicevic, M. Petrovic, N. Jurisevic, M. Djapan, N. Knezevic, A. Novakovic, K. Jovanovic,   “Versatile waste sorting in small batch and flexible manufacturing industries using deep learning techniques”, Scientific reports (Nature), 2025. 

N. Knezevic, B. Lukic, T. Petric, K. Jovanovic, “A Geometric Approach to Task-Specific Cartesian Stiffness Shaping”, Journal of Intelligent & Robotic Systems (Springer), 2024.

Demo videos