Haptic and Collaborative Robots

Higher education teachers: Mihelj Matjaž
Collaborators: Podobnik Janez
Credits: 6
Semester: winter
Subject code: 64296

Subject description


  • Enrollment in the second year.

Content (Syllabus outline):


definition, characteristics and applications for haptic and collaborative robots


human factor, haptic robots (kinesthetic and tactile interfaces, kinematics, dynamics); collision detection, modelling and rendering (in real and virtual environments, collision dynamics), control and stability analysis for haptic interaction (impedance and admittance control), teleoperation.


robot architecture (kinematic, dynamics, sensing), robot control, modes of collaboration between the robot and a human, robot applications, specific methods for teaching collaborative robots, safety and standards.


Industry 4.0 concept, cyber-physical systems, digital twins, use of collaborative robots.

Objectives and competences:

Course deals with the use of robots in close physical contact with a human (direct physical interaction) for the purpose of exchanging kinesthetic and tactile stimuli between the human and the robot. It analyses physical background, technological challenges and limitations related to the design of haptic robots. The emphasis is on concepts required for understanding human responses to artificially generated haptic stimuli (kinesthetic and tactile). The concept of haptic interaction is extended to teleoperation systems, which are further examined from the point of view of tele-micro and nanomanipulation. Students obtain practical knowledge in the laboratory while executing interdisciplinary research projects.

Intended learning outcomes:

After successful completion of the course, students should be able to:

  • develop solutions that require physical contact and cooperation between a robot and a human, including teleoperation systems,
  • choose appropriate method for teaching a robot and solution to ensure operator’s safety,
  • construct a mechanism of a haptic or collaborative robot,
  • synthesize robot control,
  • analyze stability of a robot in contact with a human,
  • use haptic and collaborative robots in various applications,
  • develop solutions based on Industry 4.0 concepts.

Learning and teaching methods:

Students have a textbook. Lectures focus on theoretical basis of haptic robots. Because of the specificity of the course, part of the lectures is performed in the form of multimedia presentations. Latest developments in the field of haptic robot are presented in the "video lectures." Practical exercises are performed in the laboratory, which is equipped with a number of modern haptic robots. Students work in interdisciplinary project teams, where each student deals with the specific problem of human-robot interaction.

Study materials

  1. M. Mihelj: Haptični roboti, Založba FE in FRI, 2007.
  2. M. Mihelj, J. Podobnik, Haptics for Virtual Reality and Teleoperation, Springer, 2012.
  3. G. Burdea, P. Coiffet: Virtual Reality Technology, Wiley, 2003.
  4. B. Siciliano, L. Villani: Robot Force Control, Kluwer Academic Publishers, 1999.

Study in which the course is carried out

  • 2 year - 2nd cycle - Electrical Engineering - Robotics