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• HARU: On the compliance, reliability and motion control of a tabletop robot

  HARU is a socially intelligent tabletop robot developed by the Honda Research Institute Japan to explore long-term human–robot interaction in everyday environments such as schools, hospitals, and homes. Safe, engaging human–robot interaction must begin in the earliest design stages. Rigid components can pose safety risks and be costly to adapt, while soft robotics provides a safer and more expressive alternative, but often falls short on reliability over long-term use. At the Robot Design Lab (KTH), our project builds on the HARU platform and applies a mechatronic design methodology, where we integrate compliant structures, soft robotic actuation, sensing, and advanced control, with the goal to ensure motion that is expressive and immersive, yet also safe, durable, and dependable during extended operation.

• EXHILO: Real-time exoskeleton control for human-in-the-loop optimization

  The project goal is to develop a modular lower-limb exoskeleton prototype equipped with off-board actuation and a flexible digital control interface. The system enables Human-in-the-Loop (HILO) optimization, where assistance strategies are automatically tuned in real time to each user. This approach supports adaptive, personalized exoskeleton control and accelerates research into wearable robotics.