Research

My expertise lies in the areas of robot task learning, interaction control, and human-robot interaction. I have presented my research in leading international journals, conferences, and workshops. My research encompasses a wide range of subjects, including human-robot interaction studies in both domestic and manufacturing settings, fundamental research on machine learning methods for robot task learning, and comprehensive reviews of robotics research.

I have recently joined the Specialist Modelling Group at Foster + Partners, where I will help explore the future of robotics in architectural design and the built environment.

Journals

• Towards Human-Robot Collaborative Surgery: Trajectory and Strategy Learning in Bimanual Peg Transfer, Z. Hu, Z. Wang, Y. Huang, A. Sena, F. Baena, E. Burdet, iEEE Robotics and Automation Letters (RA-L), 2023 (link)

• A Review on Interaction Control for Contact Robots Through Intent Detection, Y. Li, A, Sena, Z. Wang, X. Xing, J. Babic, E. HF van Asseldonk, E. Burdet, Progress in Biomedical Engineering, 2022 (link)

• Quantifying Teaching Behaviour in Robot Learning from Demonstration, A. Sena, M. Howard, International Journal of Robotics Research (IJRR), 2019 (link | preprint)

Conferences

• A wearable system with harmonic oscillations to assess finger biomechanics, H. Yu, A. Sena, E. Burdet, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022 (link)

• Haptic Bimanual System for Teleoperation of Time-Delayed Tasks, A. Sena, Q. Rouxel, E. Ivanova, E. Burdet, Z. Li, IEEE International Conference on Robotics and Biomimetics (ROBIO), 2021 (link)

• Improving Task-Parameterised Movement Learning Generalisation with Frame-Weighted Trajectory Generation, A. Sena, B. Michael, M. Howard, IEEE International Conference on Intelligent Robots and Systems (IROS), 2019 (link | preprint | code)

• A Framework for Teaching Impedance Behaviours by Combining Human and Robot ‘Best Practice’, Y. Zhao, A. Sena, F. Wu, M. Howard, IEEE International Conference on Intelligent Robots and Systems (IROS), 2018 (link | preprint)

• Teaching Human Teachers to Teach Robot Learners, A. Sena, Y. Zhao, M. Howard, IEEE International Conference on Robotics and Automation (ICRA), 2018 (link | preprint)

• Controlling robots in the home: A study on factors that affect the performance of novice robot operators, C. McGinn, A. Sena, K. Kelly, Applied Ergonomics, 2017 (link)

• Human in the loop control in robotics for manufacturing, A. Sena, C. McGinn, A. McCreevey, C. Donovan, K. Kelly, 32nd International Manufacturing Conference, 2015 (link)

• Next generation tactile sensing for Human-Robot Interaction in industrial robotics, A .Sena, K. Kelly, 32nd International Manufacturing Conference, 2015 (link)

• Evaluation of a local path-planning algorithm for a hospital located autonomous mobile robot, C. McGinn, K. Kelly, A. Sena, O. Brogan, Irish Signals and Systems Conference, 2012 (link)

Workshops

• Computer Vision-Based Automated Functional Electrical Stimulation Calibration System for Inducing Functional Hand Postures, Y. Lei, A. Yurkewich, A. Sena, Z. Ding, E. Burdet, International Functional Electrical Stimulation Society (IFESS, RehabWeek), 2023

• The Gap in Functional Electrical Stimulation Simulation, A. Sena, H. Kavianirad, S. Endo, E. Burdet, S. Hirche, 3rd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics, Robotics: Science and Systems, 2021 (link)

Theses

• PhD (KCL): Efficient teaching and effective learning for robot learning from demonstration, A. Sena, 2021

• MSc (TCD): Multimodal Robot Control for Non-Expert Human-Robot Interaction in Domestic Task Environments, A. Sena, 2016

• BAI (TCD): Next Generation Depth Cameras in Robotics - A Capabilities Analysis and Object Avoidance System, A. Sena, 2012