{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,8]],"date-time":"2025-11-08T13:40:31Z","timestamp":1762609231896,"version":"build-2065373602"},"reference-count":59,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2023,3,23]],"date-time":"2023-03-23T00:00:00Z","timestamp":1679529600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European Commission","award":["101070440","UIDB\/00127\/2020"],"award-info":[{"award-number":["101070440","UIDB\/00127\/2020"]}]},{"DOI":"10.13039\/501100000780","name":"European Union\u2019s Horizon Europe Framework Programme","doi-asserted-by":"publisher","award":["101070440","UIDB\/00127\/2020"],"award-info":[{"award-number":["101070440","UIDB\/00127\/2020"]}],"id":[{"id":"10.13039\/501100000780","id-type":"DOI","asserted-by":"publisher"}]},{"name":"FCT\u2014Funda\u00e7\u00e3o para a Ci\u00eancia e a Tecnologia (FCT) I.P., through national funds","award":["101070440","UIDB\/00127\/2020"],"award-info":[{"award-number":["101070440","UIDB\/00127\/2020"]}]},{"name":"Ingeniarius Ltd","award":["101070440","UIDB\/00127\/2020"],"award-info":[{"award-number":["101070440","UIDB\/00127\/2020"]}]},{"name":"UTAD","award":["101070440","UIDB\/00127\/2020"],"award-info":[{"award-number":["101070440","UIDB\/00127\/2020"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This study presents a novel approach to cope with the human behaviour uncertainty during Human-Robot Collaboration (HRC) in dynamic and unstructured environments, such as agriculture, forestry, and construction. These challenging tasks, which often require excessive time, labour and are hazardous for humans, provide ample room for improvement through collaboration with robots. However, the integration of humans in-the-loop raises open challenges due to the uncertainty that comes with the ambiguous nature of human behaviour. Such uncertainty makes it difficult to represent high-level human behaviour based on low-level sensory input data. The proposed Fuzzy State-Long Short-Term Memory (FS-LSTM) approach addresses this challenge by fuzzifying ambiguous sensory data and developing a combined activity recognition and sequence modelling system using state machines and the LSTM deep learning method. The evaluation process compares the traditional LSTM approach with raw sensory data inputs, a Fuzzy-LSTM approach with fuzzified inputs, and the proposed FS-LSTM approach. The results show that the use of fuzzified inputs significantly improves accuracy compared to traditional LSTM, and, while the fuzzy state machine approach provides similar results than the fuzzy one, it offers the added benefits of ensuring feasible transitions between activities with improved computational efficiency.<\/jats:p>","DOI":"10.3390\/s23073388","type":"journal-article","created":{"date-parts":[[2023,3,24]],"date-time":"2023-03-24T03:16:46Z","timestamp":1679627806000},"page":"3388","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Human-Aware Collaborative Robots in the Wild: Coping with Uncertainty in Activity Recognition"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-8411-722X","authenticated-orcid":false,"given":"Beril","family":"Yal\u00e7inkaya","sequence":"first","affiliation":[{"name":"Ingeniarius, Ltd., R. Nossa Sra. Concei\u00e7\u00e3o 146, 4445-147 Alfena, Portugal"},{"name":"Engineering Department, School of Sciences and Technology, University of Tr\u00e1s-os-Montes and Alto Douro (UTAD), Quinta de Prados, 5000-801 Vila Real, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6641-6090","authenticated-orcid":false,"given":"Micael S.","family":"Couceiro","sequence":"additional","affiliation":[{"name":"Ingeniarius, Ltd., R. Nossa Sra. Concei\u00e7\u00e3o 146, 4445-147 Alfena, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5862-5706","authenticated-orcid":false,"given":"Salviano Pinto","family":"Soares","sequence":"additional","affiliation":[{"name":"Engineering Department, School of Sciences and Technology, University of Tr\u00e1s-os-Montes and Alto Douro (UTAD), Quinta de Prados, 5000-801 Vila Real, Portugal"},{"name":"Institute of Electronics and Informatics Engineering of Aveiro (IEETA), University of Aveiro, 3810-193 Aveiro, Portugal"},{"name":"Intelligent Systems Associate Laboratory (LASI), University of Aveiro, 3810-193 Aveiro, Portugal"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-5798-1298","authenticated-orcid":false,"given":"Antonio","family":"Valente","sequence":"additional","affiliation":[{"name":"Engineering Department, School of Sciences and Technology, University of Tr\u00e1s-os-Montes and Alto Douro (UTAD), Quinta de Prados, 5000-801 Vila Real, Portugal"},{"name":"INESC TEC, Campus da Faculdade de Engenharia da Universidade do Porto, Rua Dr. Roberto Frias, 4200-464 Porto, Portugal"}]}],"member":"1968","published-online":{"date-parts":[[2023,3,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"248","DOI":"10.1016\/j.mechatronics.2018.02.009","article-title":"Survey on human\u2013robot collaboration in industrial settings: Safety, intuitive interfaces and applications","volume":"55","author":"Villani","year":"2018","journal-title":"Mechatronics"},{"key":"ref_2","doi-asserted-by":"crossref","first-page":"957","DOI":"10.1007\/s10514-017-9677-2","article-title":"Progress and prospects of the human\u2013robot collaboration","volume":"42","author":"Ajoudani","year":"2018","journal-title":"Auton. 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