@article {4376, title = {Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, year = {2022}, month = {05/2022}, abstract = {

Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree-of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its internal control signals. The validity of the approach is proven analytically for single and multiple degree-offreedom robots. The obtained estimators are first evaluated via simulations on articulated soft robots with different actuations and then tested in experiments with real robotic setups using antagonistic variable stiffness actuators.

}, keywords = {Calibration and Identification, Compliant Joints and Mechanisms, Flexible Robots, Safety in HRI}, author = {Maja Trumic and Giorgio Grioli and Kosta Jovanovic and Adriano Fagiolini} } @article {4318, title = {Comparison between rigid and soft poly-articulated prosthetic hands in non-expert myo-electric users shows advantages of soft robotics.}, journal = {Scientific Reports}, volume = {11}, year = {2021}, month = {12/2021}, chapter = {1}, abstract = {

Notwithstanding the advancement of modern bionic hands and the large variety of prosthetic hands in the market, commercial devices still present limited acceptance and percentage of daily use. While commercial prostheses present rigid mechanical structures, emerging trends in the design of robotic hands are moving towards soft technologies. Although this approach is inspired by nature and could be promising for prosthetic applications, there is scant literature concerning its benefits for end-users and in real-life scenarios. In this work, we evaluate and assess the role and the benefits of soft robotic technologies in the field of prosthetics. We propose a thorough comparison between rigid and soft characteristics of two poly-articulated hands in 5 non-expert myo-electric prosthesis users in pre- and post-therapeutic training conditions. The protocol includes two standard functional assessments, three surveys for user-perception, and three customized tests to evaluate the sense of embodiment. Results highlight that rigid hands provide a more precise grasp, while soft properties show higher functionalities thanks to their adaptability to different requirements, intuitive use and more natural execution of activities of daily living. This comprehensive evaluation suggests that softness could also promote a quick integration of the system in non-expert users.

}, isbn = {ISSN 2045-2322}, doi = {https://doi.org/10.1038/s41598-021-02562-y}, url = {https://www.nature.com/articles/s41598-021-02562-y}, author = {Capsi-Morales, Patricia and Piazza, Cristina and Catalano, Manuel G. and Grioli, Giorgio and Schiavon, Lisa and Fiaschi, Elena and Bicchi, Antonio} } @article {4178, title = {A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints}, journal = {Frontiers in Robotics and AI}, volume = {8}, year = {2021}, month = {03/2021}, abstract = {

Living beings modulate the impedance of their joints to interact proficiently, robustly, and safely with the environment. These observations inspired the design of soft articulated robots with the development of Variable Impedance and Variable Stiffness Actuators. However, designing them remains a challenging task due to their mechanical complexity, encumbrance, and weight, but also due to the different specifications that the wide range of applications requires. For instance, as prostheses or parts of humanoid systems, there is currently a need for multi-degree-of-freedom joints that have abilities similar to those of human articulations. Toward this goal, we propose a new compact and configurable design for a two-degree-of-freedom variable stiffness joint that can match the passive behavior of a human wrist and ankle. Using only three motors, this joint can control its equilibrium orientation around two perpendicular axes and its overall stiffness as a one-dimensional parameter, like the co-contraction of human muscles. The kinematic architecture builds upon a state-of-the-art rigid parallel mechanism with the addition of nonlinear elastic elements to allow the control of the stiffness. The mechanical parameters of the proposed system can be optimized to match desired passive compliant behaviors and to fit various applications (e.g., prosthetic wrists or ankles, artificial wrists, etc.). After describing the joint structure, we detail the kinetostatic analysis to derive the compliant behavior as a function of the design parameters and to prove the variable stiffness ability of the system. Besides, we provide sets of design parameters to match the passive compliance of either a human wrist or ankle. Moreover, to show the versatility of the proposed joint architecture and as guidelines for the future designer, we describe the influence of the main design parameters on the system stiffness characteristic and show the potential of the design for more complex applications

}, keywords = {articulated soft robotics, artificial joints, humanoids, prostheses, variable stiffness}, issn = {2296-9144}, doi = {10.3389/frobt.2021.614145}, url = {https://www.frontiersin.org/article/10.3389/frobt.2021.614145}, author = {S. Lemerle and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4222, title = {Intensification of functional neural control on heartbeat dynamics in subclinical depression}, journal = {Translational Psychiatry}, volume = {11}, year = {2021}, pages = {1{\textendash}10}, author = {Catrambone, Vincenzo and Benvenuti, Simone Messerotti and Gentili, Claudio and Valenza, Gaetano} } @article {4299, title = {Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion}, journal = {IEEE Robotics and Automation Letters}, volume = {6}, year = {2021}, pages = {4488{\textendash}4495}, author = {Xin, Guiyang and Xin, Songyan and Cebe, Oguzhan and Pollayil, Mathew Jose and Angelini, Franco and Garabini, Manolo and Vijayakumar, Sethu and Mistry, Michael} } @article {4300, title = {A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances}, journal = {IEEE Access}, volume = {9}, year = {2021}, pages = {147471-147480}, doi = {10.1109/ACCESS.2021.3124014}, author = {Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo} } @article {4205, title = {A wearable wrist haptic display for motion tracking and force feedback in the operational space}, journal = {Wearable Technologies}, volume = {2}, year = {2021}, author = {Laghi, Marco and Catalano, Manuel G and Grioli, Giorgio and Bicchi, Antonio} } @article {4271, title = {WRAPP-up: A Dual-Arm Robot for Intralogistics}, journal = {IEEE Robotics Automation Magazine}, volume = {28}, year = {2021}, pages = {50-66}, abstract = {

The diffusion of e-commerce has produced larger and larger volumes of varying items to be handled in warehouses, with the effect that the need for picking automation is increasing. Conventionally, automation has been achieved through a custom plant designed for large-scale production of items having well-established characteristics that are expected to change slowly and to only a small degree over time. However, today the challenge is to realize a solution that is flexible enough to handle goods with different shapes, sizes, and physical properties and that require different grasping modes. To solve this problem, we first analyzed how humans perform picking and then synthesized their behavior according to four main tactics. These were then used as guidelines for the design, planning, and control of WRAPP-up, a dual-arm robot composed of two anthropomorphic manipulators: a Pisa/IIT SoftHand and a velvet tray (Figure 1). The system has been validated and evaluated through extensive experimental tests.

}, doi = {10.1109/MRA.2020.3015899}, url = {https://ieeexplore.ieee.org/document/9212558?fbclid=IwAR05rgEATvdOFrtQWMrNKMrGHGfvtKE4MEKcj3i9pb6KAI4XTdhMqaq7MNc}, author = {Garabini, Manolo and Caporale, Danilo and Tincani, Vinicio and Palleschi, Alessandro and Gabellieri, Chiara and Gugliotta, Marco and Settimi, Alessandro and Catalano, Manuel Giuseppe and Grioli, Giorgio and Pallottino, Lucia} } @conference {4179, title = {Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7196-7202}, doi = {10.1109/IROS45743.2020.9340703}, author = {C. Gabellieri and Y. S. Sarkisov and A. Coelho and L. Pallottino and K. Kondak and M. J. Kim} } @article {4293, title = {Control architecture for human-like motion with applications to articulated soft robots}, journal = {Frontiers in Robotics and AI}, volume = {7}, year = {2020}, author = {Angelini, Franco and Della Santina, Cosimo and Garabini, Manolo and Bianchi, Matteo and Bicchi, Antonio} } @article {4079, title = {Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction.}, journal = {Frontiers in Neurorobotics}, volume = {14}, year = {2020}, month = {06/2020}, abstract = {

To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a method to control a prosthetic robot hand and its impedance, and explores the utility of variable stiffness when performing activities of daily living and physical social interactions. The proposed method is capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. The feasibility of our approach is validated and compared to existing control modalities in a preliminary study involving one prosthesis user. The algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). Then, we evaluate the usability of the proposed approach while executing a variety of tasks. Among these tasks, the user interacts with other 12 able-bodied subjects, whose experiences were also assessed. Several statistically significant aspects from the System Usability Scale indicate user{\textquoteright}s preference of variable stiffness control over low or high constant stiffness due to its reactivity and adaptability. Feedback reported by able-bodied subjects reveal a general tendency to favor soft interaction, i.e., low stiffness, which is perceived more human-like and comfortable. These combined results suggest the use of variable stiffness as a viable compromise between firm control and safe interaction which is worth investigating further.

}, keywords = {human-robot social interaction, impedance control, prosthetics, Soft robotics, task adaptability}, doi = {10.3389/fnbot.2020.00033}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2020.00033/full?\&utm_source=Email_to_authors_\&utm_medium=Email\&utm_content=T1_11.5e1_author\&utm_campaign=Email_publication\&field=\&journalName=Frontiers_in_Neurorobotics\&id=503842}, author = {Capsi-Morales, Patricia and C. Piazza and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4081, title = {Exploring the Role of Palm Concavity and Adaptability in Soft Synergistic Robotic Hands}, journal = { IEEE Robotics and Automation Letters }, volume = {5}, year = {2020}, month = {17 June 2020}, pages = {4703 - 4710}, chapter = {4703}, abstract = {

Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an articulated palm improves finger workspace and manipulability. We propose a mechanical design of a modular palm with two elastic rolling-contact palmar joints, that can be integrated on the Pisa/IIT SoftHand, without introducing additional motors. With this prototype, we evaluate experimentally the grasping capabilities of a robotic palm. We compare its performance to that of the same robotic hand with the palm fixed, and to that of a human hand. To assess the effective grasp quality achieved by the three systems, we measure the contact area using paint-transfer patterns in different grasping actions. Preliminary grasping experiments show a closer resemblance of the soft-palm robotic hand to the human hand. Results evidence a higher adaptive capability and a larger involvement of all fingers in grasping.

}, keywords = {Ellipsoids, Grasping, Indexes, Kinematics, Robots, Shape, Thumb}, issn = { 2377-3766}, doi = {10.1109/LRA.2020.3003257}, url = {https://ieeexplore.ieee.org/document/9119822?source=authoralert}, author = {Capsi-Morales, Patricia and G. Grioli and C. Piazza and A. Bicchi and M. G. Catalano} } @conference {4297, title = {Iterative learning control as a framework for human-inspired control with bio-mimetic actuators}, booktitle = {Conference on Biomimetic and Biohybrid Systems}, year = {2020}, pages = {12{\textendash}16}, publisher = {Springer}, organization = {Springer}, author = {Angelini, Franco and Bianchi, Matteo and Garabini, Manolo and Bicchi, Antonio and Della Santina, Cosimo} } @inbook {4117, title = {Networked Systems Theory: Distributed Algorithms for Optimal Cooperation of Dynamical Systems}, booktitle = {Analytics for the Sharing Economy: Mathematics, Engineering and Business Perspectives}, year = {2020}, pages = {25{\textendash}37}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, abstract = {

Interconnection of a large number of systems has become a reality from a technological point of view although intelligent connection among smart systems still presents a challenge in several application scenarios. More specifically, when many smart devices must accomplish an overall goal based on information exchanges with other devices, several factors render this task a real challenge, such as, knowing what specific information to exchange, with whom, how to go about it, and when this exchange will occur. Moreover, interconnected devices may require access to or the use of common resources, making the management of the overall system even more complex. The management of shared resources usually sets the goal of optimizing usage while guaranteeing achievement of the overall goals. Algorithms or protocols that grant the device a correct, safe and optimized access to resources play a fundamental role. In this chapter we will provide those algorithms that are fundamental in several different application scenarios that allow for the development of more complex algorithms in order to manage interconnected systems in the management of shared resources.

}, isbn = {978-3-030-35032-1}, doi = {10.1007/978-3-030-35032-1_3}, url = {https://doi.org/10.1007/978-3-030-35032-1_3}, author = {L. Pallottino}, editor = {E. Crisostomi and B. Ghaddar and F. Hausler and J. Naoum-Sawaya and G. Russo and R. Shorten} } @proceedings {4106, title = {SIMULTANEOUS AND PROPORTIONAL DECODING OF STIFFNESS AND POSITION INTENTIONS FROM TWO SEMG CHANNELS FOR UL PROSTHETICS}, year = {2020}, month = {07/2020}, abstract = {

To physically interact with a rich variety of environments and situation-oriented requirements, humans continuously adapt both the stiffness and the force of their limbs through antagonistic muscle coactivation. Reflecting this behaviour in prostheses may promote control naturalness and intuitiveness and, consequently, their acceptance in everyday life. We propose a method capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. First, the algorithm is validated and compared to existing control modalities. Then, the algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). We investigated the feasibility of our approach in a preliminary study involving one prosthetic user. Our future goal is to evaluate the usability of the proposed approach executing a variety of tasks including physical social interaction with other subjects (see Figure 1). Our hypothesis is that variable stiffness could be a compromise between firm control and safe interaction.

}, url = {https://conferences.lib.unb.ca/index.php/mec/article/view/35}, author = {Capsi-Morales, Patricia and C. Piazza and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4292, title = {Softhandler: An integrated soft robotic system for handling heterogeneous objects}, journal = {IEEE Robotics \& Automation Magazine}, volume = {27}, year = {2020}, pages = {55{\textendash}72}, author = {Angelini, Franco and Petrocelli, Cristiano and Catalano, Manuel G and Garabini, Manolo and Grioli, Giorgio and Bicchi, Antonio} } @article {4291, title = {Time generalization of trajectories learned on articulated soft robots}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, year = {2020}, pages = {3493{\textendash}3500}, author = {Angelini, Franco and Mengacci, Riccardo and Della Santina, Cosimo and Catalano, Manuel G and Garabini, Manolo and Bicchi, Antonio and Grioli, Giorgio} } @conference {4320, title = {Towards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour}, booktitle = {International Conference on NeuroRehabilitation}, year = {2020}, month = {10/2020}, pages = {489-493}, abstract = {

The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capability enables the adjustment of hand configuration in pre-grasping phases and separates the hand motion from the wrist motion. The proposed wrist, combined with a prosthetic hand, was tested with 8 able-bodied subjects and 1 subject with limb loss. It was compared to a common commercial rotational wrist and to subjects{\textquoteright} natural wrist. Results evidence the feasibility of the prototype, improved performance capabilities, and the subjects{\textquoteright} first impression about the proposed system. Finally, a prosthesis user tested and compared systems during Activities of Daily Living (ADL).

}, doi = {https://doi.org/10.1007/978-3-030-70316-5_78}, url = {https://link.springer.com/chapter/10.1007/978-3-030-70316-5_78}, author = {Capsi-Morales, Patricia and Piazza, Cristina and Grioli, Giorgio and Bicchi, Antonio and Catalano, Manuel G.} } @conference {4319, title = {Towards More Natural Transradial Bionic Limbs}, booktitle = {I-RIM}, year = {2020}, month = {12/2020}, abstract = {

Based on previous experience with prosthesis users and literature, this paper introduces three important aspects to further develop functional transradial myoelectric prostheses: stiffness modulation, grasp reliability and limb dexterity. In particular, we propose three possible solutions and discuss on the insights observed about the exploration of impedance control in prosthetic hands during Activities of Daily Living and social interaction, the introduction of an articulated palm to increase all hand parts contribution in grasping, and a compact 3 DoF myoelectric wrist capable to switch from compliant to rigid properties during pre-grasping phase to decrease compensatory movements and favour more natural body postures in prosthesis users.

}, keywords = {Bionic Limbs, Myoelectric control, Soft-robotics, Upper-limb prostheses}, url = {https://i-rim.it/wp-content/uploads/2020/12/I-RIM_2020_paper_144.pdf}, author = {Capsi-Morales, Patricia and Catalano, Manuel G. and Grioli, Giorgio and Piazza, Cristina and Bicchi, Antonio} } @conference {4298, title = {Trajectory tracking of a one-link flexible arm via iterative learning control}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7579{\textendash}7586}, publisher = {IEEE}, organization = {IEEE}, author = {Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo} } @article {3717, title = {Analysis of series elasticity in locomotion of a planar bipedal robot}, journal = { INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, year = {2019}, author = {S. Manara and G M Gasparri and M. Garabini and D. Caporale and M Gabiccini and A. Bicchi} } @article {3749, title = {Artificial hand}, number = {16/302227}, year = {2019}, month = {09/05}, url = {https://patentimages.storage.googleapis.com/4f/2c/07/915e9723cfe164/US20190269528A1.pdf}, author = {A. Bicchi and M. G. Catalano and C. Piazza and G. Grioli and C. Della Santina and M. Garabini} } @article {3678, title = {Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates}, journal = {Biomedical Signal Processing and Control}, volume = {51}, year = {2019}, month = {05/2019}, chapter = {42}, doi = {https://doi.org/10.1016/j.bspc.2019.02.007}, url = {https://www.sciencedirect.com/science/article/pii/S1746809419300436}, author = {A. Greco and G. Valenza and A. Bicchi and M. Bianchi and E. P. Scilingo} } @article {3649, title = {A Century of Robotic Hands}, journal = {Annual Review of Control, Robotics, and Autonomous Systems}, volume = {2}, year = {2019}, doi = {https://doi.org/10.1146/annurev-control-060117-105003}, url = {https://www.annualreviews.org/doi/10.1146/annurev-control-060117-105003}, author = {C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {4296, title = {A compact soft articulated parallel wrist for grasping in narrow spaces}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, pages = {3161{\textendash}3168}, author = {Negrello, Francesca and Mghames, Sariah and Grioli, Giorgio and Garabini, Manolo and Catalano, Manuel Giuseppe} } @article {3744, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/full}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3745, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3638, title = {Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots}, journal = {Frontiers in Robotics and AI}, year = {2019}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M Gabiccini and A. Bicchi} } @article {3751, title = {Exploiting Adaptability in Soft Feet for Sensing Contact Forces}, journal = { IEEE Robotics and Automation Letters}, volume = {5}, year = {2019}, month = {11/2019}, chapter = {391}, doi = {https://doi.org/10.1109/LRA.2019.2952292}, url = {https://ieeexplore.ieee.org/document/8894422}, author = {D. Mura and C. Della Santina and C. Piazza and I. Frizza and C. Morandi and M. Garabini and G. Grioli and M. G. Catalano} } @article {4218, title = {Functional linear and nonlinear brain{\textendash}heart interplay during emotional video elicitation: a maximum information coefficient study}, journal = {Entropy}, volume = {21}, year = {2019}, pages = {892}, author = {Catrambone, Vincenzo and Greco, Alberto and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {4221, title = {Lateralization of directional brain-heart information transfer during visual emotional elicitation}, journal = {American Journal of Physiology-Regulatory, Integrative and Comparative Physiology}, volume = {317}, year = {2019}, pages = {R25{\textendash}R38}, author = {Greco, Alberto and Faes, Luca and Catrambone, Vincenzo and Barbieri, Riccardo and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3643, title = {A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019 }, year = {2019}, month = {01/2019}, author = {N. Colella and M. Bianchi and G. Grioli and A. Bicchi and M. G. Catalano} } @conference {3748, title = {An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)}, year = {2019}, doi = {10.1109/ICORR.2019.8779550}, author = {C. M. Kanzler and M. G. Catalano and C. Piazza and A. Bicchi and R. Gassert and O. Lambercy} } @article {4219, title = {Predicting object-mediated gestures from brain activity: an EEG study on gender differences}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {27}, year = {2019}, pages = {411{\textendash}418}, author = {Catrambone, Vincenzo and Greco, Alberto and Averta, Giuseppe and Bianchi, Matteo and Valenza, Gaetano and Scilingo, Enzo Pasquale} } @article {3642, title = {Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Fani and K. Di Blasio and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {3641, title = {A Spherical Active Joint for Humanoids and Humans}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Mghames and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4217, title = {Time-resolved directional brain{\textendash}heart interplay measurement through synthetic data generation models}, journal = {Annals of biomedical engineering}, volume = {47}, year = {2019}, pages = {1479{\textendash}1489}, author = {Catrambone, Vincenzo and Greco, Alberto and Vanello, Nicola and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @proceedings {3698, title = {Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars}, year = {2019}, author = {D. Caporale and A Settimi and F. Massa and F. Amerotti and A. Corti and A. Fagiolini and M. Guiggiani and A. Bicchi and L. Pallottino} } @article {3655, title = {Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.}, journal = {Journal of Robotic Surgery }, year = {2019}, author = {A. Giannini and M. Bianchi and D. Doria and S. Fani and M. Caretto and A. Bicchi and T. Simoncini} } @conference {3682, title = {Advanced grasping with the Pisa/IIT softHand}, booktitle = {Robotic Grasping and Manipulation Challenge }, year = {2018}, pages = {pp. 19-38}, author = {M. Bonilla and C. Della Santina and A. Rocchi and E. Luberto and G. Santaera and E. Farnioli and C. Piazza and F. Bonomo and A. Brando and A. Raugi and M. G. Catalano and M. Bianchi and M. Garabini and G. Grioli and A. Bicchi} } @article {3377, title = {Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {July}, pages = {2577-2583}, keywords = {Admittance, Aerial systems: mechanics and control, distributed robot systems, Force, mobile manipulation, multi-robot systems, Robot kinematics, Stability criteria, Transportation}, doi = {10.1109/LRA.2018.2803811}, author = {M. Tognon and C. Gabellieri and L. Pallottino and A. Franchi} } @conference {3724, title = {Approximate hybrid model predictive control for multi-contact push recovery in complex environments}, booktitle = {IEEE RAS International Conference on Humanoid Robots}, year = {2018}, doi = { 10.1109/HUMANOIDS.2017.8239534}, author = {T. Marcucci and R. Deits and M. Gabiccini and A. Bicchi and R. Tedrake} } @article {3326, title = {Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment}, journal = {IEEE Transactions on Robotics (T-RO).}, volume = {Early Access}, year = {2018}, month = {06/2018}, abstract = {

Despite the classic nature of the problem, trajectory

tracking for soft robots, i.e. robots with compliant elements

deliberately introduced in their design, still presents several

challenges. One of these is to design controllers which can

obtain sufficiently high performance while preserving the physical

characteristics intrinsic to soft robots. Indeed, classic control

schemes using high gain feedback actions fundamentally alter the

natural compliance of soft robots effectively stiffening them, thus

de facto defeating their main design purpose. As an alternative

approach, we consider here to use a low-gain feedback, while

exploiting feedforward components. In order to cope with the

complexity and uncertainty of the dynamics, we adopt a decentralized,

iteratively learned feedforward action, combined with

a locally optimal feedback control. The relative authority of the

feedback and feedforward control actions adapts with the degree

of uncertainty of the learned component. The effectiveness of the

method is experimentally verified on several robotic structures

and working conditions, including unexpected interactions with

the environment, where preservation of softness is critical for

safety and robustness.

}, keywords = {Robotics}, author = {F. Angelini and C. Della Santina and M. Garabini and M. Bianchi and G M Gasparri and G. Grioli and M. G. Catalano and A. Bicchi} } @conference {3721, title = {EEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery}, booktitle = { Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = { 10.1109/EMBC.2018.8512912}, url = { https://ieeexplore.ieee.org/document/8512912}, author = {V. Catambrone and A. Greco and G. Averta and M. Bianchi and A. Bicchi and E. P. Scilingo and G. Valenza} } @conference {3722, title = {EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = {10.1109/EMBC.2018.8512239}, url = {https://zenodo.org/record/2559406$\#$.XTbl43ux9GM}, author = {V. Catrambone and A. Greco and G. Averta and M. Bianchi and N. Vanello and A. Bicchi and G. Valenza and E. P. Scilingo} } @article {3364, title = {Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, pages = {2299{\textendash}2306}, abstract = {

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

}, author = {G M Gasparri and S. Manara and D. Caporale and G. Averta and M. Bonilla and H. Marino and M. G. Catalano and G. Grioli and M. Bianchi and A. Bicchi and M. Garabini} } @conference {3723, title = {ExoSense: Measuring Manipulation in a Wearable Manner}, booktitle = {Proceedings - IEEE International Conference on Robotics and Automation}, year = {2018}, doi = {10.1109/ICRA.2018.8460498}, author = {E. Battaglia and M. G. Catalano and G. Grioli and M. Bianchi and A. Bicchi} } @article {3446, title = {Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario}, journal = {IEEE Robotics Automation Magazine}, year = {2018}, pages = {1-1}, keywords = {Buildings, Earthquakes, Hardware, Legged locomotion, Robot sensing systems, Task analysis}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2788801}, author = {F. Negrello and A Settimi and D. Caporale and G. Lentini and M. Poggiani and D. Kanoulas and L. Muratore and Luberto, E. and G. Santaera and L. Ciarleglio and L. Ermini and L. Pallottino and D. G. Caldwell and N. Tsagarakis and A. Bicchi and M. Garabini and M. G. Catalano} } @conference {3720, title = {A Novel Approach to Under-Actuated Control of Fluidic Systems}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, doi = {10.1109/ICRA.2018.8460859}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8460859\&isnumber=8460178}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M. Gabiccini and A. Bicchi} } @conference {3796, title = {Optimal Active Sensing with Process and Measurement Noise}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, month = {May}, pages = {2118-2125}, abstract = {

The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous work, we presented an online gradient descent method for planning optimal trajectories along which the smallest eigenvalue of the Observability Gramian (OG) is maximized. As the smallest eigenvalue of the OG is inversely proportional to the maximum estimation uncertainty, its maximization reduces the maximum estimation uncertainty of any estimation algorithm employed during motion. However, the OG does not consider the process noise that, instead, in several applications is far from being negligible. For this reason, this paper proposes a novel solution able to cope with non-negligible process noise: this is achieved by minimizing the largest eigenvalue of the a posteriori covariance matrix obtained by solving the Continuous Riccati Equation as a measure of the total available information. This minimization is expected to maximize the information gathered by the outputs while, at the same time, limiting as much as possible the negative effects of the process noise. We apply our method to a unicycle robot. The comparison between the novel method and the one of our previous work (which did not consider process noise) shows significant improvements in the obtained estimation accuracy.

}, keywords = {continuous Riccati equation, covariance matrices, eigenvalues and eigenfunctions, Estimation, estimation algorithm, gradient methods, inversely proportional, Kalman Filter, Kalman filters, largest eigenvalue, maximum estimation uncertainty, measurement noise, mobile robots, noise measurement, nonlinear differentially flat system, nonlinear filters, nonnegligible process noise, observability, observability gramian, OG, onboard sensors, online gradient descent method, optimal active sensing, optimal trajectories, optimisation, path planning, posteriori covariance matrix, Riccati equations, Robot sensing systems, Trajectory, trajectory control, unicycle robot}, doi = {10.1109/ICRA.2018.8460476}, url = {https://ieeexplore.ieee.org/document/8460476}, author = {M. Cognetti and P Salaris and P. Robuffo Giordano} } @article {3448, title = {Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation}, journal = {IEEE Robotics Automation Magazine}, volume = {25}, year = {2018}, month = {March}, pages = {77-88}, keywords = {application fields, augmented teleoperation, Autonomous robots, communication, effective design, effective simplification, environmental constraints, feedback, Force feedback, fundamental requirement, haptic feedback devices, haptic interfaces, human workspace, human-robot interaction, human-robot interactions, human-robot interfaces, ideal scenario, integrated approach, integrated interface, integrated system, interaction forces, intuitive information exchange, Kinematics, KUKA lightweight robotic arm, lightweight design, manipulators, master, position control, reduced versions, Robot sensing systems, robotic devices, robotic hand-arm system, robotic manipulator, robotic teleoperation, simplified information exchange, slave robot, stiffness control, synergy, Task analysis, teleimpedance techniques, Telemedicine, teleoperator system, telerobotics, TI control, vision, wearability, wearable feedback, wearable hand/arm}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2741579}, author = {S. Fani and S. Ciotti and M. G. Catalano and G. Grioli and A. Tognetti and G. Valenza and A. Ajoudani and M. Bianchi} } @article {3697, title = {The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis}, journal = {PLOS One}, year = {2018}, author = {S. B. Godfrey and K. Zhao and A. Theuer and M. G. Catalano and M. Bianchi and R. Breighner and D. Bhaskaran and R. Lennon and G. Grioli and M. Santello and A. Bicchi and K. Andrews} } @conference {3747, title = {The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation}, booktitle = {International Symposium on Wearable Robotics}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01887-0_71}, author = {C. Piazza and M. G. Catalano and M. Bianchi and E. Ricciardi and D. Pratichizzo and S. Haddadin and Luft, A. R. L. and O. Lambercy and R. Gassert and E. Jakubowitz and H. Van Der Kooij and F. Tonis and F. Bonomo and B. de Jonge and T. Ward and K. Zhao and M. Santello and A. Bicchi} } @conference {3562, title = {A Study on Force-Based Collaboration in Flying Swarms}, booktitle = {Proc. of Swarm Intelligence}, year = {2018}, pages = {3{\textendash}15}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-00533-7}, author = {C. Gabellieri and M. Tognon and L. Pallottino and A. Franchi} } @article {3366, title = {Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2}, journal = {IEEE Transactions on Robotics}, volume = {Early Access}, year = {2018}, month = {06/2018 }, type = {Regular Paper}, abstract = {

In the recent years, a clear trend towards simplification emerged in the development of robotic hands. The use of soft robotic approaches has been a useful tool in this prospective, enabling complexity reduction by embodying part of grasping intelligence in the hand mechanical structure. Several hand prototypes designed according to such principles have accomplished good results in terms of grasping simplicity, robustness, and reliability. Among them, the Pisa/IIT SoftHand demonstrated the feasibility of a large variety of grasping tasks, by means of only one actuator and an opportunely designed tendon driven differential mechanism. However, the use of a single degree of actuation prevents the execution of more complex tasks, like fine pre-shaping of fingers and in-hand manipulation. While possible in theory, simply doubling the Pisa/IIT SoftHand actuation system has several disadvantages, e.g. in terms of space and mechanical complexity. To overcome these limitations we propose a novel design framework for tendon driven mechanisms, where the main idea is to turn transmission friction from a disturbance into a design tool. In this way the degrees of actuation can be doubled with little additional complexity.

By leveraging on this idea we design a novel robotic hand, the Pisa/IIT SoftHand 2. We present here its design, modeling, control, and experimental validation. The hand demonstrates that by opportunely combining only two degrees of actuation with hand softness, a large variety of grasping and manipulation tasks can be performed only relying on the intelligence embodied in the mechanism. Examples include rotating objects with different shapes, opening a jar, pouring coffee from a glass.

}, issn = {Print 1552-3098; Onlline 1941-0468}, author = {C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3750, title = {Underactuated robotic hand}, number = {15/772368}, year = {2018}, month = {11/01}, url = {https://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf}, author = {A. Bicchi and C. Della Santina and M. G. Catalano and C. Piazza and G. Grioli and A. Brando} } @inbook {3381, title = {WALK-MAN Humanoid Platform}, booktitle = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, volume = {121}, number = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, year = {2018}, pages = {495{\textendash}548}, publisher = {Springer}, organization = {Springer}, doi = {10.1007/978-3-319-74666-1_13}, author = {N. G. Tsagarakis and F. Negrello and M. Garabini and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and M. G. Catalano and M. Ferrati and L. Muratore and P. Kryczka and E. Mingo Hoffman and A Settimi and A. Rocchi and A. Margan and S. Cordasco and D. Kanoulas and A. Cardellino and L. Natale and H. Dallali and J. Malzahn and N. Kashiri and V. Varricchio and L. Pallottino and C. Pavan and J. Lee and A. Ajoudani and D. G. Caldwell and A. Bicchi} } @article {2991, title = {On the adhesion-cohesion balance and oxygen consumption characteristics of liver organoids}, journal = {Plos One}, year = {2017}, month = {03/2017}, abstract = {

Liver organoids (LOs) are of interest in tissue replacement, hepatotoxicity and pathophysiological studies. However, it is still unclear what triggers LO self-assembly and what the optimal environment is for their culture. Hypothesizing that LO formation occurs as a result of a fine balance between cell-substrate adhesion and cell-cell cohesion, we used 3 cell types (hepatocytes, liver sinusoidal endothelial cells and mesenchymal stem cells) to investigate LO self-assembly on different substrates keeping the culture parameters (e.g. culture media, cell types/number) and substrate stiffness constant. As cellular spheroids may suffer from oxygen depletion in the core, we also sought to identify the optimal culture conditions for LOs in order to guarantee an adequate supply of oxygen during proliferation and differentiation. The oxygen consumption characteristics of LOs were measured using an O2 sensor and used to model the O2 concentration gradient in the organoids. We show that no LO formation occurs on highly adhesive hepatic extra-cellular matrix-based substrates, suggesting that cellular aggregation requires an optimal trade-off between the adhesiveness of a substrate and the cohesive forces between cells and that this balance is modulated by substrate mechanics. Thus, in addition to substrate stiffness, physicochemical properties, which are also critical for cell adhesion, play a role in LO self-assembly.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1371/journal.pone.0173206}, url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0173206}, author = {G. Mattei and C. Magliaro and S. Giusti and S. D. Ramachandran and S. Heinz and J. Braspenning and A. Ahluwalia} } @conference {3222, title = {Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery}, booktitle = {Proceedings of the second International Conference on Medical Information and Bioengineering}, year = {2017}, abstract = {

The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand into the abdomen of the patient. The risk of collision between the hand of the surgeon and the tool moved by the robot is the reason why these robots for laparoscopic surgery are not appropriate for HALS. On the other hand, in recent years, there has been an increasing interest in wearables, which have been introduced in our daily life. This interest and the lack of surgery robots for HALS are the reasons to develop a sensing glove which co-works whit a collaborative robot in this kind of surgery. The aim of this paper is to study the use of a sensing glove which will provide information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to the collaborative robot. This information determinates the actions that the robot will carry on. The first step was to define different movements of the hand which could be identified. An algorithm identifies these movements using the data given by the sensing glove. For the purpose of algorithm accuracy measurement, 4 persons wearing the sensing glove made a sequence with different movements. The evidence from this study suggests that a sensing glove can be used to send information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to a collaborative robot during a HALS.

}, author = {L. Santos and N. Carbonaro and A. Tognetti and Gonzales, R. and J. C. Fraile and J. P. Turiel and E. De La Fuente} } @article {3119, title = {Controlling Soft Robots: Balancing Feedback and Feedforward Elements}, journal = {IEEE Robotics and Automation Magazine}, volume = {24}, year = {2017}, note = {

This work is supported by European Commission grant H2020-ICT-645599 ({\textquotedblleft}SOMA{\textquotedblright}: SOft Manipulation) and European Research Council Advanced grant 291166 ({\textquotedblleft}SoftHands{\textquotedblright}).

}, month = {05/2017}, pages = {75 - 83}, abstract = {

Soft robots (SRs) represent one of the most significant recent evolutions in robotics. Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics. This article discusses the problem of controlling SRs. We start by observing that most of the standard methods of robotic control{\textemdash}e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control{\textemdash}effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model. This defeats the purpose of introducing physical compliance. After all, what is the point of building soft actuators if we then make them stiff by control? An alternative to such approaches can be conceived by observing humans, who can obtain good motion accuracy and repeatability while maintaining the intrinsic softness of their bodies. In this article, we show that an anticipative model of human motor control, using a feedforward action combined with low-gain feedback, can be used to achieve human-like behavior. We present an implementation of such an idea that uses iterative learning control. Finally, we present the experimental results of the application of such learned anticipative control to a physically compliant robot. The control application achieves the desired behavior much better than a classical feedback controller used for comparison.

}, keywords = {Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2016.2636360}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438}, author = {C. Della Santina and M. Bianchi and G. Grioli and F. Angelini and M. G. Catalano and M. Garabini and A. Bicchi} } @conference {3218, title = {Design and characterization of a novel high-compliance spring for robots with soft joints}, booktitle = {IEEE International Conference on Advanced Intelligent Mechatronics (AIM)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Munich, Germany, 3-7 July 2017}, abstract = {

Low stiffness elements have a number of applications in Soft Robotics, from Series Elastic Actuators (SEA) to torque sensors for compliant systems. In its general formulation, the design problem of elastic components is complex and depends on several variables: material properties, load range, shape factor and size constraints. Consequently, most of the spring designs presented in literature are based on heuristics or are optimized for specific working conditions. This work presents the design study and characterization of a scalable spoked elastic element with hinge tip constraints. We compared the proposed design with three existing spring principles, showing that the spoked solution is the convenient option for low-stiffness and low shape factor elastic elements. Therefore, a design analysis on the main scaling parameters of the spoked spring, namely number of spokes and type of constraints, is presented. Finally, an experimental characterization has been conducted on physical prototypes. The agreement among simulations and experimental results demonstrates the effectiveness of the proposed concept.

}, keywords = {Robotics}, doi = {10.1109/AIM.2017.8014029}, url = {http://ieeexplore.ieee.org/document/8014029/}, author = {F. Negrello and M. G. Catalano and M. Garabini and M. Poggiani and D. G. Caldwell and N. G. Tsagarakis and A. Bicchi} } @conference {3219, title = {Design, control and validation of the variable stiffness exoskeleton FLExo}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, pages = {539 - 546}, publisher = {IEEE}, organization = {IEEE}, address = {London, UK, 17-20 July 2017}, abstract = {

In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be obtained from a proper tuning of the mechanical system parameters. Based on this, the idea is to control inputs by directly mapping the estimation of the muscle activations, e.g. via ElectroMyoGraphic(EMG) sensors, on the exoskeleton. The control policy resulting from this mapping acts in feedforward in a way to exploit the muscle-like dynamics of the mechanical device. Thanks to the particular structure of the actuator, the exoskeleton joint stiffness naturally results from that mapping. The platform as well as the novel control idea have been experimentally validated and the results show a substantial reduction of the subject muscle effort.

}, keywords = {Robotics}, doi = {10.1109/ICORR.2017.8009304}, url = {http://ieeexplore.ieee.org/document/8009304/}, author = {S. Mghames and M. Laghi and C. Della Santina and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {3106, title = {Design of an Under-Actuated Wrist Based on Adaptive Synergies}, booktitle = {IEEE International Conference of Robotics and Automation, ICRA2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 29 May-3 June 2017}, abstract = {

An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2017.7989789}, url = {http://ieeexplore.ieee.org/document/7989789/}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @conference {3387, title = {Design of an under-actuated wrist based on adaptive synergies}, booktitle = {Robotics and Automation (ICRA), 2017 IEEE International Conference on}, year = {2017}, pages = {6679{\textendash}6686}, publisher = {IEEE}, organization = {IEEE}, abstract = {

An effective robotic wrist represents a key en- abling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under- actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we intro- duce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @article {3214, title = { Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism }, journal = {IEEE Robotics and Automation Letters}, volume = {2}, year = {2017}, month = {07/2017}, pages = {1664 - 1671}, abstract = {

This paper presents an approach to achieve adaptive grasp of unknown objects whose position is only approximately known via point-cloud data. We exploit the adaptability of a soft robotic hand which can autonomously conform to the shape of a grasped object if properly approached. Once a grasp approach has been preliminarily planned based only on rough estimates of the object position, the hand is shaped to a pregrasp configuration. Before closing the hand, a sensor-based algorithm is applied that corrects the relative hand-object posture so as to enhance the probability that the object is uniformly approached by all fingers, thus avoiding undesired premature contacts. The algorithm minimizes the distance between the hand{\textquoteright}s fingerpads and the object by continuously controlling both the wrist pose and orientation and the hand closure. Experimental studies with a Kuka-LWR arm and a Pisa/IIT Softhand illustrate the benefit of the developed technique and the improvement in grasping performance with respect to open-loop execution of grasps planned on the basis of prior RGB-D cues only.

}, keywords = {Haptics, Robotics}, doi = {10.1109/LRA.2017.2681122}, url = {http://ieeexplore.ieee.org/document/7875417/}, author = {Luberto, E. and Y. Wu and G. Santaera and M Gabiccini and A. Bicchi} } @conference {3220, title = {Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Della Santina and C. Piazza and G. Santaera and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3309, title = {Grasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study}, journal = { IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {25}, year = {2017}, month = {12/2017}, pages = {2407 - 2417}, abstract = {

Current prosthetic hands are frequently rejected in part due to limited functionality and versatility. We assessed the feasibility of a novel prosthetic hand, the SoftHand Pro (SHP), whose design combines soft robotics and hand postural synergies. Able-bodied subjects (n = 23) tracked cursor motion by opening and closing the SHP and performed a grasp-lift-hold-release (GLHR) task with a sensorized cylindrical object of variable weight. The SHP control was driven by electromyographic (EMG) signals from two antagonistic muscles. Although the time to perform the GLHR task was longer for the SHP than native hand for the first few trials (10.2 {\textpm} 1.4 s and 2.13 {\textpm} 0.09 s, respectively), performance was much faster on subsequent trials (~5 s). The SHP steady-state grip force was significantly modulated as a function of object weight (p \<; 0.001). For the native hand, however, peak and steady-state grip forces were modulated to a greater extent (+68\% and +91\%, respectively). These changes were mediated by the modulation of EMG amplitude and co-contraction. These data suggest that the SHP has a promise for prosthetic applications and point-to-design modifications that could improve the SHP.

}, keywords = {Haptics, Robotics}, issn = {1534-4320}, doi = {10.1109/TNSRE.2017.2737539}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8094246}, author = {A. S. Gailey and Godfrey, S.B. and R. Breighner and K. Andrews and K. Zhao and A. Bicchi and M. Santello} } @conference {3728, title = {Heart rate variability analysis during muscle fatigue due to prolonged isometric contraction}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2017}, doi = {10.1109/EMBC.2017.8037076}, author = {A. Guidi and A. Greco and F. Felici and A. Leo and E. Ricciardi and M. Bianchi and A. Bicchi and G. Valenza and E. P. Scilingo} } @article {3002, title = {On the Minimum-Time Control Problem for Differential Drive Robots with Bearing Constraints}, journal = {Journal of Optimization Theory and Applications}, year = {2017}, month = {04/2017}, pages = {1-27}, abstract = {

This paper presents a study of analysis of minimum-time trajectories for a differential drive robot equipped with a fixed and limited field-of-view camera, which must keep a given landmark in view during maneuvers. Previous works have considered the same physical problem and provided a complete analysis/synthesis for the problem of determining the shortest paths. The main difference in the two cost functions (length vs. time) lays on the rotation on the spot. Indeed, this maneuver has zero cost in terms of length and hence leads to a 2D shortest path synthesis. On the other hand, in case of minimum time, the synthesis depends also on the orientations of the vehicle. In other words, the not zero cost of the rotation on the spot maneuvers leads to a 3D minimum-time synthesis. Moreover, the shortest paths have been obtained by exploiting the geometric properties of the extremal arcs, i.e.,\ straight lines, rotations on the spot, logarithmic spirals and involute of circles. Conversely, in terms of time, even if the extremal arcs of the minimum-time control problem are exactly the same, the geometric properties of these arcs change, leading to a completely different analysis and characterization of optimal paths. In this paper, after proving the existence of optimal trajectories and showing the extremal arcs of the problem at hand, we provide the control laws that steer the vehicle along these arcs and the time-cost along each of them. Moreover, this being a crucial step toward numerical implementation, optimal trajectories are proved to be characterized by a finite number of switching points between different extremal arcs, i.e.,\ the concatenations of extremal arcs with infinitely many junction times are shown to violate the optimality conditions.

}, keywords = {Robotics}, doi = { 10.1007/s10957-017-1110-7}, url = {http://download.springer.com/static/pdf/641/art\%253A10.1007\%252Fs10957-017-1110-7.pdf?originUrl=http\%3A\%2F\%2Flink.springer.com\%2Farticle\%2F10.1007\%2Fs10957-017-1110-7\&token2=exp=1492507070~acl=\%2Fstatic\%2Fpdf\%2F641\%2Fart\%25253A10.1007\%25252Fs10957-017-111}, author = {A. Cristofaro and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @article {3223, title = {A Multimodal Perception Framework for Users Emotional State Assessment in Social Robotics}, journal = {FUTURE INTERNET}, volume = {9}, year = {2017}, keywords = {human-robot interaction, multimodality, perception framework, physiological signal acquisition, social robotics}, doi = {10.3390/fi9030042}, author = {Cominelli, L. and N. Carbonaro and D. Mazzei and R. Garofalo and A. Tognetti and D. De Rossi} } @conference {3727, title = {Muscle fatigue assessment through electrodermal activity analysis during isometric contraction}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2017}, doi = {10.1109/EMBC.2017.8036846}, author = {A. Greco and A. Guidi and F. Felici and A. Leo and E. Ricciardi and M. Bianchi and A. Bicchi and L. Citi and G. Valenza and E. P. Scilingo} } @conference {3390, title = {Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots}, booktitle = {18th International Symposium on Robotics Research}, year = {2017}, abstract = {

In this paper we propose a method for online motion planning of constrained nonlinear systems. The method consists of three steps: the offline generation of a library of parametric trajectories via direct trajectory optimization, the online search in the library for the best candidate solution to the optimal control problem we aim to solve, and the online refinement of this trajectory. The last phase of this process takes advantage of a sensitivity-like analysis and guarantees to comply with the first-order approximation of the constraints even in case of active set changes. Efficiency of the trajectory generation process is discussed and a valid strategy to minimize online computations is proposed; together with this, an effective procedure for searching the candidate trajectory is also presented. As a case study, we examine optimal control of a planar soft manipulator performing a pick-and-place task: through simulations and experiments, we show how crucial online computation times are to achieve considerable energy savings in the presence of variability of the task to perform.

}, author = {T. Marcucci and M. Garabini and Gasparri, G. M. and Alessio Artoni and M Gabiccini and A. Bicchi} } @conference {3215, title = {Preliminary results toward a naturally controlled multi-synergistic prosthetic hand}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, abstract = {

Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.

}, keywords = {Robotics}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009437}, url = {http://ieeexplore.ieee.org/abstract/document/8009437/}, author = {M. Rossi and C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {2875, title = {The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots}, journal = {IEEE Robotics and Automation Magazine }, volume = {24}, year = {2017}, note = {

Open access

e wish to thank Samuele Batazzi, Fabio Bonomo, Alberto
Brando, Andrea Di Basco, Tommaso Pardi, Riccardo Persichi-
ni, and Alessandro Raugi for their valuable support in the
development of the hardware prototype. This work was sup-
ported by SOFTPRO (grant 688857) and SOMA (grant
645599){\textemdash}projects of the European Commission{\textquoteright}s Horizon
2020 research program{\textemdash}and by Walk-Man grant 611832.
Support also came from the European Research Council
under an Advanced Grant for {\textquotedblleft}SoftHands: A Theory of Soft
Synergies for a New Generation of Artificial Hands{\textquotedblright} (grant
ERC-291166).
}, pages = {48 - 56}, abstract = {
Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overcoming their rigid counterparts in such areas as interaction with humans, adaptability, energy efficiency, and maximization of peak performance. Nonetheless, we believe
that research on novel soft robot applications is still slowed by the difficulty in obtaining or developing a working soft robot structure to explore novel applications.
In this article, we present the Natural Machine Motion Initiative (NMMI), a modular open platform that aims to provide the scientific community with tools for fast and easy prototyping of articulated soft robots. Such a platform is composed of three main open hardware modules: the Qbmoves variable-stiffness actuators (VSAs) to build the main robotic structure, soft end effectors (EEs) to interact with the world, and a pool of application-specific add-ons. We also discuss many novel uses of the platform to rapidly prototype (RP) and test new robotic structures with original soft capabilities, and we propose NMMI- based experiments.
}, keywords = {Robotics}, issn = {1070-9932 }, doi = {10.1109/MRA.2016.2636366}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7857692}, author = {C. Della Santina and C. Piazza and Gasparri, G. M. and M. Bonilla and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {3105, title = {On the Role of Affective Properties in Hedonic and Discriminant Haptic Systems}, journal = {International Journal of Social Robotics}, volume = {9}, year = {2017}, month = {01/2017}, pages = {87{\textendash}95}, abstract = {

Common haptic devices are designed to effectively provide kinaesthetic and/or cutaneous discriminative inputs to the users by modulating some physical parameters. However, in addition to this behavior, haptic stimuli were proven to convey also affective inputs to the brain. Nevertheless, such affective properties of touch are often disregarded in the design (and consequent validation) of haptic displays. In this paper we present some preliminary experimental evidences about how emotional feelings, intrinsically present while interacting with tactile displays, can be assessed. We propose a methodology based on a bidimensional model of elicited emotions evaluated by means of simple psychometric tests and statistical inference. Specifically, affective dimensions are expressed in terms of arousal and valence, which are quantified through two simple one-question psychometric tests, whereas statistical inference is based on rank-based non-parametric tests. In this work we consider two types of haptic systems: (i) a softness display, FYD-2, which was designed to convey purely discriminative softness haptic stimuli and (ii) a system designed to convey affective caress-like stimuli (by regulating the velocity and the strength of the {\textquotedblleft}caress{\textquotedblright}) on the user forearm. Gender differences were also considered. In both devices, the affective component clearly depends on the stimuli and it is gender-related. Finally, we discuss how such outcomes might be profitably used to guide the design and the usage of haptic devices, in order to take into account also the emotional component, thus improving system performance.

}, keywords = {Haptics}, issn = {1875-4791}, doi = {10.1007/s12369-016-0371-x}, url = {http://rdcu.be/ugoW}, author = {M. Bianchi and G. Valenza and A Lanata and A. Greco and M. Nardelli and A. Bicchi and E. P. Scilingo} } @article {3725, title = {SoftHand at the CYBATHLON: A user{\textquoteright}s experience}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, year = {2017}, doi = {10.1186/s12984-017-0334-y}, author = {S. B. Godfrey and M. Rossi and C. Piazza and M. G. Catalano and M. Bianchi and G. Grioli and K. Zhao and A. Bicchi} } @article {3258, title = {The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working }, journal = {IEEE Robotics and Automation Magazine}, year = {2017}, note = {

This work was supported by the European Commission project (Horizon 2020 research program) SOFTPRO 688857, the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands,{\textquotedblright} ERC-291166, and the Proof of Concept Project SoftHand Pro-H, ERC-2016-PoC 727536.\ 

}, month = {11/2017}, keywords = {Haptics, Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2751662}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8110634}, author = {C. Piazza and M. G. Catalano and S. B. Godfrey and M. Rossi and G. Grioli and M. Bianchi and K. Zhao and A. Bicchi} } @proceedings {2992, title = {Towards Minimum-Information Adaptive Controllers for Robot Manipulators}, year = {2017}, publisher = {IEEE}, address = {May 24{\textendash}26 2017, Seattle USA}, abstract = {

The aim of this paper is to move a step in the direction of determining the minimum amount of information needed to control a robot manipulator within the framework of adaptive control. Recent innovations in the state of the art show how global asymptotic trajectory tracking can be achieved despite the presence of uncertainties in the kinematic and dynamic models of the robot. However, a clear distinction between
which parameters can be included among the uncertainties, and which parameters can not, has not been drawn yet. Since most of the adaptive control algorithms are built on linearly parameterized models, we propose to reformulate the problem as finding a procedure to determine whether and how a given dynamical system can be linearly parameterized with respect to a specific set of parameters.
Within this framework, we show how the trajectory tracking problem of a manipulator can be accomplished with the only knowledge of the number of joints of the manipulator. As an illustrative example, we present the end-effector trajectory tracking control of a robot initialized with the kinematic model of a different robot.

}, keywords = {Robotics}, doi = {https://doi.org/10.23919/ACC.2017.7963602}, url = {https://ieeexplore.ieee.org/document/7963602}, author = {T. Marcucci and C. Della Santina and M Gabiccini and A. Bicchi} } @article {3137, title = {WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments}, journal = {Journal of Field Robotics}, volume = {34}, year = {2017}, month = {06/2017}, pages = {1 - 34}, abstract = {

In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition.

}, keywords = {Robotics}, issn = {1556-4967}, doi = {10.1002/rob.21702}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf}, author = {N. G. Tsagarakis and D. G. Caldwell and F. Negrello and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and L. Muratore and A. Margan and A. Cardellino and L. Natale and E. Mingo Hoffman and H. Dallali and N. Kashiri and J. Malzahn and J. Lee and P. Kryczka and D. Kanoulas and M. Garabini and M. G. Catalano and M. Ferrati and V. Varricchio and L. Pallottino and C. Pavan and A. Bicchi and A Settimi and A. Rocchi and A. Ajoudani} } @article {2844, title = {Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications}, journal = {Frontiers in Neurorobotics}, volume = {10}, year = {2016}, month = {10/2016}, abstract = {

Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step towards a more effective and intuitive control of myoelectric hand prostheses.

}, keywords = {Haptics, Robotics}, doi = {10.3389/fnbot.2016.00011}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/}, author = {S. Fani and M. Bianchi and S. Jain and J. Pimenta Neto and S. Boege and G. Grioli and A. Bicchi and M. Santello} } @article {3246, title = {Assessment of spontaneous cardiovascular oscillations in Parkinson{\textquoteright}s disease}, journal = {Biomedical Signal Processing and Control}, volume = {26}, year = {2016}, pages = {80{\textendash}89}, keywords = {Bioengineering}, author = {G. Valenza and S. Orsolini and S. Diciotti and L. Citi and E. P. Scilingo and M. Guerrisi and S. Danti and C. Lucetti and C. Tessa and R. Barbieri} } @article {2896, title = {A bioreactor with an electro-responsive elastomeric membrane for mimicking intestinal peristalsis}, journal = {Bioinspiration \& Biomimetics}, volume = {12}, year = {2016}, abstract = {

This study describes an actuated bioreactor which mimics the pulsatile contractile motion of the intestinal barrier using electro-responsive elastomers as smart materials that undergo deformation upon electrical stimulation. The device consists of an annular dielectric elastomer actuator working as a radial artificial muscle able to rhythmically contract and relax a central cell culture well. The bioreactor maintained up to 4 h of actuation at a frequency of 0.15 Hz and a strain of 8\%{\textendash}10\%, to those of the cyclic contraction and relaxation of the small intestine. In vitro tests demonstrated that the device was biocompatible and cell-adhesive for Caco-2 cells, which formed a confluent monolayer following 21 days of culture in the central well. In addition, cellular adhesion and cohesion were maintained after 4 h of continuous cyclic strain. These preliminary results encourage further investigations on the use of dielectric elastomer actuation as a versatile technology that might overcome the limitations of commercially available pneumatic driving systems to obtain bioreactors that can cyclically deform cell cultures in a biomimetic fashion.

}, url = {http://iopscience.iop.org/article/10.1088/1748-3190/12/1/016001/pdf}, author = {D. Cei and J. Costa and G. Gori and G. Frediani and C. Domenici and F. Carpi and A. Ahluwalia} } @article {3252, title = {Combining electroencephalographic activity and instantaneous heart rate for assessing brain{\textendash}heart dynamics during visual emotional elicitation in healthy subjects}, journal = {Phil. Trans. R. Soc. A}, volume = {374}, year = {2016}, pages = {20150176}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and C. Gentili and A. Lanat{\`a} and Sebastiani, L. and D. Menicucci and A. Gemignani and E. P. Scilingo} } @conference {3730, title = {Data-driven human grasp movement analysis}, booktitle = {47th International Symposium on Robotics, ISR 2016}, year = {2016}, author = {H. Marino and M. Gabiccini and L. Leonardi and A. Bicchi} } @inbook {2886, title = {From Soft to Adaptive Synergies: The Pisa/IIT SoftHand}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, publisher = {Springer}, organization = {Springer}, chapter = {101 - 125}, abstract = {

Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_8}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and M. Bonilla and M. Garabini and C. Piazza and M Gabiccini and A. Bicchi} } @article {2652, title = {Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands}, journal = {Physics of Life Reviews}, volume = {17}, year = {2016}, month = {07/2016}, pages = {1-23}, keywords = {Haptics, Robotics}, url = {http://www.sciencedirect.com/science/article/pii/S1571064516000269}, author = {M. Santello and M. Bianchi and M Gabiccini and E. Ricciardi and G. Salvietti and D Prattichizzo and M. Ernst and A. Moscatelli and H. Jorntell and A. Kappers and K. Kyriakopulos and A Albu-Schaeffer and C. Castellini and A. Bicchi} } @article {3227, title = {A Hands-Free Interface for Controlling Virtual Electric-Powered Wheelchairs}, journal = {INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS}, volume = {13}, year = {2016}, pages = {1{\textendash}10}, keywords = {Assistive Technologies, Electric-powered Wheelchair, Hands-free Interface}, doi = {10.5772/62028}, author = {Gulrez, T and A. Tognetti and W. J. YooN and Kavakli-Thorne, M. and J.-J. Cabibihan} } @conference {2879, title = {Indoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {288 - 297}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

Due to the increasing usage of service and industrial autonomous vehicles, a precise localisation is an essential component required in many applications, e.g. indoor robot navigation. In open outdoor environments, differential GPS systems can provide precise positioning information. However, there are many applications in which GPS cannot be used, such as indoor environments. In this work, we aim to increase robot autonomy providing a localisation system based on passive markers, that fuses three kinds of data through extended Kalman filters. With the use of low cost devices, the optical data are combined with other robots{\textquoteright} sensor signals, i.e. odometry and inertial measurement units (IMU) data, in order to obtain accurate localisation at higher tracking frequencies. The entire system has been developed fully integrated with the Robotic Operating System (ROS) and has been validated with real robots.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_24}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_24}, author = {A. Faralli and N. Giovannini and S. Nardi and L. Pallottino} } @conference {2899, title = {Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference }, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, doi = {10.1109/EMBC.2016.7591957}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957}, author = {S. B. Godfrey and M. Bianchi and A. Bicchi and M. Santello} } @article {3255, title = {Inhomogeneous point-processes to instantaneously assess affective haptic perception through heartbeat dynamics information}, journal = {Scientific reports}, volume = {6}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and L. Citi and M. Bianchi and R. Barbieri and E. P. Scilingo} } @conference {2545, title = {A Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2016}, note = {

This work is supported by the WALK-MAN FP7-ICT-2013-10 European Commission project.

}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7363567}, author = {F. Negrello and M. Garabini and M. G. Catalano and J. Malzahn and D. G. Caldwell and A. Bicchi and N. G. Tsagarakis} } @conference {2892, title = {Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies}, booktitle = {International Workshop on Human-Friendly Robotics}, year = {2016}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @proceedings {2900, title = {On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis}, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, author = {M. Nardelli and A. Greco and M. Bianchi and E. P. Scilingo and G. Valenza} } @article {2834, title = {Polymeric microporous nanofilms as smart platforms for in vitro assessment of nanoparticle translocation and Caco-2 cell culture}, journal = { IEEE Transactions on NanoBioscience }, year = {2016}, keywords = {Bioengineering}, doi = { 10.1109/TNB.2016.2603191}, url = {http://ieeexplore.ieee.org/document/7552480/}, author = {L. Ricotti and G. Gori and D. Cei and J. Costa and G. Signore and A. Ahluwalia} } @article {3254, title = {Predicting Mood Changes in Bipolar Disorder through Heartbeat Nonlinear Dynamics}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and C. Gentili and G. Bertschy and M. Kosel and E. P. Scilingo} } @conference {3232, title = {A preliminary framework for a social robot {\quotesinglbase}{\"A}{\'u}sixth sense{\quotesinglbase}{\"A}{\`u}}, booktitle = {Biomimetic and Biohybrid Systems 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings}, volume = {9793}, year = {2016}, pages = {58{\textendash}70}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Dordrecht}, keywords = {Affective computing, Behaviour monitoring, Computer Science (all), human-robot interaction, social robotics, Synthetic tutor, Theoretical Computer Science}, doi = {10.1007/978-3-319-42417-0_6}, url = {http://springerlink.com/content/0302-9743/copyright/2005/}, author = {Cominelli, L. and D. Mazzei and N. Carbonaro and R. Garofalo and A. Zaraki and A. Tognetti and D. De Rossi} } @article {2724, title = {On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, volume = {1}, year = {2016}, month = {01/2016}, pages = {469-476}, abstract = {

Moving objects with autonomous robots is a wide topic that includes single-arm pick-and-place tasks, object regrasping, object passing between two or more arms in the air or using support surfaces such as tables and similar. Each task has been extensively studied and many planning solutions are already present in the literature. In this letter, we present a planning scheme which, based on the use of pre-defined elementary manipulation skills, aims to unify solutions which are usually obtained by means of different planning strategies rooted on hardcoded behaviors. Both robotic manipulators and environment fixed support surfaces are treated as end-effectors of movable and non-movable types, respectively. The task of the robot can thus be broken down into elementary building blocks, which are endeffector manipulation skills, that are then planned at the kinematic level. Feasibility is ensured by propagating unforeseen low-level failures at the higher level and by synthesizing different behaviors. The validity of the proposed solution is shown via experiments on a bimanual robot setup and in simulations involving a more complex setup similar to an assembly line.

}, keywords = {Robotics}, doi = {10.1109/LRA.2016.2519149}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7384694}, author = {H. Marino and M. Ferrati and A Settimi and C. Rosales and M Gabiccini} } @inbook {2888, title = {Quasi-Static Analysis of Synergistically Underactuated Robotic Hands in Grasping and Manipulation Tasks}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, note = {

This work was supported by the European Commission under the CP-IP grant
no. 248587 {\textquotedblleft}THE Hand Embodied{\textquotedblright}, within the FP7-2007-2013 program, by the
grant no. 600918 {\textquotedblleft}PaCMan{\textquotedblright} - Probabilistic and Compositional Representations of
Objects for Robotic Manipulation - within the FP7-ICT-2011-9 program, the grant
no. 611832 {\textquotedblleft}Walk-Man{\textquotedblright} within the FP7-ICT-2013-10 program, and the grant no.
645599 {\textquotedblleft}SOMA: Soft-bodied Intelligence for Manipulation{\textquotedblright}, funded under H2020-
EU-2115.

}, pages = {211-233}, publisher = {Springer}, organization = {Springer}, abstract = {

As described in Chaps.\ 2{\textendash}5, neuroscientific studies showed that the control of the human hand is mainly realized in a synergistic way. Recently, taking inspiration from this observation, with the aim of facing the complications consequent to the high number of degrees of freedom, similar approaches have been used for the control of robotic hands. As Chap.\ 12 describes SynGrasp, a useful technical tool for grasp analysis of synergy-inspired hands, in this chapter recently developed analysis tools for studying robotic hands equipped with soft synergy underactuation (see Chap.\ 8) are exhaustively described under a theoretical point of view. After a review of the quasi-static model of the system, the Fundamental Grasp Matrix (FGM) and its canonical form (cFGM) are presented, from which it is possible to extract relevant information as, for example, the subspaces of the controllable internal forces, of the controllable object displacements and the grasp compliance. The definitions of some relevant types of manipulation tasks (e.g. the pure squeeze, realized maintaining the object configuration fixed but changing contact forces, or the kinematic grasp displacements, in which the grasped object can be moved without modifying contact forces) are provided in terms of nullity or non-nullity of the variables describing the system. The feasibility of such predefined tasks can be verified thanks to a decomposition method, based on the search of the row reduced echelon form (RREF) of suitable portions of the solution space. Moreover, a geometric interpretation of the FGM and the possibility to extend the above mentioned methods to the study of robotic hands with different types of underactuation are discussed. Finally, numerical results are presented for a power grasp example, the analysis of which is initially performed for the case of fully-actuated hand, and later verifying, after the introduction of a synergistic underactuation, which capacities of the system are lost, and which other are still present.

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_13}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @article {3241, title = {Relationship between cardiac vagal activity and mood congruent memory bias in major depression}, journal = {Journal of Affective Disorders}, volume = {190}, year = {2016}, pages = {19{\textendash}25}, keywords = {Bioengineering}, author = {R. G. Garcia and G. Valenza and C. A. Tomaz and R. Barbieri} } @conference {2889, title = {Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, note = {
This work was supported by the European Commission projects (FP7 framework) Walk-Man and the European Commission Grant no. H2020- ICT-645599 {\textquotedblleft}SOMA{\textquotedblright}: SOft MAnipulation
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Compliance in robot design and control is often introduced to improve the robot performance in tasks where interaction with environment or human is required. However a rigorous method to choose the correct level of compliance is still not available. In this work we use robust optimization as a tool to select the optimal compliance value in a robotenvironment interaction scenario under uncertainties. We propose an approach that can be profitably applied on a variety of tasks, e.g.manipulation tasks or locomotion tasks. The aim is to minimize the forces of interaction considering model constraints and uncertainties. Numerical results show that: i) in case of perfect knowledge of the environment stiff robots behave better in terms of force minimization, ii) in case of uncertainties the optimal stiffness of the robot is lower than the previous case and optimal solutions provide a faster task accomplishment, iii) the optimal stiffness decreases as a function of the uncertainty measure. Experiments are carried out in a realistic set-up in case of bi-manual object handover.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = { 10.1109/HUMANOIDS.2016.7803381}, url = {http://ieeexplore.ieee.org/document/7803381/}, author = {Gasparri, G. M. and F. Fabiani and M. Garabini and L. Pallottino and M. G. Catalano and G. Grioli and R. Persichini and A. Bicchi} } @conference {3086, title = {Soft Robots that Mimic the Neuromusculoskeletal System}, booktitle = {3rd International Conference on NeuroRehabilitation (ICNR2016)}, volume = {Converging Clinical and Engineering Research on Neurorehabilitation}, year = {2016}, month = {10/2016}, pages = {259-263}, publisher = {Springer}, organization = {Springer}, abstract = {

In motor control studies, the question on which
parameters human beings and animals control through their
nervous system has been extensively explored and discussed,
and several hypotheses proposed. It is widely acknowledged
that useful inputs in this problem could be provided by
developing artificial replication of the neuromusculoskeletal
system, to experiment different motor control hypothesis. In
this paper we present such device, which reproduces many of
the characteristics of an agonistic-antagonistic muscular pair
acting on a joint.

}, keywords = {Robotics}, doi = { 10.1007/978-3-319-46669-9_45}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45}, author = {M. Garabini and C. Della Santina and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @inbook {2865, title = {The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype}, booktitle = {Converging Clinical and Engineering Research on Neurorehabilitation II}, volume = {15}, number = {Biosystems \& Biorobotics }, year = {2016}, note = {

Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain

}, pages = {469-473}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.

}, keywords = {Haptics, Robotics}, issn = {978-3-319-46668-2}, doi = {10.1007/978-3-319-46669-9_78}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78}, author = {S. B. Godfrey and M. Bianchi and K. Zhao and M. G. Catalano and R. Breighner and A. Theuer and K. Andrews and G. Grioli and M. Santello and A. Bicchi} } @conference {2725, title = {SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, note = {

softpro soma softhands

}, pages = {3516 - 3523}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21}, abstract = {

State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions of the patient using the dynamic frequency content of the control signals in a natural way. We move a step further showing how this idea can be embedded in the mechanics of an underactuated soft hand by using only passive damping components.

In particular we devise a method to design the hand hardware to obtain a given desired motion. This method, that we call of the dynamic synergies, builds on the theory of linear descriptor systems, and is based on the division of the hand movement in a slow and a fast components. We use this method to evolve the design of the Pisa/IIT SoftHand in a prototype prosthesis which, while still having 19 degrees of freedom and just one motor, can move along two different synergistic directions of motion (and combinations of the two), to perform either a pinch or a power grasp. Preliminary experimental results are presented, demonstrating the effectiveness of the proposed design

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487532}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487532}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {2660, title = {A synergy-based hand control is encoded in human motor cortical areas}, journal = {eLIFE}, year = {2016}, abstract = {

How the human brain controls hand movements to carry out different tasks is still debated. The concept of\ synergy\ has been proposed to indicate functional modules that may simplify the control of hand postures by simultaneously recruiting sets of muscles and joints. However, whether and to what extent synergic hand postures are encoded as such at a cortical level remains unknown. Here, we combined kinematic, electromyography, and brain activity measures obtained by functional magnetic resonance imaging while subjects performed a variety of movements towards virtual objects. Hand postural information, encoded through kinematic synergies, were represented in cortical areas devoted to hand motor control and successfully discriminated individual grasping movements, significantly outperforming alternative somatotopic or muscle-based models. Importantly, hand postural synergies were predicted by neural activation patterns within primary motor cortex. These findings support a novel cortical organization for hand movement control and open potential applications for brain-computer interfaces and neuroprostheses.

}, doi = {http://dx.doi.org/10.7554/eLife.13420}, url = {http://elifesciences.org/content/5/e13420v2}, author = {A. Leo and G. Handjaras and M. Bianchi and H. Marino and M Gabiccini and Guidi, A. and E. P. Scilingo and P. Pietrini and A. Bicchi and M. Santello and E. Ricciardi} } @inbook {3155, title = {Teleimpedance Control: Overview and application}, booktitle = {Human and Robot Hands }, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, pages = {151-169}, chapter = {9}, abstract = {

In previous chapters, human hand and arm kinematics have been analyzed through a synergstic approach and the underlying concepts were used to design robotic systems and devise simplified control algorithms. On the other hand, it is well-known that synergies can be studied also at a muscular level as a coordinated activation of multiple muscles acting as a single unit to generate different movements. As a result, muscular activations, quantified through Electromyography (EMG) signals can be then processed and used as direct inputs to external devices with a large number of DOFs. In this chapter, we present a minimalistic approach based on tele-impedance control, where EMGs from only one pair of antagonistic muscle pair are used to map the users postural and stiffness references to the synergy-driven anthropomorphic robotic hand, described in chapter 6. In this direction, we first provide an overview of the teleimpedance control concept which forms the basis for the development of the hand controller. Eventually, experimental results evaluate the effectiveness of the teleimpedance control concept in execution of the tasks which require significant dynamics variation or are executed in remote environments with dynamic uncertainties.

}, keywords = {Robotics}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7}, author = {A. Ajoudani and S. B. Godfrey and N. G. Tsagarakis and A. Bicchi} } @article {2544, title = {ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis}, journal = {IEEE Transactions on Haptics}, volume = {9}, year = {2016}, note = {
This work was partially supported by the European Community funded projects WEARHAP, PACMAN and SOMA (contracts 601165, 600918 and 645599 respectively), by the ERC Advanced Grant no. 291166 SoftHands
}, month = {03/2016}, pages = {121-133}, abstract = {

Accurate measurement of contact forces between hand and grasped objects is crucial to study sensorimotor control during grasp and manipulation. In this work we introduce ThimbleSense, a prototype of individual-digit wearable force/torque sensor based on the principle of intrinsic tactile sensing. By exploiting the integration of this approach with an active marker-based motion capture system, the proposed device simultaneously measures absolute position and orientation of the fingertip, which in turn yields measurements of contacts and force components expressed in a global reference frame. The main advantage of this approach with respect to more conventional solutions is its versatility. Specifically, ThimbleSense can be used to study grasping and manipulation of a wide variety of objects, while still retaining complete force/torque measurements. Nevertheless, validation of the proposed device is a necessary step before it can be used for experimental purposes. In this work we present the results of a series of experiments designed to validate the accuracy of ThimbleSense measurements and evaluate the effects of distortion of tactile afferent inputs caused by the device{\textquoteright}s rigid shells on grasp forces.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2015.2482478}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7294702}, author = {E. Battaglia and M. Bianchi and Altobelli, A and G. Grioli and M. G. Catalano and A. Serio and M. Santello and A. Bicchi} } @conference {2881, title = {Toward an Adaptive Foot for Natural Walking}, booktitle = {International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, address = {Cancun, Mexico, November 15-17, 2016}, abstract = {

Many walking robot presented in literature stand
on rigid flat feet, with a few notable exceptions that embed
flexibility in their feet to optimize the energetic cost of walking.
This paper proposes a novel adaptive robot foot design, whose
main goal is to ease the task of standing and walking on uneven
terrains. After explaining the rationale behind our design
approach, we present the design of the SoftFoot, a foot able
to comply with uneven terrains and to absorb shocks thanks to
its intrinsic adaptivity, while still being able to rigidly support
the stance, maintaining a rather extended contact surface,
and effectively enlarging the equivalent support polygon. The
paper introduces the robot design and prototype and presents
preliminary validation and comparison versus a rigid flat foot
with comparable footprint and sole.

}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2016.7803423}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7803423}, author = {C. Piazza and C. Della Santina and Gasparri, G. M. and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @conference {2883, title = {Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS 2016)}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, address = {Danjeon, Korea, October 10-14 2016}, abstract = {

In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.

}, keywords = {Robotics}, doi = {10.1109/IROS.2016.7759225}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2898, title = {Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction}, booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2016.}, year = {2016}, note = {
This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands {\textquotedblleft}A
Theory of Soft Synergies for a New Generation of Artificial
Hands{\textquotedblright} (no. ERC-291166), by the EU FP7 project {\textquotedblleft}WEAR-
able HAPtics for Humans and Robots (WEARHAP){\textquotedblright} (no.
601165) and by the EU H2020 project {\textquotedblleft}SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn{\textquotedblright} (H2020-ICT-688857).
}, address = {New York, August 26-31, 2016}, doi = {10.1109/ROMAN.2016.7745100}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7745100}, author = {M. Bianchi and G. Valenza and A. Greco and M. Nardelli and E. Battaglia and A. Bicchi and E. P. Scilingo} } @conference {3234, title = {Towards the development of an EIT-based stretchable sensor for multi-touch industrial human-computer interaction systems}, booktitle = {Cross-Cultural Design 8th International Conference, CCD 2016, Held as Part of HCI International 2016, Toronto, ON, Canada, July 17-22, 2016, Proceedings}, volume = {9741}, year = {2016}, pages = {563{\textendash}573}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Dordrecht}, keywords = {Computer Science (all), Theoretical Computer Science}, doi = {10.1007/978-3-319-40093-855}, url = {http://springerlink.com/content/0302-9743/copyright/2005/}, author = {S. Russo and S. Nefti-meziani and Gulrez, T and N. Carbonaro and A. Tognetti} } @article {2904, title = {Variable Stiffness Actuators: Review on Design and Components}, journal = { IEEE/ASME Transactions on Mechatronics }, volume = {21}, year = {2016}, month = {10/2016}, pages = {2418 - 2430}, abstract = {

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

}, keywords = {Robotics}, doi = {10.1109/TMECH.2015.2501019}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7330025}, author = {S. Wolf and G. Grioli and O. Eiberger and W. Friedl and M. Grebenstein and H. Hoppner and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and D. Lefeber and S. Stramigioli and N. G. Tsagarakis and M. Van Damme and R. Van Ham and B. Vanderborght and L. C. Visser and A. Bicchi and A Albu-Schaeffer} } @conference {2788, title = { WALK-MAN humanoid lower body design optimization for enhanced physical performance}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, pages = {1817 - 1824}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21, 2016 }, abstract = {
The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait.
}, keywords = {Robotics}, doi = {10.1109/ICRA.2016.7487327}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487327}, author = {F. Negrello and M. Garabini and M. G. Catalano and P. Kryczka and W. Choi and D. G. Caldwell and A. Bicchi and N. G. Tsagarakis} } @conference {2593, title = {Arousal recognition system based on heartbeat dynamics during auditory elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {6110{\textendash}6113}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319786}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @article {2499, title = {Biomimicking of the Breast Tumor Microenvironment}, journal = {Current Molecular Biology Reports}, volume = {1 (2)}, year = {2015}, pages = {71-76}, keywords = {Bioengineering}, author = {M. Giussani and C. De Maria and M. Vasso and F. Montemurro and T. Triulzi and E. Tagliabue and C. Gelfi and G. Vozzi} } @conference {3250, title = {Brain dynamics during emotion elicitation in healthy subjects: An EEG study}, booktitle = {AEIT International Annual Conference (AEIT), 2015}, year = {2015}, pages = {1{\textendash}3}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and A. Lanat{\`a} and C. Gentili and D. Menicucci and Sebastiani, L. and A. Gemignani and E. P. Scilingo} } @article {3237, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {263{\textendash}274}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2387, title = {Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics}, journal = {Frontiers in Computational Neuroscience}, volume = {9}, year = {2015}, month = {03/2015}, doi = {dx.doi.org/10.3389/fncom.2015.00037}, author = {M. Nardelli and G. Valenza and Cristea, I. and C. Gentili and C. Cotet and David, D. and A Lanata and E. P. Scilingo} } @article {3238, title = {Complexity Index from a Personalized Wearable Monitoring System for Assessing Remission in Mental Health}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {132{\textendash}139}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and M. Nardelli and C. Gentili and E. P. Scilingo} } @article {2489, title = {cvxEDA: a Convex Optimization Approach to Electrodermal Activity Processing}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2015}, author = {A. Greco and G. Valenza and A Lanata and Scilingo E.P. and L. Citi} } @conference {2495, title = {Damasio{\textquoteright}s Somatic Marker for Social Robotics: Preliminary Implementation and Test}, booktitle = {Living Machines - The 4th International Conference on Biomimetic and Biohybrid Systems}, year = {2015}, pages = {316-328}, publisher = {Springer}, organization = {Springer}, address = {Barcelona, Spain, 28 - 31 July 2015}, keywords = {Bioengineering}, url = {http://link.springer.com/chapter/10.1007/978-3-319-22979-9_31$\#$page-1}, author = {Cominelli, L. and D. Mazzei and M. Pieroni and A. Zaraki and R. Garofalo and D. De Rossi} } @conference {2560, title = {Design and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, note = {

The authors want to thank Cosimo della Santina, Andrea Di Basco, Riccardo Persichini and Fabio Bonomo for their really valuable support in the development of the hardware prototype. This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} (no. ERC-291166), and by the EU FP7 project (no. 601165) {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP)

}, pages = {1186 - 1193}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed, rather than, concentrated approach. On the other side, wearable haptics focuses on highly portable and mobile devices, which can be carried and worn by the user as the haptic equivalent of an mp3 player. This paper presents a light and simple wearable device (CUFF) for the distributed mechano-tactile stimulation of the user{\textquoteright}s arm skin with pressure and stretch cues, related to normal and tangential forces, respectively. The working principle and the mechanical and control implementation of the CUFF device are presented. Then, after a basic functional validation, a first application of the device is shown, where it is used to render the grasping force of a robotic hand (the Pisa/IIT SoftHand). Preliminary results show that the device is capable to deliver in a reliable manner grasping force information, thus eliciting a good softness discrimination in users and enhancing the overall grasping experience.

}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7353520}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353520\&newsearch=true\&queryText=Design\%20and\%20Realization\%20of\%20the\%20CUFF\%20-\%20Clenching\%20Upper-Limb\%20Force\%20Feedback\%20Wearable\%20Device\%20for\%20Distributed\%20Mechano-Tactile\%20Stimulatio}, author = {S. Casini and M. Morvidoni and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {2498, title = {Design and Validation of an Open-Hardware Print-Head forBioprinting Application}, journal = {Procedia Engineering}, volume = {110}, year = {2015}, pages = {98-105}, keywords = {Bioengineering}, author = {C. De Maria and L. Ferrari and F. Montemurro and G. Vozzi and I. Guerrazzi and Boland, T. and G. Vozzi} } @conference {2537, title = {Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

Softhands, SOMA

Best Interactive Paper Award

}, pages = {497 - 503}, publisher = {IEEE}, organization = {IEEE}, address = {Seoul, Korea, November 3 - 5, 2015}, abstract = {
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2015.7363595}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363595}, author = {C. Della Santina and G. Grioli and M. G. Catalano and Brando, A. and A. Bicchi} } @conference {2538, title = {Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {
This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} no. ERC-291166 and under the EU FP7 project WEARHAP {\textquotedblleft}WEARable HAPtics for Humans and Robots{\textquotedblright} no. 601165.
}, pages = {6704 - 6707}, publisher = {IEEE}, organization = {IEEE}, address = { Milano, Italy, August 25th-29th, 2015}, abstract = {
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing cocontraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight.
}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7319931}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7319931}, author = {S. B. Godfrey and Altobelli, A and M. Rossi and A. Bicchi} } @conference {2596, title = {Electrodermal activity analysis during affective haptic elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {5777{\textendash}5780}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319705}, author = {A. Greco and G. Valenza and M. Nardelli and M. Bianchi and A Lanata and E. P. Scilingo} } @conference {2592, title = {Electroencephalographic spectral correlates of caress-like affective haptic stimuli}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {4733{\textendash}4736}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319451}, author = {G. Valenza and A. Greco and M. Nardelli and M. Bianchi and A Lanata and S. Rossi and E. P. Scilingo} } @conference {2398, title = {Electromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept}, booktitle = {International Conference on Rehabilitation Robotics (ICORR), 2015}, year = {2015}, note = {

softhands, wearhap

}, pages = {181-186}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 11 {\textendash} 14 August 2015}, abstract = {

Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the\ fingers\ be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the\ finger\ motion and\ stiffnesstrajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the\ concept\ of hand synergies. While the exploitation of this\ concept\ in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the\ fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human\ fingers\ and establish initial steps towards a real-time and effective modelling of the\ fingerstiffness\ in a\ tripodgrasp. To achieve this goal, the endpoint\ stiffness\ of the thumb, index and middle\ fingers\ of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of thestiffness\ ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses{\textquoteright} axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICORR.2015.7281196}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7281196}, author = {M. Rossi and Altobelli, A and S. B. Godfrey and A. Ajoudani and A. Bicchi} } @conference {2594, title = {Gender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {298{\textendash}301}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7318359}, author = {M. Nardelli and G. Valenza and M. Bianchi and A. Greco and A Lanata and A. Bicchi and E. P. Scilingo} } @conference {2465, title = {Grasp Planning with Soft Hands using Bounding Box Object Decomposition}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2015)}, year = {2015}, note = {

softhands pacman walkman

}, pages = {518 - 523}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, September 28 - October 02, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2015.7353421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353421\&queryText=Grasp\%20Planning\%20with\%20Soft\%20Hands\%20using\%20Bounding\%20Box\%20Object\%20Decomposition\&newsearch=true}, author = {M. Bonilla and D. Resasco and M Gabiccini and A. Bicchi} } @article {2263, title = {How the autonomic nervous system and driving style change with incremental stressing conditions during simulated driving}, journal = {IEEE Transactions on Intelligent Transportation Systems}, year = {2015}, pages = {1505 - 1517 }, keywords = {Bioengineering}, doi = {10.1109/TITS.2014.2365681}, author = {A Lanata and G. Valenza and A. Greco and C. Gentili and F. Bucchi and F. Frendo and E. P. Scilingo} } @conference {3251, title = {Instantaneous Bispectral Analysis of Heartbeat Dynamics for the Assessment of Major Depression}, booktitle = {Computing in Cardiology Conference (CinC)}, year = {2015}, keywords = {Bioengineering}, author = {R. G. Garcia and G. Valenza and C. A. Tomaz and R. Barbieri} } @conference {2205, title = {Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands wearhap

}, pages = {2728 - 2735}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139569}, author = {G. Santaera and Luberto, E. and A. Serio and M Gabiccini and A. Bicchi} } @conference {3247, title = {Lower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {1037{\textendash}1040}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {Barbieri, R. and G. Valenza and L. Citi and F. Placidi and F. Izzi and M. Albanese and M. Marciani and M. Guerrisi and A. Romigi and N. Toschi} } @article {2508, title = {The nano-epsilon dot method for strain rate viscoelastic characterisation of soft biomaterials by spherical nano-indentation}, journal = {Journal of the Mechanical Behavior of Biomedical Materials}, volume = {50}, year = {2015}, pages = {150{\textendash}159}, keywords = {Bioengineering}, issn = {17516161}, doi = {10.1016/j.jmbbm.2015.06.015}, url = {http://linkinghub.elsevier.com/retrieve/pii/S1751616115002088}, author = {G. Mattei and G. Gruca and Rijnveld, N. and A. Ahluwalia} } @article {2717, title = {Neuro-fuzzy physiological computing to assess stress levels in virtual reality therapy}, journal = {INTERACTING WITH COMPUTERS}, volume = {27}, year = {2015}, pages = {521{\textendash}533}, keywords = {Bioengineering}, issn = {0953-5438}, doi = {10.1093/iwc/iwv010}, url = {http://dx.medra.org/10.1093/iwc/iwv010}, author = {Tartarisco, G. and N. Carbonaro and A. Tonacci and G. M. Bernava and A. Arnao and G. Crifaci and P. Cipresso and G. Riva and A. Gaggioli and D. De Rossi and A. Tognetti and G. Pioggia} } @article {3239, title = {Nonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics}, journal = {Frontiers in physiology}, volume = {6}, year = {2015}, keywords = {Bioengineering}, author = {G. Valenza and R. G. Garcia and L. Citi and E. P. Scilingo and C. A. Tomaz and R. Barbieri} } @article {3242, title = {A novel algorithm for movement artifact removal in ECG signals acquired from wearable systems applied to horses}, journal = {PloS one}, volume = {10}, year = {2015}, pages = {e0140783}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and G. Valenza and E. P. Scilingo} } @conference {2337, title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {5675 - 5681}, address = {Seattle, USA, 25 - 30 May}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2015.7139994}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @article {2505, title = {Parvalbumin expression in the claustrum of human dog. An immunohistochemical and topographical study with comparative notes of the structure of the nucleus}, journal = {Journal of chemical neuroanatomy}, volume = {64-65}, year = {2015}, month = {03/2015}, pages = {33-42}, keywords = {Bioengineering}, doi = {10.1016/j.jchemneu.2015.02.004}, url = {http://www.sciencedirect.com/science/article/pii/S0891061815000149}, author = {Pirone, A. and C. Magliaro and Giannessi, E. and A. Ahluwalia} } @conference {2478, title = {Potential merits for space robotics from novel concepts of actuation for soft robotics}, booktitle = {Advanced Space Technologies for Robotics and Automation (ASTRA) }, year = {2015}, address = {Noordwijk, The Netherlands May 11-13, 2015}, keywords = {Robotics}, author = {G. Mathijssen and S. Terryn and R. Funemont and M. Garabini and M. G. Catalano and G. Grioli and D. Lefeber and A. Bicchi and B. Vanderborght} } @conference {3249, title = {Predicting mood changes in bipolar disorder through heartbeat nonlinear dynamics: A preliminary study}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {801{\textendash}804}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A. Lanat{\`a} and C. Gentili and G. Bertschy and E. P. Scilingo} } @article {2514, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research - Part B Applied Biomaterials}, volume = {103}, year = {2015}, pages = {1107-1119}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @article {2417, title = {Recognizing Emotions Induced by Affective Sounds through Heart Rate Variability}, journal = {IEEE Transactions on Affective Computing}, year = {2015}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @conference {3243, title = {Removing movement artifacts from equine ECG recordings acquired with textile electrodes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, pages = {1955{\textendash}1958}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and R. Paradiso and G. Valenza and E. P. Scilingo} } @article {3244, title = {Robust Head Mounted Wearable Eye Tracking System for Dynamical Calibration}, journal = {Journal of Eye Movement Research}, volume = {8}, year = {2015}, pages = {1{\textendash}15}, keywords = {Bioengineering}, author = {A Lanata and A. Greco and G. Valenza and E. P. Scilingo} } @conference {2543, title = {Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

saphari walkman

}, pages = {107 - 113}, publisher = {IEEE}, organization = {IEEE}, abstract = {
In this paper, we investigate the role of variable stiffness in the reduction of the energy cost for mechanical systems that perform desired tasks. The objective is to assess the use of Variable Stiffness Actuation (VSA) by determining an optimal stiffness profile and the associated energy cost of performing a desired task. For the analysis we consider mechanical systems of n-Degrees of Freedom (DoF), using VSA. We find an analytical solution that expresses the optimal stiffness profile during the task as a function of joint trajectories. This stiffness profile can be either constant or variable in time, and it minimizes a cost function, when performing a desired task.
We calculate the cost related to the torque of the system and the additional cost of changing or keeping a stiffness actively constant. Additionally, we discuss some cases for which it is worth to change the stiffness during a task and cases for which a constant stiffness may be better solution. Furthermore, from simulations and experiments we show cases in which using a variable stiffness profile allows cost savings w.r.t. constant
stiffness. The use of variable stiffness depends on the task, i.e. on the joint trajectories and their frequency, as well as on the mechanical implementation of the actuator used.
}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2015.7363522}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363522}, author = {A. Velasco and M. Garabini and M. G. Catalano and A. Bicchi} } @conference {2595, title = {On the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {2283{\textendash}2286}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7318848}, author = {A Lanata and A. Greco and G. Valenza and E. P. Scilingo} } @article {2080, title = {Variable Stiffness Actuators: the user{\textquoteright}s point of view}, journal = {Int. J. Robotics Research}, volume = {34}, year = {2015}, note = {

Extensions.zip

}, month = {05/2015}, pages = {727-743}, keywords = {Robotics}, doi = {10.1177/0278364914566515}, url = {http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP\&keytype=finite}, author = {G. Grioli and S. Wolf and M. Garabini and M. G. Catalano and E. Burdet and D. G. Caldwell and R. Carloni and W. Friedl and M. Grebenstein and M. Laffranchi and D. Lefeber and S. Stramigioli and N G Tsagarakis and M. Van Damme and B. Vanderborght and A Albu-Schaeffer and A. Bicchi} } @conference {2450, title = {Variable Stiffness Control for Oscillation Damping}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2015)}, year = {2015}, note = {
This work is supported by the EC under the grant agreements no.611832 Walk-Man and ICT-287513 {\textquotedblleft}SAPHARI{\textquotedblright}
}, pages = {6543 - 6550}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, September 28 - October 02, 2015}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7354312}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7354312}, author = {G M Gasparri and M. Garabini and L. Pallottino and L. Malagia and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {2121, title = {Active gathering of frictional properties from objects}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {3982 - 3987 }, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, USA}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6943122}, author = {C. Rosales and A. Ajoudani and M Gabiccini and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @article {2192, title = {An Autologously Generated Platelet-Rich Plasma Suturable Membrane May Enhance Peripheral Nerve Regeneration after Neurorraphy in an Acute Injury Model of Sciatic Nerve Neurotmesis}, journal = {Journal of reconstructive microsurgery}, year = {2014}, keywords = {Bioengineering}, author = {Giannessi, E. and Coli, A. and Stornelli, M. R. and Miragliotta, V. and Pirone, A. and Lenzi, C. and Burchielli, S. and G. Vozzi and C. De Maria and Giorgetti, M.} } @conference {2278, title = {Autonomous bioreactor modules for disease models and detection of systemic toxicity}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {43}, address = {Prague, Czech Republic}, abstract = {

Advanced systems based on bioreactors and scaffolds are an essential step towards the development of more predictive and ethical alternatives to animal experiments. Size, modularity, automation, monitoring and essential design are crucial because these elements will ease the transition from old technology and accelerate their acceptance into mainstream research. Based on these requirements, the interconnected transparent sensorised {\^a}{\texteuro}{\oe}lego{\^a}{\texteuro} bioreactors designed in our labs have been used to generate physiologically relevant disease and toxicity models which recapitulate systemic responses impossible to observe in standard cell cultures. The disease model is an interconnected bioreactor circuit with i) adipose tissue in 3D in 3 different concentrations representing normo-weight, over weight and obese body mass indices, ii) human hepatocytes on porous collagen scaffolds and iii) monolayers of human endothelial cells. High adiposity and elevated glucose levels induce systemic and endothelial inflammation in the circuit, as observed in overweight and diabetic humans (Iori et al., 2012). Using similar technology a three-tissue circuit for monitoring the absorption, distribution, metabolism and toxicity of nanoparticles was developed in the context of the EU project InLiveTox (Ucciferri et al., 2014). The results were strikingly similar to those observed in animal experiments demonstrating that the dynamic 3D in-vitro models are ethical, meaningful and economically viable replacements.

}, keywords = {Bioengineering}, author = {A. Ahluwalia and S. Giusti and Sbrana, T. and M. Wilkinson and A. Misto and Lehr, C.-M. and M. Liley}, editor = {S. Horst and D. J{\'\i}rov{\'a}} } @article {2216, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell biochemistry and biophysics}, volume = {68}, year = {2014}, pages = {37{\textendash}47}, author = {G. Orsi and Ghelardoni, S. and Saba, A. and R. Zucca and G. Vozzi} } @article {2145, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2217, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {Journal of Biomedical Materials Research Part A}, volume = {102}, year = {2014}, pages = {1415{\textendash}1421}, author = {G. Vozzi and Corallo, C. and Carta, S. and Fortina, M. and Gattazzo, F. and Galletti, M. and N. Giordano} } @article {1785, title = {CREPE: mathematical model for CRosstalking of Endothelial cells and hePatocytE metabolism}, journal = {IEEE Transactions of Biomedical Engineeirng}, volume = {61}, year = {2014}, month = {01/2014}, pages = {224 - 230}, keywords = {Bioengineering}, doi = { 10.1109/TBME.2013.2272942}, author = {Valvano, G and G. Orsi and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @article {2228, title = {A Decision Support System for Real-Time Stress Detection During Virtual Reality Exposure}, year = {2014}, pages = {114{\textendash}120}, abstract = {

Virtual Reality (VR) is increasingly being used in combination with psycho-physiological measures to improve assessment of distress in mental health research and therapy. However, the analysis and interpretation of multiple physiological measures is time consuming and requires specific skills, which are not available to most clinicians. To address this issue, we designed and developed a Decision Support System (DSS) for automatic classification of stress levels during exposure to VR environments. The DSS integrates different biosensor data (ECG, breathing rate, EEG) and behavioral data (body gestures correlated with stress), following a training process in which self-rated and clinical-rated stress levels are used as ground truth. Detected stress events for each VR session are reported to the therapist as an aggregated value (ranging from 0 to 1) and graphically displayed on a diagram accessible by the therapist through a web-based interface.

}, doi = {10.3233/978-1-61499-375-9-114}, author = {A. Gaggioli and P. Cipresso and Serino, S. and G. Pioggia and Tartarisco, G. and Baldus, G. and Corda, D. and M. Ferro and N. Carbonaro and A. Tognetti and D. De Rossi and Giakoumis, D. and Tzovaras, D. and Riera, A. and G. Riva} } @conference {1997, title = {Decoding 2D kinematics of human arm for body machine interfaces}, booktitle = {Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013}, year = {2014}, pages = {719{\textendash}722}, doi = {10.1109/ICIEA.2013.6566461}, url = {http://dx.medra.org/10.1109/ICIEA.2013.6566461}, author = {Gulrez, T and Kavakli-Thorne, M. and A. Tognetti} } @conference {2082, title = {Design and preliminary affective characterization of a novel fabric-based tactile display}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, pages = { 591 - 596}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775522}, author = {M. Bianchi and G. Valenza and A. Serio and A Lanata and L. Greco and M. Nardelli and E. P. Scilingo and A. Bicchi} } @article {2276, title = {Design Criteria for Generating Physiologically Relevant In Vitro Models in Bioreactors}, journal = {Processes}, volume = {2}, year = {2014}, pages = {548{\textendash}569}, abstract = {

In this paper, we discuss the basic design requirements for the development of physiologically meaningful in vitro systems comprising cells, scaffolds and bioreactors, through a bottom up approach. Very simple micro- and milli-fluidic geometries are first used to illustrate the concepts, followed by a real device case-study. At each step, the fluidic and mass transport parameters in biological tissue design are considered, starting from basic questions such as the minimum number of cells and cell density required to represent a physiological system and the conditions necessary to ensure an adequate nutrient supply to tissues. At the next level, we consider the use of three-dimensional scaffolds, which are employed both for regenerative medicine applications and for the study of cells in environments which better recapitulate the physiological milieu. Here, the driving need is the rate of oxygen supply which must be maintained at an appropriate level to ensure cell viability throughout the thickness of a scaffold. Scaffold and bioreactor design are both critical in defining the oxygen profile in a cell construct and are considered together. We also discuss the oxygen-shear stress trade-off by considering the levels of mechanical stress required for hepatocytes, which are the limiting cell type in a multi-organ model. Similar considerations are also made for glucose consumption in cell constructs. Finally, the allometric approach for generating multi-tissue systemic models using bioreactors is described.

}, keywords = {Bioengineering}, issn = {2227-9717}, doi = {10.3390/pr2030548}, url = {http://www.mdpi.com/2227-9717/2/3/548/}, author = {G. Mattei and S. Giusti and A. Ahluwalia} } @article {2184, title = {Designing and Evaluating a Social Gaze-Control System for a Humanoid Robot }, journal = {IEEE Transactions on Human-Machine Systems }, volume = {44}, year = {2014}, pages = {157-168}, keywords = {Robotics}, author = {A. Zaraki and D. Mazzei and Giuliani, M. and D. De Rossi} } @article {2203, title = {Development of a novel Micro-Ablation System to realise micrometric and well-defined hydrogel structures for Tissue Engineering applications}, journal = {Rapid Prototyping Journal}, volume = {20}, year = {2014}, keywords = {Bioengineering}, author = {C. De Maria and Grassi, L. and Vozzi, F. and A. Ahluwalia and G. Vozzi and Campbell, R. I.} } @conference {2113, title = {Drum Stroke Variation Using Variable Stiffness Actuators}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {3892 - 3897 }, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, IL, USA}, abstract = {

One interesting field of robotics technology is related to the entertainment industry. Performing a musical piece using a robot is a difficult task because music presents many features like melody, rhythm, tone, harmony and so on. Addressing these tasks with a robot is not trivial to implement. Most of approaches which related to this specific field lacks of quality to perform in front of human audience. Implementation of human-like motions can not be properly achieved with a conventional robot actuator. Consequently, we exploit a new type of actuator which simplifies the drawbacks of a conventional one. We used Variable Stiffness Actuator(VSA) instead of using conventional actuator. We can control position, force, and stiffness, simultaneously by using VSA. The most important novel feature is its controllable stiffness. When the stiffness of the actuator is changed, the characteristics of the actuator{\textquoteright}s response also changes. We implemented the specific stroke which is called {\textquotedblleft}double stroke{\textquotedblright} using one of variable stiffness actuator. Although the double stroke is known as a special stroke which could be performed by human only, double stroke is successfully implemented by stiffness variation.

}, keywords = {Robotics}, doi = {10.1109/IROS.2014.6943109}, author = {Y. Kim and M. Garabini and J. Park and A. Bicchi} } @article {2146, title = {Electrodermal Activity in Bipolar Patients during Affective Elicitation}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {18}, year = {2014}, pages = {1865-1873}, author = {A. Greco and G. Valenza and A Lanata and G. Rota and E. P. Scilingo} } @article {2242, title = {Enabling variable-stiffness hand rehabilitation orthoses with dielectric elastomer transducers}, journal = {Medical Engineering and Physics}, volume = {36}, year = {2014}, pages = {205{\textendash}211}, abstract = {

Patients affected by motor disorders of the hand and having residual voluntary movements of fingers or wrist can benefit from self-rehabilitation exercises performed with so-called dynamic hand splints. These systems consist of orthoses equipped with elastic cords or springs, which either provide a sustained stretch or resist voluntary movements of fingers or wrist. These simple systems are limited by the impossibility of modulating the mechanical stiffness. This limitation does not allow for customizations and real-time control of the training exercise, which would improve the rehabilitation efficacy. To overcome this limitation, {\textquoteright}active{\textquoteright} orthoses equipped with devices that allow for electrical control of the mechanical stiffness are needed. Here, we report on a solution that relies on compact and light-weight electroactive elastic transducers that replace the passive elastic components. We developed a variable-stiffness transducer made of dielectric elastomers, as the most performing types of electromechanically active polymers. The transducer was manufactured with a silicone film and tested with a purposely-developed stiffness control strategy that allowed for electrical modulations of the force-elongation response. Results showed that the proposed new technology is a promising and viable solution to develop electrically controllable dynamic hand orthoses for hand rehabilitation. ? 2013 IPEM.

}, doi = {10.1016/j.medengphy.2013.10.015}, author = {F. Carpi and G. Frediani and C. Gerboni and J. Gemignani and D. De Rossi} } @conference {2081, title = {Exploring haptic feedback for the Pisa/IIT SoftHand}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775572}, author = {S. B. Godfrey and A. Ajoudani and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {1668, title = {Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand}, journal = { IEEE Transactions on Haptics}, volume = {7}, year = {2014}, pages = {203 - 215}, keywords = {Haptics, Robotics}, doi = {10.1109/TOH.2014.2309142 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6755554}, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and M. Bianchi and G. Grioli and N G Tsagarakis and A. Bicchi} } @conference {2273, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Gruppo Nazionale Bioingegneria IV Congresso}, year = {2014}, address = {Pavia, 25-27 June}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on the cells and recreate a physiological environment for cardiomyocytes cultures. This work is focused on an innovative Sensorized Squeeze PRessure (S2PR) bioreactor, able to apply a periodic contactless hydrodynamic pressures on 3D porous constructs. The fluid-dynamic environment inside the bioreactor was fully characterized using computational models, focusing on the pressures and fluid velocity profiles generated in the porous scaffold during the cyclic stimulation.

}, keywords = {Bioengineering}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @conference {2277, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Proceedings of ICMMB2014}, year = {2014}, pages = {363{\textendash}68}, keywords = {Bioengineering}, doi = {10.6092/unibo/amsacta/4085. In: Proceedings ICMMB A cura di: Zannoli, Romani ; Corazza, Ivan ; Stagni, Rita.}, url = {http://amsacta.unibo.it/4085/1/Proceedings{\.I}CMMB2014.pdf}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @conference {2232, title = {Grasping with Soft Hands}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {581 - 587}, address = {Madrid, Spain, November 18 - 20}, abstract = {

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple {\textemdash} in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) {\textemdash} but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=7041421\&queryText\%3DGrasping+with+Soft+Hands}, author = {M. Bonilla and E. Farnioli and C. Piazza and M. G. Catalano and G. Grioli and M. Garabini and M Gabiccini and A. Bicchi} } @inbook {1694, title = {HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS}, booktitle = {Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project}, volume = {94}, number = {Springer Tracts in Advanced Robotics}, year = {2014}, pages = {197-215}, abstract = {

The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.

}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-319-02934-4_10}, author = {G. Salvietti and G. Gioioso and M. Malvezzi and D Prattichizzo and A. Serio and E. Farnioli and M Gabiccini and A. Bicchi and I. Sarakoglou and N G Tsagarakis and D. G. Caldwell} } @article {2230, title = {Improving sodium Magnetic Resonance in humans by design of a dedicated Na-23 surface coil }, journal = {MEASUREMENT }, volume = {50}, year = {2014}, month = {04/2014}, chapter = {285-292}, doi = {10.1016/j.measurement.2014.01.006}, author = {G. Giovannetti and Pingitore, A. and V. Positano and De Marchi, D. and Valvano, G. and Gibiino, F. and Aquaro, G. D. and Lombardi, M. and L. Landini and M. F. Santarelli} } @article {2196, title = {In vivo assessment of printed microvasculature in a bilayer skin graft to treat full-thickness wounds}, journal = {Tissue Engineering Part A}, year = {2014}, keywords = {Bioengineering}, author = {Yanez, M. and Rincon, J. and Dones, A. and C. De Maria and Gonzales, R. and Boland, T.} } @article {2209, title = {Inference of Human Affective States from Psychophysiological Measurements Extracted under Ecologically Valid Conditions}, journal = {FRONTIERS IN NEUROSCIENCE}, volume = {8}, year = {2014}, abstract = {

Compared to standard laboratory protocols, the measurement of psychophysiological signals in real world experiments poses technical and methodological challenges due to external factors that cannot be directly controlled. To address this problem, we propose a hybrid approach based on an immersive and human accessible space called the eXperience Induction Machine (XIM), that incorporates the advantages of a laboratory within a life-like setting. The XIM integrates unobtrusive wearable sensors for the acquisition of psychophysiological signals suitable for ambulatory emotion research. In this paper, we present results from two different studies conducted to validate the XIM as a general-purpose sensing infrastructure for the study of human affective states under ecologically valid conditions. In the first investigation, we recorded and classified signals from subjects exposed to pictorial stimuli corresponding to a range of arousal levels, while they were free to walk and gesticulate. In the second study, we designed an experiment that follows the classical conditioning paradigm, a well-known procedure in the behavioral sciences, with the additional feature that participants were free to move in the physical space, as opposed to similar studies measuring physiological signals in constrained laboratory settings. Our results indicate that, by using our sensing infrastructure, it is indeed possible to infer human event-elicited affective states through measurements of psychophysiological signals under ecological conditions.

}, doi = {10.3389/fnins.2014.00286}, author = {A. Betella and R. Zucca and Cetnarski, A and A. Greco and A Lanata and D. Mazzei and A. Tognetti and X. D. Arsiwalla and P Omedas and D. De Rossi and Verschure, P} } @conference {2213, title = {Interpreting Psychophysiological States Using Unobtrusive Wearable Sensors in Virtual Reality}, booktitle = {Proc. of The Seventh International Conference on Advances in Computer-Human Interactions}, year = {2014}, abstract = {

One of the main challenges in the study of human be- havior is to quantitatively assess the participants? affective states by measuring their psychophysiological signals in ecologically valid conditions. The quality of the acquired data, in fact, is often poor due to artifacts generated by natural interactions such as full body movements and gestures. We created a technology to address this problem. We enhanced the eXperience Induction Machine (XIM), an immersive space we built to conduct experiments on human behavior, with unobtrusive wearable sensors that measure electrocardiogram, breathing rate and electrodermal response. We conducted an empirical validation where participants wearing these sensors were free to move in the XIM space while exposed to a series of visual stimuli taken from the International Affective Picture System (IAPS). Our main result consists in the quan- titative estimation of the arousal range of the affective stimuli through the analysis of participants? psychophysiological states. Taken together, our findings show that the XIM constitutes a novel tool to study human behavior in life-like conditions.

}, author = {A. Betella and Pacheco, D. and R. Zucca and X. D. Arsiwalla and P Omedas and A Lanata and D. Mazzei and A. Tognetti and A. Greco and N. Carbonaro and Wagner, J. and Lingenfelser, F. and Andr{\`e}, E. and D. De Rossi and Verschure, P.} } @conference {2201, title = {Keratin based hydrogels for tissue engineering and regenerative medicine}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {357{\textendash}358}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {F. Montemurro and Gattazzo, F. and C. De Maria and G. Vozzi} } @conference {2221, title = {Micro-patterned gelatin-genipin hydrogel for skeletal muscle tissue engineering}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {351{\textendash}352}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, author = {Gattazzo, F. and G. Orsi and G. Vozzi} } @conference {2280, title = {Multi-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity}, booktitle = {ESTIV 2014}, year = {2014}, pages = {107}, address = {Egmond aan Zee, The Netherlands}, abstract = {

More meaningful in-vitro models which simulate the physiological conditions of native tissue are becoming essential in the pharmaceutical field, for early and rapid screening of drug candidates. Here, we describe a multi-organ-on-plate system based on single and double flow mini bioreactor modules for dynamic in-vitro studies of intestinal drug absorption, drug metabolism and more relevant toxicity studies. The double flow module for membrane culture was firstly characterized using computational fluid dynamic models and measurements of pressure gradients, in order to indentify the optimal flow rates for maximizing the passage of solutes through the membrane. Then, cell culture experiments were performed with fully differentiated Caco-2 cells seeded on the semi-permeable membrane as a dynamic model of the intestinal epithelium, connected to a single flow chamber with metabolically competent human upcyte{\^A}{\textregistered} hepatocytes (Medicyte GmbH, Germany) seeded on a 3D collagen cryogel. First we assessed the role of flow in modulating the passage of compounds across the epithelial barrier. Then toxicity tests were performed by administering different concentrations of hepatotoxic compounds (i.e. Diclofenac, Nimesulide, industrial nanoparticles) in the apical compartment of the MB, compared the data with cell cultures in transwells. Our results show: i) the presence of flow significantly increases translocation of all molecules tested across the membrane, ii) flow conditioned Caco-2 cells are more permeable to small hydrophilic compounds, despite having high TEER values iii) although they display higher levels of phenotypic markers (tight junctions, albumin expression etc), cells in the system are more susceptible to drug induced toxicity. In conclusion, the multi-organ-on-plate system predicts drug adsorption and toxicity better than traditional cell cultures and could be used to reduce, refine and eventually replace animal tests.

}, keywords = {Bioengineering}, author = {S. Giusti and Sbrana, T. and D. Giacopelli and V. Di Patria and A. Ahluwalia} } @conference {1983, title = {Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, year = {2014}, pages = {1480 - 1486}, publisher = {IEEE}, organization = {IEEE}, address = {Hong Kong, May 31 2014-June 7 2014 }, abstract = {

Incorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907047}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6945252}, author = {A. Ajoudani and N G Tsagarakis and J. Lee and M Gabiccini and A. Bicchi} } @conference {2279, title = {The need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {45{\textendash}6}, address = {Prague, Czech Republic}, abstract = {

New relevant in-vitro models are priorities in pharmaco-toxicology, cosmetic and food research to reduce the animal tests. Therefore, invivo models show ethical issues, are not time and cost effective and are progressively showing scientific limitations: for instance they fail in detection of pathogens that are species specific (Mazzoleni et al., 2009). The search of more relevant pre-clinical models forced the researcher to move from 2D to 3D in-vitro models in order to maintain the phenotype of cells (Lovit et al., 2013; Mattei et al., 2014). Even if the significant progress in material science, the metabolic requirement of 3D tissues is higher than a 2D culture and the scaffold is a limitation in nutrients transport. Dynamic cell culture chambers are then required to assure the gas/nutrient supply, waste elimination, mechanical stimulation of cells, study of cross talk between different tissues and real time monitoring of cells. Nowadays the only systems that meet all these specifications are the Ivtech technologies. Ivtech is an innovative Italian start-up that grows up to solve the needs of in-vitro experts, offering and customizing several type of transparent, dynamic and modular cell culture systems, organizing workshops and training. The goal is to expand the 3D approach and permits a significant evolution towards highly relevant in-vitro models.

}, keywords = {Bioengineering}, author = {Sbrana, T. and G. Mattei and S. Giusti and A. Ahluwalia}, editor = {J. Dagmar and S. Horst} } @article {2274, title = {A novel dual-flow bioreactor simulates increased fluorescein permeability in epithelial tissue barriers}, journal = {Biotechnology journal}, year = {2014}, abstract = {

Permeability studies across epithelial barriers are of primary importance in drug delivery as well as in toxicology. However, traditional in vitro models do not adequately mimic the dynamic environment of physiological barriers. Here, we describe a novel two-chamber modular bioreactor for dynamic in vitro studies of epithelial cells. The fluid dynamic environment of the bioreactor was characterized using computational fluid dynamic models and measurements of pressure gradients for different combinations of flow rates in the apical and basal chambers. Cell culture experiments were then performed with fully differentiated Caco-2 cells as a model of the intestinal epithelium, comparing the effect of media flow applied in the bioreactor with traditional static transwells. The flow increases barrier integrity and tight junction expression of Caco-2 cells with respect to the static controls. Fluorescein permeability increased threefold in the dynamic system, indicating that the stimulus induced by flow increases transport across the barrier, closely mimicking the in vivo situation. The results are of interest for studying the influence of mechanical stimuli on cells, and underline the importance of developing more physiologically relevant in vitro tissue models. The bioreactor can be used to study drug delivery, chemical, or nanomaterial toxicity and to engineer barrier tissues.

}, keywords = {Bioengineering}, issn = {1860-7314}, doi = {10.1002/biot.201400004}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24756869}, author = {S. Giusti and Sbrana, T. and La Marca, M and V. Di Patria and V. Martinucci and Tirella, A and C. Domenici and A. Ahluwalia} } @conference {2151, title = {Open Source VSA-CubeBots for Rapid Soft Robot Prototyping }, booktitle = { Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems}, year = {2014}, address = { July 12, 2014, Berkeley, California }, keywords = {Robotics}, author = {K. Melo and M. Garabini and G. Grioli and M. G. Catalano and L. Malagia and A. Bicchi} } @conference {2120, title = {The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {1261 - 1268}, address = {Chicago, USA}, abstract = {

In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and the lightweight construction of the sensor which would have, otherwise, degraded its accuracy. To assess the performances of the calibration methods, a comparison is reported with respect to the measurements obtained with a commercial force/torque sensor considered as ground truth (ATI Delta). Thanks to the modular design and the possibility to cover the sensitive faces with surface patches of different geometry, a variety of sensorized objects with different shapes can be realized. The peculiar feature that all the components of the contact wrench can be measured on each face with high accuracy, renders it a unique tool in the study of grasp force distribution in humans, with envisioned use both in neuroscience investigations and robotic applications.

}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6942719}, author = {A. Serio and E. Riccomini and V. Tartaglia and I. Sarakoglou and M Gabiccini and N G Tsagarakis and A. Bicchi} } @article {2153, title = {Peripheral Machine Interfaces: going beyond traditional surface electromyography}, journal = {Frontiers in Neurorobotics}, volume = {8}, year = {2014}, month = {08/2014}, pages = {1 - 17}, keywords = {Robotics}, doi = {10.3389/fnbot.2014.00022}, author = {C. Castellini and P. Artemiadis and M. Wininger and A. Ajoudani and M. Alimusaj and A. Bicchi and B. Caputo and W. Craelius and S. Dosen and K. Englehart and D. Farina and A. Gijsberts and S. B. Godfrey and L. Hargrove and M. Ison and T. Kuiken and M. Markovic and P. M. Pilarski and R. Rupp and E. Scheme} } @article {2341, title = {Point-Process Nonlinear Autonomic Assessment of Depressive States in Bipolar Patients}, journal = {Methods of Information in Medicine}, volume = {53}, year = {2014}, note = {

invited

}, pages = {296{\textendash}302}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2210, title = {Psychometric Assessment of Cardio-Respiratory Activity Using a Mobile Platform}, journal = {INTERNATIONAL JOURNAL OF HANDHELD COMPUTING RESEARCH}, volume = {5}, year = {2014}, pages = {13{\textendash}29}, abstract = {

Stress is an increasingly recognized phenomenon that has negative effects on growing numbers of people. Stress assessment is a complex issue, but different studies have shown that monitoring user psychophysi- ological parameter during daily life can be greatly helpful in stress evaluation. In this context, the European Collaborative Project INTERSTRESS is aimed at designing and developing advanced simulation and sensing technologies for the assessment and treatment of psychological stress, based on mobile biosensors.In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed mobile platform, in terms of hardware and processing algorithms, is described. Moreover the use of this wearable biosensor platform in combination with advanced simulation technologies, such as virtual reality, offer interesting opportunities for innovative personal health-care solutions to stress.

}, doi = {10.4018/ijhcr.2014010102}, author = {N. Carbonaro and Cipresso, P and A. Tognetti and G. Anania and D. De Rossi and Pallavicini, F and A. Gaggioli and Riva, G} } @article {2202, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research Part B: Applied Biomaterials}, year = {2014}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @conference {2188, title = {An RGB-D Based Social Behavior Interpretation System for a Humanoid Social Robot}, booktitle = {IEEE-RSI International Conference on Robotics and Mechatronics 2014 }, year = {2014}, pages = {185 - 190}, publisher = {IEEE}, organization = {IEEE}, address = {Tehran, Iran, October 15-17}, keywords = {Bioengineering, Robotics}, doi = {10.1109/ICRoM.2014.6990898}, author = {A. Zaraki and Giuliani, M. and Dehkordi, M. B. and D. Mazzei and D{\textquoteright}Ursi, A. and D. De Rossi} } @article {2219, title = {Role of IGF1 and IGF1/VEGF on Human Mesenchymal Stromal Cells in Bone Healing: Two Sources and Two Fates}, journal = {Tissue Engineering Part A}, year = {2014}, author = {Ferretti, C. and G. Vozzi and Falconi, M. and Orciani, M. and Gesi, M. and Di Primio, R. and Mattioli-Belmonte, M.} } @conference {2275, title = {Sensorized Squeeze Pressure Bioreactor For mechanical modulation of cardiomyocyte phenotype}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {8 Suppl 1}, year = {2014}, pages = {67{\textendash}8}, keywords = {Bioengineering}, doi = {10.1002/term.1943}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24912686}, author = {S. Giusti and Vozzi, F. and F. Pagliari and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @article {1986, title = {A Stiffness Estimator for Agonistic{\textendash}Antagonistic Variable-Stiffness-Actuator Devices}, journal = { IEEE Transactions on Robotics}, volume = {30}, year = {2014}, pages = {1269 - 1278 }, abstract = {

Safe physical human-robot interaction, conservation of energy, and adaptability are the main robotic applications that prompted the development of a number of variable stiffness actuators (VSAs). Implemented in a variety of ways, they use various technologies and feature the most diverse mechanical solutions, all of which share a fundamentally unavoidable nonlinear behavior. The control schemes proposed for these actuators typically aim at independent control of the position of the link and its stiffness. Although effective feedback control schemes using position and force sensors are commonplace in robotics, control of stiffness is at present completely open loop: The stiffness is inferred from the mathematical model of the actuator. We consider here the problem of estimating the nonlinear stiffness of VSA in agonistic-antagonistic configuration. We propose an algorithm based on modulating functions that allow us to avoid the need for numerical derivative and for which the tuning is then very simple. An analysis of the error demonstrates the convergence. Simulations are provided, and the algorithm is validated on experimental data.

}, keywords = {Robotics}, issn = {1552-3098}, doi = {10.1109/TRO.2014.2329998}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6860244\&queryText\%3DA+stiffness+estimator+for+AA-VSA+devices}, author = {T. Menard and G. Grioli and A. Bicchi} } @conference {2084, title = {The tactile toolbox}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775573}, author = {A. Serio and M. Bianchi and M Gabiccini and A. Bicchi} } @conference {2083, title = {ThimbleSense: A new wearable tactile device for human and robotic fingers }, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775571}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Bianchi and A. Serio and M. Santello and A. Bicchi} } @conference {2130, title = {ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies}, booktitle = {IEEE International Conference on Robotics and Automation - ICRA 2014}, year = {2014}, pages = {2728 - 2735 }, publisher = {IEEE}, organization = {IEEE}, address = { Hong Kong, May 31 - June 7, 2014}, abstract = {

Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907250 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907250}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Santello and A. Bicchi} } @conference {2307, title = { Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies}, booktitle = {22nd Mediterranean Conference of Control and Automation (MED) 2014 }, year = {2014}, pages = {346 - 350}, publisher = {IEEE}, organization = {IEEE}, address = {Palermo, Italy, 16-19 June 2014 }, abstract = {

This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation and human grasping studies. We report and discuss preliminary results on device validation as well as some illustrative measurement examples.

}, keywords = {Haptics, Robotics}, doi = {10.1109/MED.2014.6961395}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6961395}, author = {Altobelli, A and M. Bianchi and A. Serio and Baud-Bovy, G and M Gabiccini and A. Bicchi} } @conference {2223, title = {On Time-Optimal Trajectories for Differential Drive Vehicles with Field-Of-View Constraints}, booktitle = {IEEE Conference on Decision and Control (CDC2014)}, year = {2014}, pages = {2191 - 2197}, publisher = {IEEE}, organization = {IEEE}, address = {Los Angeles, USA, December 15-17}, abstract = {

This paper presents the first step toward the study of minimum time trajectories for a differential drive robot, which is equipped with a fixed and limited Field-Of-View (FOV) camera, towards a desired configuration while keeping a given landmark in sight during maneuvers. While several previous works have provided a complete synthesis of shortest paths in case of both nonholonomic and FOV constraints, to the best of our knowledge, this paper represents the first analysis of minimum time trajectories with the two constraints. After showing the extremals of the problem at hand, i.e. straight lines, rotations on the spot, logarithmic spirals and involute of circles, we provide the optimal control laws that steer the vehicle along the path and the cost in terms of time along each extremal. Moreover, we compare some concatenations of extremals in order to reduce the complexity of the problem toward the definition of a sufficient finite set of optimal maneuvers.

}, keywords = {Embedded Control, Robotics}, isbn = {978-1-4799-7746-8}, doi = {10.1109/CDC.2014.7039723}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7039723}, author = {Cristofaro, A. and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @article {2143, title = {Wearable Monitoring for Mood Recognition in Bipolar Disorder based on History-Dependent Long-Term Heart Rate Variability Analysis}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A Lanata and C. Gentili and G. Bertschy and R. Paradiso and E. P. Scilingo} } @conference {2226, title = {XIM-Engine: a software framework to support the development of interactive applications that uses conscious and unconscious reactions in immersive mixed reality}, booktitle = {VIRTUAL REALITY INTERNATIONAL CONFERENCE}, year = {2014}, abstract = {

The development of systems that allow multimodal interpretation of human-machine interaction is crucial to advance our understanding and validation of theoretical models of user behavior. In particular, a system capable of collecting, perceiving and interpreting unconscious behavior can provide rich contextual information for an interactive system. One possible application for such a system is in the exploration of complex data through immersion, where massive amounts of data are generated every day both by humans and computer processes that digitize information at different scales and resolutions thus exceeding our processing capacity. We need tools that accelerate our understanding and generation of hypotheses over the datasets, guide our searches and prevent data overload. We describe XIM- engine, a bio-inspired software framework designed to capture and analyze multi-modal human behavior in an immersive environment. The framework allows performing studies that can advance our understanding on the use of conscious and unconscious reactions in interactive systems.

}, author = {P. Omedas and A. Betella and Zucca, R. and X. D. Arsiwalla and Pacheco, D. and J. Wagner and F. Lingenfelser and D. Mazzei and A Lanata and A. Tognetti and Goldhoorn, A. and Guerra, E. and Alqu{\`\i}zar, R. and Grau, A. and Sanfeliu, A. and D. De Rossi and E. Andr{\'e} and P. F. M. J. Verschure} } @article {2254, title = {3D CMR Mapping of Metabolism by Hyperpolarized 13C-Pyruvate in Ischemia-Reperfusion}, journal = {JACC-CARDIOVASCULAR IMAGING }, volume = {6}, year = {2013}, pages = {743-744}, doi = {10.1016/j.jcmg.2012.11.023}, author = {Aquaro, G. D. and Frijia, F. and V. Positano and Menichetti, L. and M. F. Santarelli and Ardenkjaer-Larsen, J. H. and Wiesinger, F. and Lionetti, V. and Romano, S. L. and Bianchi, G. and Neglia, D. and G. Giovannetti and Schulte, R. and Recchia, f. A. and L. Landini and Lombardi, M.} } @article {2253, title = {An automatic method for myocardial T2(star) curve fitting in thalassemia patients with severe iron overload}, journal = {EUROPEAN HEART JOURNAL}, volume = {34}, year = {2013}, pages = { 837-837}, author = {Meloni, A. and V. Positano and Gulino, L. and L. Landini and M. F. Santarelli and Santamaria, V. and Restaino, G. and Renne, S. and Lombardi, M. and D. Pepe} } @article {1234, title = {Characterization and Psychophysical Studies of an Air-Jet Lump Display}, journal = {Transactions on Haptics}, year = {2013}, pages = {156 - 166}, keywords = {Robotics}, doi = {10.1109/TOH.2012.71 }, author = {J.C Gwilliam and M. Bianchi and L. K. Su and A.M. Okamura} } @article {1779, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell Biochem Biophys}, year = {2013}, keywords = {Bioengineering}, doi = {10.1007/s12013-013-9680-y}, author = {G. Orsi and S. Ghelardoni and A. Saba and R. Zucca and G. Vozzi} } @article {1781, title = {Collagen VI regulates satellite cell self-renewal and muscle regeneration}, journal = {Nat Commun}, volume = {4}, year = {2013}, keywords = {Bioengineering}, doi = {10.1038/ncomms2964}, author = {Urciuolo, A and M. Quarta and V. Morbidoni and Gattazzo, F and S. Molon and P. Grumati and F. Montemurro and F. S. Tedesco and B. Blaauw and G. Cossu and G. Vozzi and T. A. Rando and Bonaldo, P} } @article {1780, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {J Biomed Mater Res A}, year = {2013}, month = {06/2013}, keywords = {Bioengineering}, author = {G. Vozzi and C. Corallo and S. Carta and M. Fortina and Gattazzo, F and M. Galletti and N. Giordano} } @article {1786, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {Journal of Biomedical Materials Research Part A}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/jbm.a.34823}, author = {G. Vozzi and C. Corallo and S. Carta and M. Fortina and Gattazzo, F and M. Galletti and N. Giordano} } @article {2258, title = {Computational Analysis of a Radiofrequency Knee Coil for Low-Field MRI Using FDTD}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {389-400}, doi = {10.1007/s00723-012-0388-8}, author = {V. Hartwig and Tassano, S. and Mattii, A. and N. Vanello and V. Positano and M. F. Santarelli and L. Landini and G. Giovannetti} } @conference {1667, title = {Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {5494 - 5499}, address = {Tokyo, Japan}, abstract = {

Industrial grippers are often used for grasping, while in-hand re-orientation and positioning are dealt with by other means. Contact surface engineering has been recently proposed as a possible mean to introduce dexterity in simple grippers, as in the Velvet Fingers smart gripper, a novel concept of end-effector combining simple under-actuated mechanics and high manipulation possibilities, thanks to conveyors which are built in the finger pads. This paper undergoes the modeling and control of the active conveyors of the Velvet Fingers gripper which are rendered able to emulate different levels of friction and to apply tangential thrusts to the contacted objects. Through the paper particular attention is dedicated to the mechanical implementation, sense drive and control electronics of the device. The capabilities of the prototype are showed in some grasping and manipulation experiments.

}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6697152}, url = {http://ieeexplore.ieee.org/xpl/login.jsp?tp=\&arnumber=6697152\&url=http\%3A\%2F\%2Fieeexplore.ieee.org\%2Fxpls\%2Fabs_all.jsp\%3Farnumber\%3D6697152}, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Bonilla and M. Garabini and G Fantoni and A. Bicchi} } @conference {1941, title = {A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2013}, pages = {3738 - 3745}, address = {Tokyo, Japan}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2013.6696890 }, author = {M Gabiccini and G. Stillfried and H. Marino and M. Bianchi} } @article {2256, title = {Design of a quadrature surface coil for hyperpolarized 13C MRS cardiac metabolism studies in pigs}, journal = {CONCEPTS IN MAGNETIC RESONANCE PART B-MAGNETIC RESONANCE ENGINEERING}, volume = {43b}, year = {2013}, pages = {69 - 77}, doi = {10.1002/cmr.b.21235}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Attanasio, S. and Menichetti, L. and N. Vanello and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {2250, title = {FDTD Analysis of a Radiofrequency Knee Coil for Low-Field MRI: Sample-Induced Resistance and Decoupling Evaluation }, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1393 - 1403}, doi = {10.1007/s00723-013-0488-0}, author = {Morelli, M. S. and V. Hartwig and Tassano, S. and N. Vanello and V. Positano and M. F. Santarelli and Carrozzi, A. and L. Landini and G. Giovannetti} } @article {1821, title = {Grasp Analysis Tools for Synergistic Underactuated Robotic Hands}, journal = {International Journal of Robotic Reasearch}, volume = {32}, year = {2013}, month = {11/2013}, pages = {1553 - 1576}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1706, title = {Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {3015 -3022}, address = {Tokyo, Japan}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6696783 }, author = {E. Farnioli and M Gabiccini and M. Bonilla and A. Bicchi} } @conference {1434, title = {Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {4499 - 4505}, keywords = {Robotics}, doi = {10.1109/ICRA.2013.6631216 }, author = {A. Ajoudani and M Gabiccini and N G Tsagarakis and A. Bicchi} } @conference {1438, title = {Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2744 - 2750}, keywords = {Haptics, Robotics}, url = {10.1109/ICRA.2013.6630955 }, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Garabini and S. Grechi and G Fantoni and A. Bicchi} } @article {1791, title = {In vitro toxicological screening of nanoparticles on primary human endothelial cells and the role of flow in modulating cell response}, journal = {Nanotoxicology}, year = {2013}, abstract = {

Abstract After passage through biological barriers, nanomaterials inevitably end up in contact with the vascular endothelium and physiological flow, and can induce cardiovascular damage. In this study the toxicity and sublethal effects of 6 nanoparticles, including 4 of industrial and biomedical importance, on human endothelial cells was investigated using different in vitro assays. The results show that all the particles investigated induce some level of damage to the cells and that silver particles were most toxic, followed by titanium dioxide. Furthermore endothelial cells were shown to be more susceptible when exposed to silver nanoparticles under flow conditions in a bioreactor. The study underlines that although simple in vitro tests are useful to screen compounds and to identify the type of effect induced on cells, they may not be sufficient to define safe exposure limits. Therefore, once initial toxicity screening has been conducted on nanomaterials, it is necessary to develop more physiologically relevant in vitro models to better understand how nanomaterials can impact on human health.

}, keywords = {Bioengineering}, issn = {1743-5404}, doi = {10.3109/17435390.2013.831500}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23909703}, author = {Ucciferri, N and Collnot, E. M. and Gaiser, B. and Tirella, A and Stone, V. and C. Domenici and Lehr, C.-M. and A. Ahluwalia} } @conference {2144, title = {Increased Instability of Heartbeat Dynamics in Parkinson{\textquoteright}s Disease}, booktitle = {Computers in Cardiology}, year = {2013}, keywords = {Bioengineering}, author = {R. Barbieri and L. Citi and G. Valenza and M. Guerrisi and S. Orsolini and C. Tessa and S. Diciotti and N. Toschi} } @article {2251, title = {Magnetic resonance butterfly coils: Design and application for hyperpolarized C-13 studies}, journal = {MEASUREMENT }, volume = {46}, year = {2013}, pages = {3282-3290}, doi = {10.1016/j.measurement.2013.06.031}, author = {G. Giovannetti and Frijia, F. and Attanasio, S. and Menichetti, L. and V. Hartwig and N. Vanello and Ardenkjaer-Larsen, J. H. and De Marchi, D. and V. Positano and Schulte, R. and L. Landini and Lombardi, M. and M. F. Santarelli} } @conference {1814, title = {A Mobile Biosensor to detect Cardiorespiratory Activity for Stress Tracking}, booktitle = {IEEE 7th International Conference on Pervasive Computing Technologies for Healthcare (PervasiveHealth)}, year = {2013}, pages = {440 - 445 }, address = {Venice, Italy}, abstract = {

Stress is an increasingly recognized phenomenon that has negative effects on growing numbers of people. Stress assessment is a complex issue, but different studies have shown that monitoring user psychophysiological parameter during daily life can be greatly helpful in stress evaluation. In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed wearable platform, in terms of hardware and processing algorithms, is described. Moreover the use of this wearable biosensor platform in combination with advanced simulation technologies, such as virtual reality offer interesting opportunities for innovative personal health-care solutions to stress. A recently founded European project, "INTERSTRESS - Interreality in the management and treatment of stress-related disorders," will take into account these relevant aspects.

}, keywords = {Bioengineering}, issn = {978-1-4799-0296-5 }, author = {N. Carbonaro and A. Tognetti and G. Anania and D. De Rossi and P. Cipresso and A. Gaggioli and G. Riva} } @article {1808, title = {Modeling and Characterization of Extensible Wearable Textile-Based electrogoniometers}, journal = {IEEE Sensors Journal}, volume = {13}, year = {2013}, pages = {217 - 228}, abstract = {

Measuring and monitoring through wearable technology parameters related to human movement, posture, and gesture are gaining momentum because of their wide range of potential applications in daily-life conditions. In previous studies, carbon elastomers (CEs) have been used as strain sensors. Recent developments of CE sensors mathematical modeling demonstrated that the CEs can be used as electrogoniometers. It was proved that for small local curvatures of CE layers, the resistance of a strip constituting a layer depends only on the total curvature of the same layer and not on the particular shape that the sensor keeps in adherence with a surface. Further, it was proved, theoretically and experimentally, that a double-layer configuration provides better accuracy with respect to a single-layer configuration. These results have been obtained under the hypothesis that the device was bent, but not extended. In this paper, we substituted the inextensible insulating layer in the sensors with an elastic one, allowing the system to extend its length. This improvement required further study to make it fit for biomechanical applications following epithelial deformations produced by joint movements and minimizes skin motion artifacts.

}, keywords = {Bioengineering}, issn = {1530-437X}, doi = {10.1109/JSEN.2012.2211099}, author = {F. Lorussi and S. Galatolo and R. Bartalesi and D. De Rossi} } @article {2136, title = {Mood recognition in bipolar patients through the PSYCHE platform: Preliminary evaluations and perspectives}, journal = {Artificial Intelligence In Medicine}, volume = {57}, year = {2013}, pages = {49{\textendash}58}, keywords = {Bioengineering}, author = {G. Valenza and C. Gentili and A Lanata and E. P. Scilingo} } @article {1683, title = {On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies}, journal = {IEEE Transactions on Robotics}, volume = {29}, year = {2013}, month = {12/2013}, pages = {1440 - 1456 }, abstract = {

To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few {\textquotedblleft}postural synergies{\textquotedblright} explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or {\textquotedblleft}synergies{\textquotedblright} has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as {\textquotedblleft}soft synergies,{\textquotedblright} is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.

}, keywords = {Haptics, Robotics}, doi = {10.1109/TRO.2013.2273849}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @conference {1437, title = {Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2477 - 2484}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630914 }, author = {R. Incaini and L. Sestini and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1447, title = {Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {516 - 522}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630623}, author = {L. Chen and M. Garabini and M. Laffranchi and N. Kashiri and N G Tsagarakis and A. Bicchi and D. G. Caldwell} } @conference {1583, title = {Packet-based dynamic control for nonlinear networked systems}, booktitle = {IEEE International Conference on Decision and Control (CDC2013)}, year = {2013}, pages = {6597,6603}, address = {Florence, Italy}, keywords = {Embedded Control, Robotics}, doi = {10.1109/CDC.2013.6760933}, author = {S. Falasca and M. Gamba and L. Greco and A. Chaillet and A. Bicchi} } @conference {1582, title = {Packet-Based Dynamic Control of a Furuta Pendulum over Ethernet}, booktitle = {Mediterranean Conference on Control and Automation (MED {\textquoteright}13)}, year = {2013}, month = {25-28 June 2013 }, pages = {464 - 470}, address = {Platanias-Chania, Crete, Greece}, abstract = {

This paper presents experimental results of the application of Packet-Based Control approach with dynamic controller on a real plant: the Furuta Pendulum. Despite its easiness of realization, Furuta Pendulum presents some features useful for our purposes, such as pretty non-linear dynamics, unstable equilibrium point and heavy dynamical inaccuracies. The network communication channel has been implemented using an Ethernet network. Packet-Based controller has been tested and compared with a classic local controller for different time-varying actuation delays. Results obtained corroborate the validity of the proposed architecture and highlight the robustness of this approach in the presence of actuation delays.

}, keywords = {Embedded Control, Robotics}, issn = {978-1-4799-0995-7}, doi = {10.1109/MED.2013.6608763}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6608763\&queryText\%3Dfalasca+gamba}, author = {T. Fabbri and D. Fenucci and S. Falasca and M. Gamba and A. Bicchi} } @conference {2140, title = {Quantitative EEG analysis in minimally conscious state patients during postural changes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {6313{\textendash}6316}, publisher = {IEEE}, organization = {IEEE}, author = {A. Greco and Carboncini, MC and Virgillito, A and A Lanata and G. Valenza and E. P. Scilingo} } @conference {1436, title = {A real time robust observer for an agonist antagonist variable stiffness actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, note = {

Best Paper Award Finalist

}, pages = {3988 - 3993}, address = {Karlsruhe, Germany, May 6-10, 2013 }, keywords = {Robotics}, url = {10.1109/ICRA.2013.6631139 }, author = {T. Menard and G. Grioli and A. Bicchi} } @article {2255, title = {Regularization techniques on least squares non-uniform fast Fourier transform}, journal = {NTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING }, volume = {29}, year = {2013}, pages = {561-573}, doi = {10.1002/cnm.2540}, author = {Gibiino, F. and V. Positano and L. Landini and M. F. Santarelli} } @article {1993, title = {A Sensorized Garment Controlled Virtual Robotic Wheelchair}, journal = {JOURNAL OF INTELLIGENT \& ROBOTIC SYSTEMS}, year = {2013}, pages = {{\textendash}}, issn = {0921-0296}, doi = {10.1007/s10846-013-9839-1}, url = {http://dx.medra.org/10.1007/s10846-013-9839-1}, author = {Gulrez, T and A. Tognetti} } @conference {1987, title = {Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2013}, address = {Atlanta, Georgia, USA}, keywords = {Robotics}, author = {A. Velasco and G M Gasparri and M. Garabini and L. Malagia and P Salaris and A. Bicchi} } @article {2281, title = {SQPR 3.0: A Sensorized Bioreactor for Modulating Cardiac Phenotype}, journal = {Procedia Engineering}, volume = {59}, year = {2013}, pages = {219{\textendash}225}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on cells and recreate a physiological environment for cardiomyocyte cultures. This work is focused on the design of a sensorized Squeeze Pressure bioreactor (SQPR 3.0) able to apply a periodic contactless hydrodynamic pressure on tissue constructs. This system was then tested with H2c9, a murine cardiomyoblast cell line, to investigate the effect of different stimulation times (2h, 24h, 30h) on cell shape and cardiotypic marker expression.

}, keywords = {Bioengineering}, issn = {18777058}, doi = {10.1016/j.proeng.2013.05.114}, url = {http://linkinghub.elsevier.com/retrieve/pii/S187770581301028X}, author = {S. Giusti and F. Pagliari and Vozzi, F. and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @conference {1788, title = {A Strategy for Dynamic Controller Emulation in Packet-Based Networked Control}, booktitle = {International Conference on Informatics in Control (ICINCO {\textquoteright}13)}, year = {2013}, pages = {29-38}, address = {Reykjav{\'\i}k, Iceland}, keywords = {Embedded Control, Robotics}, doi = {10.5220/0004427100290038}, author = {S. Falasca and M. Gamba and A. Bicchi} } @article {2231, title = {Structured errors in reconstruction methods for Non-Cartesian MR data }, journal = {COMPUTERS IN BIOLOGY AND MEDICINE }, volume = {43}, year = {2013}, month = {12/2013}, pages = {2256-2262}, doi = {10.1016/j.compbiomed.2013.10.013}, author = {Gibiino, F. and V. Positano and Wiesinger, F. and G. Giovannetti and L. Landini and M. F. Santarelli} } @article {1999, title = {Struttura protesica per amputazione mano}, volume = {PI2013A000004}, year = {2013}, pages = {{\textendash}}, author = {Bacchereti, M. and N. Carbonaro and GABRIELE, D. and FERRETTI, L. and PELLICCI, G. and A. Tognetti and Vitetta, N.} } @conference {1664, title = {A synergy-driven approach to a myoelectric hand}, booktitle = {13TH International Conference on Rehabilitation Robotics}, year = {2013}, pages = {1 - 6}, address = {June 24-26, 2013, Seattle, WA.}, keywords = {Haptics, Robotics}, url = {10.1109/ICORR.2013.6650377 }, author = {S. B. Godfrey and A. Ajoudani and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1446, title = {SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {1088 - 1093}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630708 }, author = {M. Malvezzi and G. Gioioso and G. Salvietti and D Prattichizzo and A. Bicchi} } @conference {1666, title = {Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {1985 - 1991}, address = {Tokyo, Japan}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2013.6696620 }, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and G. Grioli and N G Tsagarakis and A. Bicchi} } @article {2252, title = {Transmit-Only/Receive-Only Radiofrequency System for Hyperpolarized C-13 MRS Cardiac Metabolism Studies in Pigs}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1125-1138}, doi = {10.1007/s00723-013-0477-3}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Menichetti, L. and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {1698, title = {Variable Impedance Actuators: a Review}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, note = {

Available online 6 August 2013

}, month = {12/2013}, pages = {1601{\textendash}1614}, abstract = {

Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA{\textquoteright}s to be guided in the design and implementation process for their targeted application.

}, keywords = {Robotics, Soft robotics, Variable Impedance Actuators}, url = {http://www.sciencedirect.com/science/article/pii/S0921889013001188}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and O. Eiberger and W. Friedl and G. Ganesh and M. Garabini and M. Grebenstein and G. Grioli and S. Haddadin and H. Hoppner and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @conference {1241, title = {Adaptive Synergies: an approach to the design of under-actuated robotic hands}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1251 - 1256 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, doi = {10.1109/IROS.2012.6385881 }, author = {G. Grioli and M. G. Catalano and E. Silvestro and S. Tono and A. Bicchi} } @conference {1188, title = {Adaptive Synergies for a Humanoid Robot Hand}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, note = {

Best Paper Award

}, pages = {7-14}, address = {Osaka, Japan}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and A. Serio and E. Farnioli and C. Piazza and A. Bicchi} } @article {1479, title = {Are socially anxious individuals less empathic? A psychophysiological investigation of facial mimicry for emotional expressions}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {375{\textendash}376}, keywords = {Bioengineering}, author = {Matu, S. and Cristea, I. and Cote{\c t}, C. and G. Valenza and C. Gentili and E. P. Scilingo and David, D.} } @conference {1398, title = {Calibration and Test of a Multi-Touch Tactile Object}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, address = {Algrave, Portugal}, keywords = {Robotics}, author = {A. Serio and M Gabiccini and I. Sarakoglou and A. Bicchi} } @article {1480, title = {Cognitive reappraisal and acceptance distinctively impact heart rate variability in socially anxious individuals}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {339}, keywords = {Bioengineering}, author = {Cristea, I. and G. Valenza and C. Gentili and Tatar, A.S. and E. P. Scilingo and David, D.} } @conference {1482, title = {On the deconvolution analysis of electrodermal activity in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {6691{\textendash}6694}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A. Greco and A Lanata and G. Valenza and Rota, G. and N. Vanello and E. P. Scilingo} } @conference {GDBO12, title = {Design and Control of an Air-Jet Lump Display}, booktitle = {Haptics Symposium}, year = {2012}, month = {March 4 - 7}, pages = {45 - 49}, address = {Vancouver, Canada}, keywords = {Robotics}, author = {J.C Gwilliam and A. Degirmenci and M. Bianchi and A.M. Okamura} } @article {GCB11, title = {Exploiting Packet Size in Uncertain Nonlinear Networked Control Systems}, journal = {Automatica}, volume = {48}, year = {2012}, pages = {2801 - 2811}, keywords = {Robotics}, author = {L. Greco and A. Chaillet and A. Bicchi} } @conference {FGB12, title = {Grasp and Manipulation Analysis for Synergistic Underactuated Hands Under General Loading Conditions}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2836 - 2842}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1505, title = {Influence of substrate stiffness on behaviour of satellite cells}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {78 - 79}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Gattazzo, F and Urciuolo, A and Bonaldo, P and G. Vozzi} } @article {PMGB11, title = {On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems}, journal = {Robotics and Autonomous Systems, special issue on Autonomous Grasping}, volume = {60}, year = {2012}, note = {

in press, Available online 17 August 2011

}, pages = {337 - 346}, keywords = {Haptics, Robotics}, doi = {10.1016/j.robot.2011.07.014}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @conference {1497, title = {Mathematical modelling of Endothelin-1 effect on hepatocytes,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {205 - 206}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Valvano, G and G. Orsi and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @conference {1803, title = {A multi-stimuli environment for cardiac tissue engineering}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

The identification of the ideal cell source to generate cardiac tissue able to integrate into the host myocardium and with the contractile system is crucial for cardiac engineering. Amongst different cell sources so far proposed, human adult Cardiac Progenitor Cells (hCPCs) show the ability to proliferate and differentiate toward cardiac lineages when grown in appropriate microenvironmental conditions. It is widely accepted that conventional 2D cultures may provide a physiological environment for growing cells. For this reason the need to have an engineered microenvironment, matching physiological requirements, is crucial. A 3D context with spatial and time varying distribution of regulatory factors using mechanically matched scaffolds and bioreactors could represent an in vitro cell culture model being able to more closely reflects the in vivo conditions. In the present study, the possibility of using biocompatible and biodegradable scaffolds of collagen based or derivatives hydrogels in combination with Linneg/Sca-1pos hCPCs gathered from human heart biopsies was investigated. Bio-constructs were placed in the low shear, high flow MCmB (MultiCompartment modular Bioreactor) and the combined effects of dynamic culture conditions and 3D scaffolds on cell morphology and differentiation were studied in order to investigate the possibility of fabricating stem cell-derived cardiac patches to replace infarcted tissue.

}, keywords = {Bioengineering, Bioreactors, Dynamic 3D Cultures}, author = {Tirella, A and A. Ahluwalia and P. Di Nardo and Gaudiello, E and S. Giusti and F. Pagliari} } @article {1287, title = {Multivariable constrained process control via Lyapunov R-functions}, journal = {JOURNAL OF PROCESS CONTROL}, year = {2012}, note = {

Available on line since Aug 10 2012 - paper version in press

}, keywords = {Robotics}, issn = {0959-1524}, doi = {10.1016/j.jprocont.2012.07.013}, url = {http://dx.medra.org/10.1016/j.jprocont.2012.07.013}, author = {A. Balestrino and A. Caiti and S Grammatico} } @article {1288, title = {A new class of Lyapunov functions for the constrained stabilization of linear systems}, journal = {AUTOMATICA}, year = {2012}, note = {

Available on-line since July 18 2012 - Paper version in press

}, keywords = {Robotics}, issn = {0005-1098}, doi = {10.1016/j.automatica.2012.06.099}, url = {http://dx.medra.org/10.1016/j.automatica.2012.06.099}, author = {A. Balestrino and A. Caiti and S Grammatico} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {MGCGBB12, title = {Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3335 - 3340 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, doi = {10.1109/ICRA.2012.6225082 }, author = {M. Mancini and G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Bicchi} } @conference {2282, title = {Real Time and In-Situ control of environmental parameters in a modular bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {331}, address = {Vien, Austria}, abstract = {

Many researchers now recognize the importance of the external environment in which cells are cultured for cell function and differentiation. Most of the systems able to apply physiological-like stimuli also need a classical incubator or a specifically designed system to control the environmental parameters at some distance from the cells. Here, a standalone platform for cell, tissue and organ culture is described. The SUITE (Supervising Unit for In-vitro Testing) system can control local environmental variables like pH, temperature and hydrostatic pressure over long periods, to provide the optimal environment for cells outside the classical incubator and also to apply mechanical and chemical stimuli to simulate the physiological milieu. The SUITE platform is used with Multi-Compartmental modular Bioreactors (MCmB) to perform dynamic cultures of hepatocytes as in-vitro liver model. Preliminary tests demonstrated the capability of the system to maintain the target parameters for more than 72 h generating different hydrostatic pressures (20{\^a}{\texteuro}{\textquotedblleft}30{\^a}{\texteuro}{\textquotedblleft}40{\^a}{\texteuro}{\textquotedblleft}50 mmHg). Then, two bioreactors were connected in series and cultured for 24 h in the SUITE platform with hydrostatic pressures of 20{\^a}{\texteuro}{\textquotedblleft}30{\^a}{\texteuro}{\textquotedblleft}40 mmHg. Static and dynamic controls were placed in the classical humidified incubator at 37{\^A}{\textdegree}C, 5\% CO2. The results show that cell function is enhanced in SUITE at up to 30 mmHg of hydrostatic pressure, as confirmed by viability, metabolic function and morphological analysis.

}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and D. Mazzei and A. Ahluwalia} } @conference {1264, title = {Realistic Humanlike Robots for Treatment of ASD, Social Training, and Research; Shown to Appeal to Youths with ASD, Cause Physiological Arousal, and Increase Human-to-Human Social Engagement}, booktitle = {Realistic Humanlike Robots for Treatment of Autism, PETRA 2012}, year = {2012}, pages = {1-7}, keywords = {Bioengineering}, author = {Hanson, D. and D. Mazzei and Garver, C. and D. De Rossi and Stevenson, M.} } @article {1334, title = {Realization of a poro-elastic ultrasound replica of pulmonary tissue}, journal = {Biomatter}, volume = {2}, year = {2012}, pages = {27{\textendash}26}, keywords = {Bioengineering}, url = {http://www.landesbioscience.com/journals/biomatter/article/19835/}, author = {Spinelli, A and Vinci, B. and Tirella, A and Matteucci, M and Gargani, L and A. Ahluwalia and C. Domenici and Picano, E and Chiarelli, P} } @conference {2283, title = {Replicating the 3D cardiomyocyte environment in the squeeze pressure bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {341}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1792, title = {Replicating the cardiac environment in the Squeeze Pressure Bioreactor}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, keywords = {Bioengineering}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1484, title = {Speech analysis for mood state characterization in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {2104{\textendash}2107}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {N. Vanello and Guidi, A. and C. Gentili and Werner, S. and G. Bertschy and G. Valenza and A Lanata and E. P. Scilingo} } @conference {RSGB12, title = {On the Synthesis of Feasible and Prehensile Robotic Grasps}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {p. 550 - 556}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {C. Rosales and R. Suarez and M Gabiccini and A. Bicchi} } @conference {1238, title = {Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, pages = {363-369}, address = {Osaka, Japan}, keywords = {Robotics}, author = {A. Ajoudani and M Gabiccini and N G Tsagarakis and A Albu-Schaeffer and A. Bicchi} } @conference {1239, title = {Towards variable impedance assembly: the VSA peg-in-hole}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, address = {Osaka, Japan}, keywords = {Robotics}, author = {L. Balletti and A. Rocchi and F. A. W. Belo and M. G. Catalano and M. Garabini and G. Grioli and A. Bicchi} } @conference {2006, title = {Unobtrusive Physiological and Gesture Wearable Acquisition System: A Preliminary Study on Behavioral and Emotional Correlations}, booktitle = {GLOBAL HEALTH 2012 : The First International Conference on Global Health Challenges}, year = {2012}, month = {21-26 October}, pages = {88{\textendash}92}, author = {N. Carbonaro and A. Greco and G. Anania and G. Dalle Mura and A. Tognetti and E. P. Scilingo and D. De Rossi and A Lanata} } @conference {CGGBDBTB12, title = {A Variable Damping module for Variable Impedance Actuation}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2666 - 2672}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. A. W. Belo and A. Di Basco and N G Tsagarakis and A. Bicchi} } @article {1245, title = {Variable Impedance Actuators: Moving the Robots of Tomorrow}, year = {2012}, keywords = {Robotics}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and G. Ganesh and M. Garabini and G. Grioli and S. Haddadin and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @conference {1243, title = { Velvet fingers: A dexterous gripper with active surfaces}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1257 - 1263 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {V. Tincani and M. G. Catalano and E. Farnioli and M. Garabini and G. Grioli and G Fantoni and A. Bicchi} } @conference {DRGMP11, title = {Causality as a unifying approach between activation and connectivity analysis of fMRI data}, booktitle = {17-th annual meeting of the Organization for Human Brain Mapping}, year = {2011}, note = {Abstract}, author = {N. Dubbini and E. Ricciardi and A. Gaglianese and S. Marmi and P. Pietrini} } @conference {BGDO11, title = {Characterization of an Air Jet Haptic Lump Display}, booktitle = {33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2011)}, year = {2011}, pages = {3467-3470}, keywords = {Haptics, Robotics}, author = {M. Bianchi and J.C Gwilliam and A. Degirmenci and A.M. Okamura} } @article {1477, title = {Daytime naps improve motor imagery learning}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, year = {2011}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {Debarnot, U. and Castellani, E. and G. Valenza and Sebastiani, L. and Guillot, A.} } @conference {SGSTB11, title = {A decoupled Impedance observer for a Variable Stiffness Robot}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5548 - 5553}, address = {Shangai, China}, keywords = {Robotics}, author = {A. Serio and G. Grioli and I. Sardellitti and N G Tsagarakis and A. Bicchi} } @article {GFB11, title = {Design and Stability Analysis for Anytime Control via Stochastic Scheduling}, journal = {IEEE Trans. on Automat. Contr.}, volume = {56}, number = {3}, year = {2011}, pages = {571 - 585}, keywords = {Embedded Control, Robotics}, author = {L. Greco and D. Fontanelli and A. Bicchi} } @article {1279, title = {Dispositivo per tomografia ad impedenza elettrica}, year = {2011}, keywords = {Bioengineering}, issn = {PI2011A000124}, author = {Baldi, G. and D. Mazzei and Gervasi, V.} } @conference {GBB11, title = {Dynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {2698 - 2704}, address = {Shangai, China}, keywords = {Haptics, Robotics}, author = {M Gabiccini and M. Branchetti and A. Bicchi} } @conference {GCB11, title = {Exploiting Packet Size in Uncertain Nonlinear Networked Control Systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {14404 - 14409}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {L. Greco and A. Chaillet and A. Bicchi} } @conference {SCGGB11, title = {The Hand Embodied}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {A. Serio and M. G. Catalano and G. Grioli and M Gabiccini and A. Bicchi} } @article {1511, title = {HEMETBeta: improvement of hepatocyte metabolism mathematical model}, journal = {COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING}, year = {2011}, keywords = {Bioengineering}, issn = {1025-5842}, author = {G. Orsi and C. De Maria and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @article {BGS11, title = {Modeling Natural and Artificial Hands with Synergies}, journal = {Philosophical Transactions of the Royal Society B}, volume = {366}, year = {2011}, pages = {3153 - 3161}, keywords = {Haptics, Robotics}, doi = {10.1098/rstb.2011.0152}, author = {A. Bicchi and M Gabiccini and M. Santello} } @article {1466, title = {Motor imagery effectiveness for mirror reversed movements}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, volume = {11}, year = {2011}, pages = {22{\textendash}31}, keywords = {Bioengineering}, author = {Debarnot, U. and G. Valenza and Champely, S. and E. P. Scilingo and D. De Rossi and Guillot, A.} } @inbook {1286, title = {Multi-Compartmental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, booktitle = {Bioreactors: Design, Properties and Applications}, number = {978-1-62100-164-5}, year = {2011}, pages = {159 - 178}, publisher = {Nova Science Publishers, Inc}, organization = {Nova Science Publishers, Inc}, chapter = {Multi-Compartimental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, abstract = {

In this chapter, the design, fabrication process and preliminary tests of a Multi- Compartmental Modular Bioreactor used as a system for dynamic cell cultures and co-cultures is described. Although the microwell (MW) plate has become a standard in cell culture, the complexity of the physiological environment is not replicated in petri dishes or microplates. All cells are exquisitely sensitive to their micro-environment which is rich with cues from other cells and from mechanical stimuli due to flow, perfusion and movement. Microwells do not offer any form of dynamic chemical or physical stimulus to cells, such as concentration gradients, flow, pressure or mechanical stress. This is a major limitation in experiments investigating cellular responses in-vitro since the complex interplay of mechanical and biochemical factors is absent. Most researchers and industry have started to accept that classical in vitro experiments offer poor predictive value or mechanistic understanding and are shifting their interests to new technologies such as bioreactors. For this reason, a large number of bioreactor systems for cell culture have been recently designed and described. With the purpose of developing cell culture models to establish a physiological-like interaction between different cell types, a novel Multi-Compartmental Modular Bioreactor (MCmB)was realized. The modular chamber was designed with shape and dimensions similar to the 24-MultiWell allowing an easy transfer of microwell protocols. The MCmB consists of a cell culture chamber made of bio-compatible silicon polymer, with excellent self-sealing proprieties, transparency and flexibility. The modular chambers can be also connected together in series or in parallel as desired, in order to allow cell-cell cross-talk or replicate in vitro models of metabolism or diseases using allometric design principles. In this chapter we describe the bioreactor design process starting from a finite-element method (FEM) model, developed in order to study the shear stress and the oxygen concentration at the cell surface. A further version of the MCmB is also described, in which a semipermeable membrane is placed into the bioreactor allowing to create a double-chamber system (MCmB-dc) for biological barriers simulation like for example lung or intestine. Allometric methods for designing in-vitro organ models using combinations of different cell types or tissues cultured in different chambers are also presented. Allometric laws mathematically correlate non linear quantities such as organ mass, blood flow, blood retention time and metabolic rate. Using these laws the modules can be assembled in various configurations enabling organ and system physiology to be recapitulated in vitro. Preliminary experiments using the modules are also described.

}, keywords = {Bioengineering}, issn = {978-1-62100-164-5}, author = {D. Mazzei and S. Giusti and Sbrana, T. and A. Ahluwalia}, editor = {Antolli, P. G. and Zhiming Liu} } @conference {2324, title = {Neighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study}, booktitle = {IEEE Symposium on Computers and Communications}, year = {2011}, abstract = {

Decentralized coordination of multi-agents requires that every agent reliably and efficiently disseminates its state to neighbours
through a wireless network. If dissemination is unreliable, safety issues may ensue. Unfortunately, the broadcast service of
wireless network is efficient but unreliable (e. g., IEEE 802.11). The Neighbourhood Monitoring Protocol (NMP) [1] is an efficient
and scalable protocol that assures a reliable state dissemination between mobile agents, under some conditions of channel
utilization. NMP runs on top of IEEE 802.11. In this paper we evaluate NMP with a specific decentralized collision avoidance
algorithm based on the GRP policy [2]. The algorithm is particularly challenging because it accommodates an arbitrary number
non-holonomic agents. We show that NMP allows the system to scale well and provides a very high state delivery ratio even if it
operates on the unreliable broadcast service like 802.11. Doing so, NMP assures the correct state information to the collision
avoidance algorithm.

}, keywords = {Embedded Control, Robotics}, author = {G. Dini and Giurlanda, F. and L. Pallottino} } @conference {GPBSB11, title = {Optimality Principles in Variable Stiffness Control: the VSA Hammer}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {3770 - 3775}, address = {S. Francisco, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {FLGGMCFSB11, title = {Packet-based control}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {S. Falasca and G. Lorefice and L. Greco and M. Gamba and S. Melani and A. Chaillet and D. Fontanelli and R. Schiavi and C Belsito} } @article {1513, title = {Poly(ester urethane) Guides for Peripheral Nerve Regeneration}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2011}, keywords = {Bioengineering}, issn = {1616-5187}, author = {V. Chiono and Sartori, S and Rechichi, A and Tonda-Turo, C and G. Vozzi and Vozzi, F. and D{\textquoteright}Acunto, M and C. Salvadori and F. Dini and G. Barsotti and F. Carlucci and S. Burchielli and Nicolino, S and Audisio, C and Perroteau, I and P. Giusti and G. Ciardelli} } @conference {GB11, title = {A Real-time Parametric Stiffness Observer for VSA devices}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5535 - 5540}, address = {Shangai, China}, keywords = {Robotics}, author = {G. Grioli and A. Bicchi} } @conference {GFP11, title = {Resource aware control}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Greco and D. Fontanelli and L. Palopoli} } @article {GBPM11, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, journal = {Autonomous Robots [special issue on RSS2010]}, volume = {31}, number = {2 - 3}, year = {2011}, pages = {235 - 252}, keywords = {Haptics, Robotics}, doi = {10.1007/s10514-011-9244-1}, author = {M Gabiccini and A. Bicchi and D Prattichizzo and M. Malvezzi} } @article {2284, title = {Squeeze pressure bioreactor: a hydrodynamic bioreactor for noncontact stimulation of cartilage constructs}, journal = {Tissue engineering. Part C, Methods}, volume = {17}, year = {2011}, pages = {757{\textendash}64}, abstract = {

A novel squeeze pressure bioreactor for noncontact hydrodynamic stimulation of cartilage is described. The bioreactor is based on a small piston that moves up and down, perpendicular to a tissue construct, in a fluid-filled chamber. Fluid displaced by the piston generates a pressure wave and shear stress as it moves across the sample, simulating the dynamic environment of a mobile joint. The fluid dynamics inside the squeeze pressure bioreactor was modeled using analytical and computational methods to simulate the mechanical stimuli imposed on a construct. In particular, the pressure, velocity field, and wall shear stress generated on the surface of the construct were analyzed using the theory of hydrodynamic lubrication, which describes the flow of an incompressible fluid between two surfaces in relative motion. Both the models and in-situ pressure measurements in the bioreactor demonstrate that controlled cyclic stresses of up to 10 kPa can be applied to tissue constructs. Initial tests on three-dimensional scaffolds seeded with chondrocytes show that glycosaminoglycan production is increased with regard to controls after 24 and 48 h of cyclic noncontact stimulation in the bioreactor.

}, keywords = {Bioengineering}, issn = {1937-3392}, doi = {10.1089/ten.TEC.2011.0002}, url = {http://online.liebertpub.com/doi/abs/10.1089/ten.tec.2011.0002 http://www.ncbi.nlm.nih.gov/pubmed/21410315}, author = {C. De Maria and S. Giusti and D. Mazzei and A. Crawford and A. Ahluwalia} } @inbook {2285, title = {The Squeeze Pressure Bioreactor: Design and Modelling of a Non-Contact Device for Mechanical Stimulation of Tissue Engineered Constructs}, booktitle = {Bioreactors: Design, Properties and Applications}, year = {2011}, pages = {199{\textendash}214}, publisher = {Nova Science Publishers, Inc.}, organization = {Nova Science Publishers, Inc.}, address = {Hauppauge NY}, abstract = {

Diseases of hyaline cartilage represent one of the major health problems, especially in industrialized countries with high life expectancy. The erosion of the articulating surfaces of joints, known as osteoarthritis, currently affects more than 200 million citizens worldwide, and more than 50\% of the patients need or will need a surgical treatment. Articular cartilage is a three dimensional avascular tissue, which covers the ends of all synovial joints. During normal daily function, articular cartilage can be repeatedly subjected to forces up to several time body weight, but it is able to provide articulating joints with a nearly frictionless motion. Despite its tremendously important function, articular cartilage has limited capacity for auto regeneration after degenerative and rheumatic diseases, like arthritis, as well as traumatic injuries. Cartilage problems are a huge and still unsolved medical issue, which therefore represents one of the most important tissue engineering targets requiring high quality products as fast as possible. For this reason, the possibility to recreate in vitro cartilage substitutes as a real alternative to total joint replacement represents an increasing and hopeful market, in which many research groups are still working. At the moment, one of the main findings in invitro cartilage studies is the importance of the role of mechanical stimuli and dynamic loads for the chondrocytes growth and differentiation. Several studies using cartilage explants or chondrocytes seeded in 3D scaffolds have shown that mechanical compressive loads affect the cells metabolic activity and their matrix production. In order to simulate the in vivo environment, the use of bioreactors is becoming fundamental: bioreactors can provide the chemical and mechanical signals that optimize tissue development. Furthermore, bioreactors could be an important instrument to reduce the cost of clinical studies, used as in vitro predictors of in vivo performance. In this way,the use of bioreactors can reduce animal studies, helping the scientists to focus their attention in the right direction before starting pre-clinical studies, which are usually more expensive than preliminary research. In the past few years, several systems for the application of different mechanical stimuli to chondrocytes have been developed. Most of these can generate biomechanical-like forces such as the direct compression, tensile and shear forces, or hydrostatic pressure, in order to stimulate the articular chondrocyctes to increase their matrix production. Generally, the most important requirements that a culture system has to satisfy are high reliability and usability, perfect sterility, easy control of all the important culture parameters and low cost. In this work, a new system, inspired by the synovial environment of mobile joints and able to apply an innovative type of stimulation on articular chondrocytes is described and modeled. The SQPR (SQueeze PRessure) bioreactor chamber is designed to impose a cyclic hydrodynamic pressure on cell cultures, constructs or tissues slices. The basic principle of this new system is the generation of a localized contact less overpressure on articular chondrocytes, using a simple vertical piston movement. This kind of stimulation is particularly useful for neo-tissue or fresh-constructs, in which cells require a dynamic environment to maintain their differentiate state, but at the same time do not tolerate direct compression or high shear stress. When the piston moves down, a controlled hydrodynamic overpressure and a shear stress is generated over the cell surface, stimulating the chondrocytes to improve their matrix production. The fluid dynamics inside the SQPR bioreactor is illustrated from an analytical and numerical point of view. We show how these models can predict the pressure, velocity field and wall shear stress generated on the cell surface of the construct. The bioreactor design is presented in detail and validation tests on chondrocytes are described.

}, keywords = {Bioengineering}, url = {https://www.novapublishers.com/catalog/product\_info.php?products\_id=22653}, author = {S. Giusti and A. Ahluwalia and C. De Maria}, editor = {Antolli, P. G. and Z. Liu} } @conference {1869, title = {Stabilization of constrained linear systems via smoothed truncated ellipsoids}, booktitle = {IFAC World Congress}, year = {2011}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and E. Crisostomi and S Grammatico and A. Caiti} } @conference {GFMB11, title = {Structural Properties of Compliant Grasps with Underactuated Robotic Hands}, booktitle = {XX Congresso Aimeta}, year = {2011}, note = {

ISBN 978-88-906340-1-7 (online); ISBN 978-88-906340-0-0 (print)

}, month = {September, 12}, address = {Bologna, Italy}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and M. Malvezzi and A. Bicchi} } @conference {GCGSSBMBP11, title = {Variable stiffness actuators: muscles for the next generation of robots}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Serio and P Salaris and F. A. W. Belo and M. Mancini and A. Bicchi and A. Passaglia} } @conference {CGGBB11, title = {VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5090 - 5095}, address = {Shangai, China}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. Bonomo and M. Mancini and N G Tsagarakis and A. Bicchi} } @article {QFGPB10, title = {Design of Embedded Controllers Based on Anytime Computing}, journal = {IEEE Trans. Industrial Infor.}, volume = {6}, number = {4}, year = {2010}, pages = {492 - 502}, abstract = {

In this paper, we present a methodology for designing embedded controllers based on the so-called anytime control paradigm. A control law is split into a sequence of subroutine calls, each one fulfilling a control goal and refining the result produced by the previous one. We propose a design methodology to define a feedback controller structured in accordance with this paradigm and show how a switching policy of selecting the controller subroutines can be designed that provides stability guarantees for the closed-loop system. The cornerstone of this construction is a stochastic model describing the probability of executing, in each activation of the controller, the different subroutines. We show how this model can be constructed for realistic real-time task sets and provide an experimental validation of the approach.

}, keywords = {Embedded Control, Robotics}, author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi} } @article {1521, title = {Enzymatically crosslinked porous composite matrices for bone tissue regeneration}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2010}, keywords = {Bioengineering}, issn = {1549-3296}, author = {G. Ciardelli and GENTILE, P and V. Chiono and Mattioli-Belmonte, M. and G. Vozzi and Barbani, N and P. Giusti} } @conference {1865, title = {Geometric and robust feedback control of an AUV exploring an underwater volcano}, booktitle = {Proc. IEEE Autonomous Underwater Vehicles Conference}, year = {2010}, month = {Aug}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/AUV.2010.5779646}, url = {http://dx.medra.org/10.1109/AUV.2010.5779646}, author = {M. ANDONIAN and M. CHYBA and S Grammatico and A. Caiti} } @article {1283, title = {A low shear stress modular bioreactor for connected cell culture under high flow rates.}, journal = {Biotechnol Bioeng}, volume = {106}, year = {2010}, month = {May}, pages = {127{\textendash}137}, abstract = {

A generic "system on a plate" modular multicompartmental bioreactor array which enables microwell protocols to be transferred directly to the bioreactor modules, without redesign of cell culture experiments or protocols is described. The modular bioreactors are simple to assemble and use and can be easily compared with standard controls since cell numbers and medium volumes are quite similar. Starting from fluid dynamic and mass transport considerations, a modular bioreactor chamber was first modeled and then fabricated using "milli-molding," a technique adapted from soft lithography. After confirming that the shear stress was extremely low in the system in the range of useful flow rates, the bioreactor chambers were tested using hepatocytes. The results show that the bioreactor chambers can increase or maintain cell viability and function when the flow rates are below 500 microL/min, corresponding to wall shear stresses of 10(-5) Pa or less at the cell culture surface.

}, keywords = {Bioengineering, Bioreactors}, doi = {http://dx.doi.org/10.1002/bit.22671}, author = {D. Mazzei and M. A. Guzzardi and S. Giusti and A. Ahluwalia} } @article {1518, title = {Molecularly imprinted nanospheres for applications in a novel model biosensor-scaffold,}, journal = {SENSORS AND ACTUATORS. B, CHEMICAL}, year = {2010}, keywords = {Bioengineering}, issn = {0925-4005}, author = {MORELLI, I and V. Chiono and G. Vozzi and G. Ciardelli and SILVESTRI, D and P. Giusti} } @conference {2021, title = {A MR Compatible Sensing Glove for Brain Studies}, booktitle = {Proceedings of the 16th Annual Meeting of the Organization for Human Brain Mapping}, year = {2010}, month = {6-10 Giugno}, pages = {1262 MT{\textendash}PM{\textendash}}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and G. Zupone and A. Tognetti and D. Bonino and E. P. Scilingo and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @conference {2022, title = {Neural Correlates of Human-Robot Handshaking}, booktitle = {Proc. of the 19th IEEE International Symposium in Robot and Human Interactive Communication}, year = {2010}, note = {

http://www.scopus.com/inward/record.url?eid=2-s2.0-78649822141\&partnerID=40\&md5=e485b7dd908e69afd535dc7792a8e5b3

}, month = {13-15, Settembre}, pages = {555{\textendash}561}, publisher = {IEEE}, organization = {IEEE}, address = {NEW YORK {\textendash} USA}, doi = {10.1109/ROMAN.2010.5598624}, url = {http://dx.medra.org/10.1109/ROMAN.2010.5598624}, author = {N. Vanello and D. Bonino and E. Ricciardi and M. Tesconi and E. P. Scilingo and V. Hartwig and A. Tognetti and G. Zupone and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @article {1516, title = {NEW BIOARTIFICIAL SYSTEMS AND BIODEGRADABLE SYNTHETIC POLYMERS FOR CARDIAC TISSUE ENGINEERING: A PRELIMINARY SCREENING}, journal = {BIOMEDICAL ENGINEERING. APPLICATIONS, BASIS, COMMUNICATIONS}, year = {2010}, keywords = {Bioengineering}, issn = {1016-2372}, author = {Rosellini, E and Cristallini, C and Barbani, N and G. Vozzi and D{\textquoteright}Acunto, M and G. Ciardelli and P. Giusti} } @conference {GB10, title = {A Non-invasive Real-Time Method for Measuring Variable Stiffness}, booktitle = {Robotics Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Robotics}, author = {G. Grioli and A. Bicchi} } @conference {FMEBG, title = {Observability and Controllability Detection of Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {5775 - 5780}, keywords = {Embedded Control, Robotics}, author = {M. Franceschelli and S. Martini and M. Egerstedt and A. Bicchi and A. Giua} } @inbook {2018, title = {Pervasive Computing: Innovations in Intelligent Multimedia and Applications}, year = {2010}, pages = {97{\textendash}115}, publisher = {Springer London}, organization = {Springer London}, chapter = {Sensorized garment augmented 3d pervasive virtual reality system}, isbn = {9781848825987}, doi = {10.1007/978-1-84882-599-4_5}, url = {http://dx.medra.org/10.1007/978-1-84882-599-4_5}, author = {Gulrez, T and A. Tognetti and D. De Rossi} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @conference {BG10, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, booktitle = {Robotics Science and Systems}, year = {2010}, month = {June, 27}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {M Gabiccini and A. Bicchi} } @article {GGP10, title = {Sensor Deployment for Network-like Environments}, journal = {IEEE Trans. on Automat. Contr.}, year = {2010}, note = {

Condit. accepted as Technical Note

}, keywords = {Robotics}, author = {L. Greco and M. Gaeta and B. Piccoli} } @booklet {GreTR10, title = {Sensor Deployment for Network-like Environments}, year = {2010}, note = {

Full version

}, keywords = {Robotics}, author = {L. Greco and M. Gaeta and B. Piccoli} } @article {1519, title = {SOFT-MI: a novel microfabrication technique integrating Soft-lithography and Molecular imprinting for tissue engineering applications}, journal = {BIOTECHNOLOGY AND BIOENGINEERING}, year = {2010}, keywords = {Bioengineering}, issn = {0006-3592}, author = {G. Vozzi and MORELLI, I and Vozzi, F. and ANDREONI, C and SALSEDO, E and MORACHIOLI, A and P. Giusti and G. Ciardelli} } @conference {1866, title = {Stabilizability of Linear Differential Inclusions via R-Functions}, booktitle = {IFAC Symposium on Nonlinear Control Systems (NOLCOS)}, year = {2010}, month = {Sep}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @article {1515, title = {Three-dimensional microfabricated scaffolds with cardiac extracellular matrix-like architecture}, journal = {INTERNATIONAL JOURNAL OF ARTIFICIAL ORGANS}, year = {2010}, keywords = {Bioengineering}, issn = {0391-3988}, author = {Rossellini, E and G. Vozzi and Barbani, N and P. Giusti and Cristallini, C} } @conference {BGSSB, title = {Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position}, booktitle = {Eurohaptics 2010}, series = {Lecture Notes in Computer Science}, volume = {6192/2010}, year = {2010}, month = {July, 8 - 10}, pages = {136 - 143}, address = {Amsterdam (The Netherlands)}, keywords = {Haptics, Robotics}, author = {M. Bianchi and G. Grioli and E. P. Scilingo and M. Santello and A. Bicchi} } @conference {CGBSB10, title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation}, booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2010}, month = {October}, pages = {3676 - 3681}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi} } @conference {QFGPB-ETFA09, title = {Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm}, booktitle = {IEEE International Conference on Emerging Technology and Factory Automation}, year = {2009}, month = {September, 12 - }, pages = {1 - 8}, address = {Palma de Mallorca, Spain}, abstract = {

In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/ETFA.2009.5347086}, author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi} } @article {1541, title = {Development of a RGDS-peptide modified polyurethane for tissue regeneration}, journal = {ADVANCES IN EXPERIMENTAL MEDICINE AND BIOLOGY}, volume = {611}, year = {2009}, pages = {249{\textendash}250}, keywords = {Bioengineering}, issn = {0065-2598}, author = {Rechichi, A and Sartori, S and CAPORALE, A and G. Ciardelli and G. Vozzi and MAZZUCCO, L and PEGGION, E and P. Giusti} } @conference {1544, title = {ENMET: Endothelial Cell Metabolism Mathematical Model,}, booktitle = {2009 Ninth International Conference on Intelligent Systems Design and Applications}, year = {2009}, pages = {654 - 659}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and Vozzi, F. and M. A. Guzzardi and A. Ahluwalia and G. Vozzi} } @article {1300, title = {Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities}, journal = {OCEAN ENGINEERING}, volume = {36}, year = {2009}, pages = {24{\textendash}38}, keywords = {Robotics}, issn = {0029-8018}, doi = {10.1016/j.oceaneng.2008.08.014}, url = {http://dx.medra.org/10.1016/j.oceaneng.2008.08.014}, author = {A. Alvarez and A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta and R. Viviani} } @article {1296, title = {F{\`o}laga: A low cost AUV/glider for coastal environmental sampling}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {151{\textendash}157}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.151}, url = {http://dx.medra.org/10.3723/ut.28.151}, author = {A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta} } @article {1539, title = {Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)}, journal = {BIOMEDICAL MICRODEVICES}, year = {2009}, pages = {1037-1050}, keywords = {Bioengineering}, issn = {1387-2176}, author = {V. Chiono and G. Vozzi and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and DI SCIPIO, F and GEUNA, S and FORNARO, M and TOS, P and Nicolino, S and Audisio, C and Perroteau, I and CHIARAVALLOTI, A and C. Domenici and P. Giusti and G. Ciardelli} } @conference {2027, title = {ntegrating hands-free interface into 3d virtual reality environments}, booktitle = {ARO Non-Manual Control Devices Symposium}, year = {2009}, pages = {{\textendash}}, author = {A. Tognetti and Gulrez, T and N. Carbonaro and G. Dalle Mura and G. Zupone and D. De Rossi} } @article {1540, title = {Polyurethane unimorph bender microfabricated with Pressure Assisted Microsyringe (PAM) for biomedical applications}, journal = {MATERIALS SCIENCE AND ENGINEERING. C}, volume = {29}, year = {2009}, pages = {1835{\textendash}1841}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Tartarisco, G. and G. GALLONE and F. Carpi and G. Vozzi} } @article {1543, title = {Preparation and characterization of alginate/gelatin blend films for cardiac tissue engineering}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, volume = {91}, year = {2009}, pages = {447-453}, keywords = {Bioengineering}, issn = {1549-3296}, doi = {10.1002/jbm.a.32216}, author = {Rosellini, E and Cristallini, C and Barbani, N and G. Vozzi and P. Giusti} } @conference {1859, title = {R-composition of Lyapunov functions}, booktitle = {2009 17th Mediterranean Conference on Control and Automation}, year = {2009}, pages = {126{\textendash}131}, keywords = {Robotics}, doi = {10.1109/MED.2009.5164527}, url = {http://dx.medra.org/10.1109/MED.2009.5164527}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {ACBBGSFB-IROS09, title = {A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {3336-3342}, address = {St. Louis MO USA}, abstract = {

This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89\% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

}, keywords = {Robotics}, author = {S. Alicino and M. G. Catalano and F. Bonomo and F. A. W. Belo and G. Grioli and R. Schiavi and A. Fagiolini and A. Bicchi} } @conference {1854, title = {Stability analysis of dynamical systems via R-functions}, booktitle = {Proc. European Control Conference}, year = {2009}, month = {July}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @article {1295, title = {Underwater vehicle technology in the European research project VENUS}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {175{\textendash}185}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.175}, url = {http://dx.medra.org/10.3723/ut.28.175}, author = {G. Conte and L. Gambella and D. Scaradozzi and S. M. Zanoli and A. Caiti and V. Calabr{\`o} and A. Alcocer and J. Alves and B. Cardeira and R. Cunha and F. Curado and P. Oliveira and A. Oliveira and A. Pascoal and M. Rufino and L. Sebasti{\~a}o and C. Silvestre} } @inbook {FSBB09_STAR, title = {Visual appearance mapping for optimal vision based servoing}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {54 - Experimental Robotics}, year = {2009}, month = {March 28}, pages = {353 - 362}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @conference {1633, title = {Analisi del battito ciliare nella discinesia ciliare tramite algoritmi di motion detection}, booktitle = {Discinesie ciliarie e malattie respiratorie croniche del bambino: dalla diagnosi differenziale alla qualit{\`a}~ della vita}, year = {2008}, pages = {{\textendash}}, address = {14-15 March 2008, Pisa, Italy}, keywords = {Bioengineering}, author = {G. MANTOVANI and M. A. Guzzardi and RAGAZZO, V and M. PIFFERI and G. Vozzi} } @conference {GFB08, title = {Anytime Control Algorithms for Real-Time Embedded Systems}, booktitle = {Int Conf of Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981/2008}, year = {2008}, pages = {158 - 171}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {St. Louis, MO}, abstract = {

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an {\textquoteleft}{\textquoteleft}anytime control{\textquoteright}{\textquoteright} design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi}, editor = {M. Egerstedt and B. Mishra} } @article {1550, title = {Chitosan/gelatin blends for biomedical applications}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, volume = {86}, year = {2008}, pages = {311{\textendash}322}, keywords = {Bioengineering}, issn = {1549-3296}, author = {PULIERI, E and V. Chiono and G. Ciardelli and G. Vozzi and A. Ahluwalia and C. Domenici and Vozzi, F. and P. Giusti} } @conference {1649, title = {Composite polyurethane and carbon black bimorph bender microfabricated with pressure assisted microsyringe (PAM) for biomedical applications}, year = {2008}, keywords = {Bioengineering}, author = {Tartarisco, G. and G. GALLONE and F. Carpi and G. Vozzi} } @article {1629, title = {Degradable block polyurethanes from nontoxicbuilding blocks as scaffold materials to support cell growth and proliferation}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Rechichi, A and G. Ciardelli and D{\textquoteright}Acunto, M and G. Vozzi and P. Giusti} } @conference {GGP08, title = {Deployment of sensors in a network-like environment}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, year = {2008}, month = {December}, pages = {4257{\textendash}4262}, address = {Cancun, Mexico}, keywords = {Robotics}, doi = {10.1109/CDC.2008.4738862}, author = {L. Greco and M. Gaeta and B. Piccoli} } @article {1560, title = {Enzymatically-modified melt-extruded guides for peripheral nerve repair}, journal = {ENGINEERING IN LIFE SCIENCES}, year = {2008}, keywords = {Bioengineering}, issn = {1618-0240}, author = {V. Chiono and G. Ciardelli and G. Vozzi and CORTEZ, J and Barbani, N and GENTILE, P and P. Giusti} } @article {1556, title = {Genipin-crosslinked chitosan/gelatin blends for biomedical applications}, journal = {JOURNAL OF MATERIALS SCIENCE. MATERIALS IN MEDICINE}, year = {2008}, keywords = {Bioengineering}, issn = {0957-4530}, author = {V. Chiono and PULIERI, E and G. Vozzi and G. Ciardelli and A. Ahluwalia and P. Giusti} } @article {1547, title = {HEMET: mathematical model of biochemical pathways for simulation and prediction of HEpatocyte METabolism}, journal = {COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE}, volume = {92}, year = {2008}, pages = {121{\textendash}134}, keywords = {Bioengineering}, issn = {0169-2607}, author = {C. De Maria and GRASSINI, D and Vozzi, F. and Vinci, B. and A. Landi and A. Ahluwalia and G. Vozzi} } @conference {1643, title = {Nanotechnology in Tissue Engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Ciardelli and V. Chiono and Rechici, A and Sartori, S and G. Vozzi and Bignardi, C and Georgiev, G and P. Giusti} } @conference {1644, title = {Nerve guide for peripheral nerve re generation}, year = {2008}, keywords = {Bioengineering}, author = {Tonda-Turo, C and V. Chiono and GEUNA, S and Perroteau, I and G. Vozzi and G. Ciardelli} } @article {1551, title = {Nerve regeneration using novel biomaterial supports}, journal = { Biomedicine and Pharmacotherapy }, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0753-3322}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {1635, title = {Nerve regeneration using novel biomaterial supports}, booktitle = {Biomedicine \& Pharmacotherapy}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @article {1558, title = {A New Bio-Inspired Robot Based on Senseless Motion: Theoretical study and Preliminary Technological Results}, journal = {MULTIDISCIPLINE MODELING IN MATERIALS AND STRUCTURES}, year = {2008}, keywords = {Bioengineering}, issn = {1573-6105}, author = {COTRONEO, A and G. Vozzi and GEROVASI, L and D. De Rossi} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @article {1557, title = {PAM-microfabricated polyurethane scaffolds: in vivo and in vitro preliminary studies}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2008}, keywords = {Bioengineering}, issn = {1616-5187}, author = {G. Vozzi and Rechichi, A and F. Dini and C. Salvadori and Vozzi, F. and S. Burchielli and F. Carlucci and ARISPICI, M and G. Ciardelli and P. Giusti and A. Ahluwalia} } @article {1548, title = {A patented drop-free trocar for ophthalmic applications: design and realization [from mind to market]}, journal = {IEEE INDUSTRIAL ELECTRONICS MAGAZINE}, volume = {2}, year = {2008}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {1932-4529}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and Palla, M.} } @article {1626, title = {A patented drop-free trocar for ophthalmic applications: design and realization [from mind to market]}, journal = {IEEE INDUSTRIAL ELECTRONICS MAGAZINE}, volume = {2}, year = {2008}, pages = {4{\textendash}8}, issn = {1932-4529}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and Palla, M. and G. Vozzi} } @conference {AMC08, title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance}, booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control}, year = {2008}, pages = {9-14}, abstract = {

In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti} } @article {1554, title = {Poly(3-hydroxybutyrate-co-3-hydroxyvalerate)/poly(epsilon-caprolactone) blends for tissue engineering applications in the form of hollow fibers}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {V. Chiono and G. Ciardelli and G. Vozzi and SOTGIU, MG and Vinci, B. and C. Domenici and P. Giusti} } @conference {1641, title = {Realizzazione di strutture micro fabbricate tramite tecnica di micro Laser Sintering per applicazione alla Tissue Engineering}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Criscenti and Tirella, A and A. Ahluwalia and P. Giusti and G. Vozzi} } @conference {MED08-GFB, title = {Robust Almost Sure Stability for Uncertain Stochastically Scheduled Anytime Controllers}, booktitle = {Control and Automation, 16 th Mediterranean Conference on Control and Automation}, year = {2008}, pages = {249 - 254}, abstract = {

In this paper we consider closed loop stability of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant, i.e.

}, keywords = {Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @article {1628, title = {Surface modification of a synthetic polyurethane by plasma glow discharge: preparation and characterisation of bioactive monolayers}, journal = {REACTIVE \& FUNCTIONAL POLYMERS}, volume = {68}, year = {2008}, pages = {809{\textendash}821}, keywords = {Bioengineering}, issn = {1381-5148}, author = {Sartori, S and Rechichi, A and G. Vozzi and D{\textquoteright}Acunto, M and HEINE, E and P. Giusti and G. Ciardelli} } @article {1400, title = {Underwater cartography for archaeology in the VENUS project}, journal = {GEOMATICA}, volume = {62}, year = {2008}, pages = {419{\textendash}427}, keywords = {Bioengineering}, issn = {1195-1036}, author = {P. Drap and J. SEINTURIER and G. Conte and A. Caiti and D. Scaradozzi and S. M. Zanoli and P. GAMBOGI} } @conference {schiavi2008icra, title = {VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {2171 - 2176}, abstract = {

This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the first version was built in a way to demonstrate effectiveness of variable impedance actuation (VIA), it had limitations in torque capacities, life cycle and implementability in a real robot. VSA-II overcomes the problem of implementability with higher capacities and robustness in design for longer life. The paper discusses design and stiffness behaviour of VSA-II in theory and experiments. A comparison of stiffness characteristics between the two actuator is discussed, highlighting the advantages of the new design. A simple, but effective PD scheme is employed to independently control joint-stiffness and joint-position of a 1-link arm. Finally, results from performed impact tests of 1- link arm are reported, showing the effectiveness of stiffness variation in controlling value of a safety metric.

}, keywords = {Robotics}, author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi} } @article {1655, title = {Acute retinal ganglion cell injury caused by intraocular pressure spikes is mediated by endogenous extracellular ATP}, journal = {EUROPEAN JOURNAL OF NEUROSCIENCE}, volume = {25}, year = {2007}, pages = {2741{\textendash}2754}, keywords = {Bioengineering}, issn = {0953-816X}, author = {RESTA, V. and NOVELLI, E. and G. Vozzi and SCARPA, C. and CALEO, M. and A. Ahluwalia and SOLINI, A. and SANTINI, E. and PARISI, V. and DI VIRGILIO, F. and GALLI-RESTA, L.} } @conference {GFB07, title = {Almost Sure Stability of Anytime Controllers via Stochastic Scheduling}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, month = {December}, pages = {5640-5645}, abstract = {

In this paper we consider scheduling the execution of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant. Controllers are considered to be given and ordered according to a measure of the performance they provide. Software tasks implementing higher-performance controllers are assumed to require a larger worst-case execution time. Control tasks are to be scheduled within given availability limits on execution time, which change stochastically in time. The ensuing switching system is prone to instability, unless a very conservative policy is enforced of always using the simplest, least performant controller. The presented method allows to condition the stochastic scheduling of control tasks so as to obtain a better exploitation of computing capabilities, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {L. Greco and D. Fontanelli and A. Bicchi} } @conference {1662, title = {Bioactive polyurethanes trough new functionalisation stretegies}, booktitle = {Biotechnical functionalisation of renewable polymeric materials}, year = {2007}, month = {16-17 April}, keywords = {Bioengineering}, author = {G. Ciardelli and Sartori, S and Rechichi, A and CAPORALE, A and S. BRONCO and G. Vozzi and P. Giusti} } @conference {1660, title = {Biomimetic materials for tissue engineering through enzyme mediated protein modification}, booktitle = {European Polymer Congress 2007 }, year = {2007}, month = {2-6 July}, address = {Portoroz, Slovenia}, keywords = {Bioengineering}, author = {G. Ciardelli and GENTILE, P and Mandrile, R. and V. Chiono and Barbani, N and Mattioli-Belmonte, M. and G. Vozzi and P. Giusti} } @article {GreDCDIS06, title = {Comments on Necessary and Sufficient Vertex Solutions for Robust Stability Analysis of Families of Linear State Space Systems}, journal = {Dyn. Contin. Discrete Impuls. Syst. Ser. B Appl. Algorithms}, volume = {14}, number = {5}, year = {2007}, pages = {749{\textendash}752}, keywords = {Robotics}, author = {L. Greco} } @conference {1270, title = {Design and realisation of drop-free trocar for ophthalmic applications}, booktitle = {Proc. IEEE Int. Symp. Industrial Electronics ISIE 2007}, year = {2007}, pages = {2810{\textendash}2814}, keywords = {Bioengineering}, doi = {10.1109/ISIE.2007.4375056}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and D. Mazzei and Palla, M. and Rizzo, S.} } @article {BHM07, title = {The Effect of Visual Experience on the Development of Functional Architecture in hMT+}, journal = {Cerebral Cortex}, volume = {17}, number = {12}, year = {2007}, note = {

[Epub ahead of print]

}, month = {March 19}, pages = {2933 - 2939}, publisher = {Oxford University Press}, abstract = {

We investigated whether the visual hMT+ cortex plays a role in supramodal representation of sensory flow, not mediated by visual mental imagery. We used functional magnetic resonance imaging to measure neural activity in sighted and congenitally blind individuals during passive perception of optic and tactile flows. Visual motion-responsive cortex, including hMT+, was identified in the lateral occipital and inferior temporal cortices of the sighted subjects by response to optic flow. Tactile flow perception in sighted subjects activated the more anterior part of these cortical regions but deactivated the more posterior part. By contrast, perception of tactile flow in blind subjects activated the full extent, including the more posterior part. These results demonstrate that activation of hMT+ and surrounding cortex by tactile flow is not mediated by visual mental imagery and that the functional organization of hMT+ can develop to subserve tactile flow perception in the absence of any visual experience. Moreover, visual experience leads to a segregation of the motion-responsive occipitotemporal cortex into an anterior subregion involved in the representation of both optic and tactile flows and a posterior subregion that processes optic flow only.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and L. Sani and C. Gentili and E. P. Scilingo and L. Landini and M. Guazzelli and A. Bicchi and J. V. Haxby and P. Pietrini} } @inbook {HCVRSGSPPLB07, title = {Electrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging}, booktitle = {Encyclopedia of Healthcare Information Systems}, year = {2007}, pages = {497 - 503}, publisher = {Medical Information Science}, organization = {Medical Information Science}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and A. Bicchi and P. Pietrini and L. Landini} } @conference {1658, title = {Hydroxyapatite/collagen composite matrices for bone reconstruction}, booktitle = {Termis Eu-Meeting - Tissue Engineering 2007}, year = {2007}, pages = {13 (7): 1708}, address = {London (UK) }, keywords = {Bioengineering}, author = {G. Ciardelli and GENTILE, P and Mandrile, R. and V. Chiono and Barbani, N and Mattioli-Belmonte, M. and G. Vozzi and P. Giusti} } @conference {1661, title = {Molecularly Imprinted Polymers with Recognition Properties Toward Fibronectin H-Gly-Arg-Gly-Asp-Ser-OH Sequence}, booktitle = {European Polymer Congress 2007}, year = {2007}, month = {2-6 July}, address = {Portoroz, Slovenia}, keywords = {Bioengineering}, author = {Rechichi, A and Rosellini, E and G. Ciardelli and Barbani, N and G. Vozzi and P. Giusti and Cristallini, C} } @article {1654, title = {New biomedical devices with selective peptide recognition properties. Part 1: Characterization and cytotoxicity of molecularly imprinted polymers}, journal = {JOURNAL OF CELLULAR AND MOLECULAR MEDICINE}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1582-1838}, author = {Rechichi, A and Cristallini, C and VITALE, U. and G. Ciardelli and Barbani, N and G. Vozzi and P. Giusti} } @conference {GFBP-07, title = {Steering Dynamical Systems with Finite Plans and Limited Path Length}, booktitle = {European Control Conference}, year = {2007}, pages = {4686-4690}, abstract = {

Complex dynamical systems can be steered by using symbolic input plans. These plans must have a finite descriptive length, and can be expressed by means of words chosen in an alphabet of symbols. In this way, such plans can be sent through a limited capacity channel to a remote system, where they are decoded in suitable control actions. The choice of this symbols is essential to efficiently encode steering plans. To this aim, in this paper, we state the problem of finding symbols maximizing the interval of points reachable by the system along paths with constrained length. We focus on the problem with two symbols, and compare the results with those produced by plans not accounting for the length constraint. Moreover, the behavior of a simple helicopter, steered by both kinds of plans, has been simulated, in order to illustrate the power of the overall control system, and to emphasize the improvements introduced by the new plans.

}, keywords = {Embedded Control, Robotics}, author = {L. Greco and A. Fagiolini and A. Bicchi and B. Piccoli} } @conference {GVetal06, title = {Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {3832-3837}, abstract = {

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI), are critical tools to study perceptual and cognitive processes. In order to develop complex and well controlled fMRI paradigms, researchers are interested in using active interfaces with electrically powered actuators and sensors. Due to the particularity of the MR environment, safety and compatibility criteria have to be strictly followed in order to avoid risks to the subject under test, to the operators or to the environment, as well as to avoid artifacts in the images. This paper describes the design of an fMRI compatible mechatronic interface based on MR compatibility tests of materials and actuators. In particular, a new statistical test looks at the mean and variations of activity as a time series. The device with two degrees of freedom, allowing one translation with positionfeedback along a horizontal axis and one rotation about a vertical axis linked to the translation, was realized to investigate the brain mechanisms of dynamic tactile perception tasks. It can be used to move and orient various objects below the finger for controlled tactile stimulation. The MR compatibility of the complete interface is shown using the same statistical test as well as a functional study with a human subject.

}, keywords = {Haptics}, author = {R. Gassert and N. Vanello and D. Chapuis and V. Hartwig and E. P. Scilingo and A. Bicchi and L. Landini and E. Burdet and H. Bleuler} } @conference {FontanelliVGCB06, title = {Adaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty}, booktitle = {Int. IFAC Symp. on Robot Control}, year = {2006}, month = {September}, address = {Bologna, Italy}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and R. Viviani and L. Greco and A. Caiti and A. Bicchi} } @booklet {FontanelliG-TR06, title = {Any Time Control}, year = {2006}, month = {March}, publisher = {Interdepartmental Research Center E. Piaggio, University of Pisa}, address = {Pisa, Italy}, abstract = {

It is widely accepted in the control community that the Computer Controlled Systems (briefly, CCSs), have a lot of advantages based primarily on the high reconfigurability of the controller platform and the ability of making complex yet fast decisions. Such positive features make the CCS a useful platform for multitasking control, i.e. using only one single-processor platform to control several plants. Within this framework, the computer has to share its computational time to solve several critical tasks, each one with its priority. Taking into account schedulability and real time operating systems problems, it is just a step forward to realize that tasks with low priority could be interrupted any time, with unpredictable distributions, and it is just a logical intuition that not all the tasks can be at the highest priority. From a control point of view, each control task should compute a control input to the controlled system to prevent instability or to ensure the performances. This field seems to be at the border between the control community and the computer science community and it has not been widely investigated. Some work has been presented introducing more general scheduling models and methods for control systems, where control design methodology takes the availability of computing resources into account and allows the trade{\textendash}offs between control performance and computer resources utilization, and also introducing the idea of any time CCS without solutions. In literature, the Control Server is introduced, allowing the separation between scheduling and control design by treating the controllers as scalable real{\textendash}time components. Jitter and latency is included in the model and cannot be taken over. Furthermore, the interrupt time, the I/O operations and the overrun handling are not taken into account, simply imposing only soft real time control tasks. Useful tools for the analysis of real time control performance are the Jitterbug and the True Time that analyze the control performance once the control tasks are implemented as soft real time tasks.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco} } @conference {ricciardi05:_brain, title = {Brain response to visual, tactile and auditory flow in sighted and blind individuals supports a supramodal functional organization in hMT complex}, booktitle = {Proc. 12th International Conference on Functional Mapping of Human Brain Mapping}, volume = {31}, number = {1}, year = {2006}, note = {

Florence

}, pages = {512 TH-P}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and D. Bonino and N. Vanello and J. V. Haxby and E. Seifritz and M. Guazzelli and L. Landini and A. Bicchi and Di Salle, F and P. Pietrini} } @conference {HCV06, title = {A Compatible Electrocutaneous Display for functional Magnetic Resonance Imaging application}, booktitle = {Proc. 28th IEEE Engineering in Medicine and Biology Conference}, year = {2006}, note = {(poster presentation)}, pages = {100-102}, abstract = {In this paper we propose an MR (Magnetic Resonance) compatible electrocutaneous stimulator able to inject an electric current, variable in amplitude and frequency, into the fingertips in order to elicit tactile skin receptors (mechanoreceptors). The desired goal is to evoke specific tactile sensations selectively stimulating skin receptors by means of an electric current in place of mechanical stimuli. The field of application ranges from functional Magnetic Resonance Imaging (fMRI) tactile studies to augmented reality technology. The device here proposed is designed using safety criteria in order to comply with the threshold of voltage and current permitted by regulations. Moreover, MR safety and compatibility criteria were considered in order to perform experiments inside the MR scanner during an fMRI acquisition for functional brain activation analysis. Psychophysical laboratory tests are performed in order to define the different evoked tactile sensation. After verifying the device MR safety and compatibility on a phantom, a test on a human subject during fMRI acquisition is performed to visualize the brain areas activated by the simulated tactile sensation.}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and L. Landini and A. Bicchi} } @article {GreIJSS06, title = {A Geometry-Based Algorithm for the Stability of Planar Switching Systems}, journal = {Int. J. of Systems Science}, volume = {37}, number = {11}, year = {2006}, pages = {747{\textendash}761}, keywords = {Embedded Control, Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @conference {PHRI06, title = {Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges}, booktitle = {Proc. IROS{\textquoteright}06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains}, year = {2006}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, author = {R. Alami and A Albu-Schaeffer and A. Bicchi and R. Bischoff and R. Chatila and A. De Luca and De Santis, A and G. Giralt and J. Guiochet and G. Hirzinger and F. Ingrand and V. Lippiello and R. Mattone and D. Powell and S. Sen and B. Siciliano and G. Tonietti and L. Villani}, editor = {A. Bicchi and A. De Luca} } @conference {FGBPM06, title = {Symbolic Control for Underactuated Differentially Flat Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {1649-1654}, abstract = {

In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstacle-free environment. Plans considered admit a finite description length and are constructed by words on an alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. Moreover, we illustrate by simulations the power of the proposed method, solving the steering problem for two examples in the class of underactuated systems, which have attracted wide attention in the recent literature.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Greco and A. Bicchi and B. Piccoli and A. Marigo} } @booklet {BCFGV05, title = {Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty}, year = {2005}, publisher = {Dipartimento di Sistemi Elettrici e Automazione, Universit\à di Pisa}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Caiti and D. Fontanelli and L. Greco and R. Viviani} } @conference {1268, title = {Functional and Pharmacological testing of endothelial cells cultured in dynamic conditions}, booktitle = {Proceedings of: XIV Edizione del Congresso della Fisiologia Clinica-CNR}, year = {2005}, pages = {82-96}, keywords = {Bioengineering}, author = {Vozzi, F. and Gentile, C. and D. Mazzei and G. Vozzi and C. Domenici and A. Ahluwalia} } @conference {BGGT05, title = {Hybrid Modelling of an Electronically Controlled Limited Slip Differential}, year = {2005}, month = {8-10 September}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and G. Greco and M. Guiggiani and G. Tonietti} } @article {1407, title = {Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {30}, year = {2005}, pages = {140{\textendash}152}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @article {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @article {SGPTGD05, title = {Performance evaluation of Sensing Fabrics for Monitoring Physiological and Biomechanical Variables}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {345-352}, keywords = {Bioengineering}, author = {E. P. Scilingo and A. Gemignani and R. Paradiso and N. Taccini and B. Ghelarducci and D. De Rossi} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

In this paper we describe the motivations and the aim ofthe EURON-2 research project {\textquoteleft}{\textquoteleft}\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains{\textquoteright}{\textquoteright} (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about {\textquoteleft}{\textquoteleft}charting{\textquoteright}{\textquoteright} the new {\textquoteleft}{\textquoteleft}territory{\textquoteright}{\textquoteright} of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @mastersthesis {GrecoPhD, title = {Stability and Stabilization Issues in Switched Systems}, year = {2005}, school = {University of Pisa}, type = {phd}, keywords = {Robotics}, author = {L. Greco} } @conference {TocCDC05, title = {Stabilization of a Class of Planar Nonlinear Systems}, booktitle = {44th IEEE CDC-ECC{\textquoteright}05}, year = {2005}, month = {December}, address = {Seville, Spain}, keywords = {Robotics}, author = {F. Tocchini and L. Greco and M. Innocenti} } @conference {ricciardi05:_supram_mt, title = {Supramodal response of human MT+ complex to visual and tactile perception of flow as demonstrated by fMRI studies in sighted and congenitally blind individuals}, booktitle = {11th annual meeting of the organization for Human Brain Mapping}, volume = {1}, year = {2005}, note = {

Toronto

}, pages = {129-129}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and N. Vanello and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {DPSB04, title = {A compatibility test for tactile displays designed for fMRI studies.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {456-458}, abstract = {

The purpose of this document is to provide a compatibility test for mechatronic devices to be used within a diagnostic MR environment. In order to design new devices that can produce tactile stimuli of different nature inside the MRI environment, compatibility tests with several materials and mechatronic devices are reported. Results of these experiments are analyzed in order to evaluate artefacts caused by the presence and actuation of the devices.

}, keywords = {Haptics}, author = {V. Hartwig and N. Vanello and R. Gassert and D. Chapuis and M. F. Santarelli and V. Positano and E. Ricciardi and P. Pietrini and L. Landini and A. Bicchi} } @conference {CPTSLDGGBVG-04, title = {Development of a Wearable System Based on Smart Textiles and GPRS Transmission for Remote Multiparametric Monitoring of Cardiac Patients: Preliminary Results of the WEALTHY Project}, booktitle = {THE 5th International Heart Health Conference}, year = {2004}, month = {June}, address = {Milan, Italy}, keywords = {Bioengineering}, author = {S. Coli and R. Paradiso and N. Taccini and E. P. Scilingo and G. Loriga and D. De Rossi and A. Gemignani and B. Ghelarducci and L. Bourdon and A. Ditmar and T. Vavouras and B. Gros and J. Luprano and M. Jaenecke and C. Coucke and G. Delhomme and D. Cianflone} } @conference {HBM04, title = {Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain}, booktitle = {10th Annual Meeting of the Organization for Human Brain Mapping}, year = {2004}, abstract = {

V5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.

}, keywords = {Haptics}, author = {N. Vanello and E. Ricciardi and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {RVDSSGSPSGHLBP04, title = {Perception of visual and tactile flow activates common cortical areas in the human brain.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {290-292}, abstract = {

We report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {BBCCPPT04, title = {A Robotic Set-Up with Remote Access for {\textquoteleft}{\textquoteleft}Pick and Place{\textquoteright}{\textquoteright} Operations Under Uncertainty Conditions}, booktitle = {E-learning and Virtual and Remote Laboratories}, series = {Proc. VIRTUAL-LAB 2004}, year = {2004}, pages = {144{\textendash}149}, abstract = {

The work describes on-going work at the University of Pisa on the field of tele-laboratories and distance learning. In particular, the group is working at the evolution of existing tele-laboratory experiments in the field of robotics and control into learning units of a self-consistent didactic project. The pick-and-place system described has been designed to provide the set-up for robot arm motion planning with specific objectives and evaluation tools.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and T. Cecchini and L. Pallottino and A. Pisani and G. Tonietti}, editor = {P. Borza and L. Gomes and G. Scutaru} } @conference {GSLTPD-04, title = {A sensing shirt for monitoring behavioral and autonomic parameters}, booktitle = {55}, year = {2004}, month = {February}, pages = {83}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A. Gemignani and E. P. Scilingo and G. Loriga and N. Taccini and R. Paradiso and D. De Rossi and B. Ghelarducci} } @conference {GreMED04, title = {Stabilization of a Class of Unstable Switching Systems}, booktitle = {12th IEEE Mediterranean Conference}, year = {2004}, month = {June}, address = {Kusadasi, Turkey}, keywords = {Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @conference {PGSD-03, title = {Knitted Bioclothes for Cardiopulmonary Monitoring}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3720-3723}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {R. Paradiso and A. Gemignani and E. P. Scilingo and D. De Rossi} } @booklet {GreTR03, title = {Necessary and Sufficient Conditions for Asymptotic Stability of Second Order LTI Switching Systems}, year = {2003}, publisher = {Dept. of Electrical Systems and Automation, University of Pisa}, keywords = {Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @article {InnAut03, title = {Sliding Mode Control for Two-Time Scale Systems: Stability Issues}, journal = {Automatica}, volume = {39}, year = {2003}, month = {February}, pages = {273{\textendash}280}, keywords = {Robotics}, author = {M. Innocenti and L. Greco and L. Pollini} } @inbook {BTBP03, title = {Variable Stiffness Actuators for Fast and Safe Motion Control}, booktitle = {Proceedings of the International Symposium on Robotics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, year = {2003}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @conference {PGB02, title = {Construction of invariant and attractive sets for quantized-input linear systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {824-829}, abstract = {

In this paper, the problem of the stabilization of a discrete-time linear system subject to a fixed and uniformly quantized control set is considered. It is well known that, working with quantized inputs, the states of the system (except for a negligible set of initial conditions) cannot reach asymptotically the equilibrium point. Our aim is then to find an invariant and attractive neighborhood of the equilibrium and provide with a controller which steers the system into it. We construct a continuous and increasing family of invariant sets including one which is, in a specific sense, minimal. The invariance and attractivity properties of such sets are revised in the finite control set case: we propose a family of controllers taking on a finite number of values and ensuring the system convergence to the minimal invariant set. Some consequences of our technique are underlined with particular regard to the usage of Model Predictive Control tools. In the last section an example which shows the effectiveness of our results is presented.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and F. Gouaisbaut and A. Bicchi} } @inbook {PLPB02, title = {Optimal control of quantized input systems}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {351-363}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Leonardi and L. Pallottino and A. Bicchi}, editor = {C. Tomlin and M. Greenstreet} } @conference {SLDPGPAGG-02, title = {A Sensing Shirt for Monitoring Body Kinematic and Vital Signs}, booktitle = {Symposium on Telemedicine In Care Delivery, Technology and Application}, year = {2002}, month = {June}, pages = {57-67}, address = {Pisa, Italy}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and D. De Rossi and R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and A. Gemignani and B. Ghelarducci} } @article {1409, title = {Set-membership acoustic tracking of autonomous underwater vehicles}, journal = {ACTA ACUSTICA UNITED WITH ACUSTICA}, volume = {88}, year = {2002}, pages = {648{\textendash}652}, keywords = {Robotics}, issn = {1610-1928}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @conference {InnACC02, title = {Stability Issues in Dual Time Scale Systems}, booktitle = {American Control Conference}, year = {2002}, month = {May}, address = {Anchorage, Alaska}, keywords = {Robotics}, author = {M. Innocenti and L. Greco and L. Pollini} } @inbook {PPSEB02, title = {Synthesis of robust control systems under resource constraints}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {337-350}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and C. Pinello and A. L. Sangiovanni-Vincentelli and L. El-Ghaoui and A. Bicchi}, editor = {M. Greenstreet and C. Tomlin} } @booklet {GreTR02, title = {Variable Structure Control for Singularly Perturbed System: Stability Issues}, year = {2002}, month = {March}, publisher = {Dept. of Electrical Systems and Automation, University of Pisa}, address = {Pisa, Italy}, keywords = {Robotics}, author = {M. Innocenti and L. Greco} } @conference {PGPALSDO-02, title = {A wearable motion capture system for multimedia applications}, booktitle = {Avantex Symposium - International Forum for Textiles and Technology in the Future}, year = {2002}, month = {May}, address = {Frankfurt, Germany}, keywords = {Bioengineering}, author = {R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and F. Lorussi and E. P. Scilingo and D. De Rossi and P. Orsini} } @conference {BLT01-iarp, title = {Compliant robot arm design for intrinsic safety}, booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2001}, pages = {100-106}, abstract = {In this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {A. Bicchi and S. Lodi Rizzini and G. Tonietti}, editor = {G. Giralt and P. Corke} } @conference {PPACGLSDGB-01, title = {Sensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs}, booktitle = {Fibres and Textiles for the Future}, year = {2001}, month = {August}, pages = {55-63}, address = {Tampere, Finland}, keywords = {Smart Textiles, Vital Signs}, author = {M. Pacelli and R. Paradiso and G. Anerdi and S. Ceccarini and M. Ghignoli and F. Lorussi and E. P. Scilingo and D. De Rossi and A. Gemignani and B. Ghelarducci} } @conference {CPGB00, title = {Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {2771-2776}, address = {San Francisco, CA, USA}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Sensors and Observers, visual servoing}, author = {F. Conticelli and D Prattichizzo and F. Guidi and A. Bicchi} } @inbook {B99, title = {An experimental study of performance and fault tolerance of a hybrid free-flight control scheme}, booktitle = {Robustness in Identification and Control}, series = {LNCIS 245}, year = {1999}, pages = {449-463}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi}, editor = {A. Garulli and A. Tesi and A. Vicino} } @inbook {MB98, title = {Rolling bodies with regular surfaces: the holonomic case}, booktitle = {Differential geometry and control}, series = {Proceedings of Symposia in Pure Mathematics}, volume = {64}, year = {1999}, pages = {241-256}, publisher = {American Mathematical Society}, organization = {American Mathematical Society}, author = {A. Marigo and A. Bicchi}, editor = {G. Ferreyra and R. Gardner and H. Hermes and H. Sussmann} } @conference {BBPG97, title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli} } @conference {B96, title = {Hands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity}, booktitle = {Robotics Research - VII}, year = {1996}, pages = {2-15}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi}, editor = {G. Giralt and G. Hirzinger} } @article {1751, title = {Calibration technique for Intrinsic Tactile Sensors}, year = {1995}, note = {

Italian Patent

}, address = {Italy}, keywords = {Robotics}, issn = {FI95A000108}, author = {A. Bicchi and F. Granata} } @article {1417, title = {TOWARDS THE REALIZATION OF AN ARTIFICIAL TACTILE SYSTEM - FINE-FORM DISCRIMINATION BY A TENSORIAL TACTILE SENSOR ARRAY AND NEURAL INVERSION ALGORITHMS}, journal = {IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS}, volume = {25}, year = {1995}, pages = {933{\textendash}946}, issn = {0018-9472}, doi = {10.1109/21.384256}, url = {http://dx.medra.org/10.1109/21.384256}, author = {A. Caiti and G. Canepa and D. De Rossi and F. Germagnoli and G. Magenes and T. Parisini} } @article {1752, title = {Contact Pointing Device for 3D Graphic Software Interfaces}, year = {1994}, address = {Italy}, issn = {PI94A000025}, author = {A. Bicchi and F. Granata} } @article {1422, title = {Skin-like tactile sensor arrays for contact stress field extraction}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {1993}, pages = {23{\textendash}36}, issn = {0928-4931}, author = {D. De Rossi and G. Canepa and G. Magenes and F. Germagnoli and A. Caiti and T. Parisini} } @conference {BBDGMP89, title = {Leg-Ankle-Foot System for Investigating Sensor Based Legged Locomotion}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1989}, address = {Tsukuba, Japan}, keywords = {Embedded Control, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=637970}, author = {A. Bicchi and L. Bosio and P. Dario and M. Guiggiani and E. Manfredi and P. C. Pinotti} } @article {1762, title = {Indwelling acoustic sensors for early detection of total artificial heart failure}, journal = {LIFE SUPPORT SYSTEMS}, volume = {4}, year = {1986}, pages = {239{\textendash}248}, keywords = {Bioengineering}, issn = {0261-989X}, author = {Y. L. Sheng and D. De Rossi and P. Dario and P.M. Galletti} } @article {1743, title = {Ferroelectric polymer tactile sensors for prostheses}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {199{\textendash}214}, keywords = {Bioengineering}, issn = {0015-0193}, author = {P. Dario and D. De Rossi and C. Giannotti and F. Vivaldi and P. C. Pinotti} } @article {1740, title = {Prosthetic vascular graft monitoring by ultrasound using piezoelectric polymers (PZP)}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {30}, year = {1984}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0066-0078}, author = {P. Dario and P.D. Richardson and M. Bertoncini and D. De Rossi and L.A. Trudell and P.M. Galletti} } @article {1739, title = {The electromechanical connection: piezoelectric polymers in artificial organs}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {6}, year = {1983}, pages = {1{\textendash}11}, keywords = {Bioengineering}, issn = {0066-0078}, author = {D. De Rossi and P.M. Galletti and P. Dario and P.D. Richardson} }