@article {4120, title = {On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation}, journal = {IEEE Transactions on Robotics}, volume = {37}, year = {2021}, pages = {257 - 274}, doi = {10.1109/TRO.2020.3018642}, url = {https://ieeexplore.ieee.org/document/9194321}, author = {A. Mannucci and D. Caporale and L. Pallottino} } @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 {4270, title = {Scaling of joint mass and metabolism fluctuations in in silico cell-laden spheroids}, journal = {Proceedings of the National Academy of Sciences}, volume = {118}, year = {2021}, abstract = {

Variations and fluctuations are characteristic features of biological systems and are also manifested in cell cultures. Here, we describe a computational pipeline for identifying the range of three-dimensional (3D) cell-aggregate sizes in which nonisometric scaling emerges in the presence of joint mass and metabolic rate fluctuations. The 3D cell-laden spheroids with size and single-cell metabolic rates described by probability density functions were randomly generated in silico. The distributions of the resulting metabolic rates of the spheroids were computed by modeling oxygen diffusion and reaction. Then, a method for estimating scaling exponents of correlated variables through statistically significant data collapse of joint probability distributions was developed. The method was used to identify a physiologically relevant range of spheroid sizes, where both nonisometric scaling and a minimum oxygen concentration (0.04 mol.m-3) is maintained. The in silico pipeline described enables the prediction of the number of experiments needed for an acceptable collapse and, thus, a consistent estimate of scaling parameters. Using the pipeline, we also show that scaling exponents may be significantly different in the presence of joint mass and metabolic-rate variations typically found in cells. Our study highlights the importance of incorporating fluctuations and variability in size and metabolic rates when estimating scaling exponents. It also suggests the need for taking into account their covariations for better understanding and interpreting experimental observations both in vitro and in vivo and brings insights for the design of more predictive and physiologically relevant in vitro models.

}, doi = {https://doi.org/10.1073/pnas.2025211118}, url = {https://www.pnas.org/content/118/38/e2025211118}, author = {Botte, Ermes and Biagini, Francesco and Magliaro, Chiara and Rinaldo, Andrea and Maritan, Amos and Ahluwalia, Arti} } @article {4193, title = {Tools and approaches for analysing the role of mitochondria in health, development and disease using human cerebral organoids}, journal = {Developmental Neurobiology}, year = {2021}, abstract = {

Mitochondria are cellular organelles involved in generating energy to power various processes in the cell. Although the pivotal role of mitochondria in neurogenesis was demonstrated (first in animal models), very little is known about their role in human embryonic neurodevelopment and its pathology. In this respect human-induced pluripotent stem cells (hiPSC)-derived cerebral organoids provide a tractable, alternative model system of the early neural development and disease that is responsive to pharmacological and genetic manipulations, not possible to apply in humans. Although the involvement of mitochondria in the pathogenesis and progression of neurodegenerative diseases and brain dysfunction has been demonstrated, the precise role they play in cell life and death remains unknown, compromising the development of new mitochondria-targeted approaches to treat human diseases. The cerebral organoid model of neurogenesis and disease in vitro provides an unprecedented opportunity to answer some of the most fundamental questions about mitochondrial function in early human neurodevelopment and neural pathology. Largely an unexplored territory due to the lack of tools and approaches, this review focuses on recent technological advancements in fluorescent and molecular tools, imaging systems, and computational approaches for quantitative and qualitative analyses of mitochondrial structure and function in three-dimensional cellular assemblies-cerebral organoids. Future developments in this direction will further facilitate our understanding of the important role or mitochondrial dynamics and energy requirements during early embryonic development. This in turn will provide a further understanding of how dysfunctional mitochondria contribute to disease processes.

}, keywords = {cerebral organoids; computational models; mitochondria imaging; mitochondrial dyes; reporter fluorescent proteins.}, doi = {doi: 10.1002/dneu.22818. Online ahead of print.}, url = {https://pubmed.ncbi.nlm.nih.gov/33725382/}, author = {Liput, Micha{\l} and Magliaro, Chiara and Kuczy{\'n}ska, Zuzanna and Zayat, Valery and Ahluwalia, Arti and Buzanska, Leonora} } @article {4085, title = {Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand}, journal = {Journal of NeuroEngineering and Rehabilitation}, volume = {17}, year = {2020}, chapter = {116}, doi = {https://doi.org/10.1186/s12984-020-00741-y}, url = {https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-020-00741-y$\#$article-info}, author = {C. Piazza and A. M. Simon and K. L. Turner and L. A. Miller and M. G. Catalano and A. Bicchi and L. Hargrove} } @article {4118, title = {LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars}, journal = {Sensors}, volume = {20}, year = {2020}, doi = {10.3390/s20143992}, url = {https://www.mdpi.com/1424-8220/20/14/3992$\#$cite}, author = {F. Massa and L. Bonamini and A Settimi and L. Pallottino and D. Caporale} } @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 {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 {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 {3681, title = {Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit}, journal = {Frontiers in Neurorobotics}, year = {2019}, month = {06/2019}, doi = {https://doi.org/10.3389/fnbot.2019.00039}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2019.00039/full}, author = {M. Xiloyannis and E. Annese and M. Canesi and A. Kodian and A. Bicchi and S. Micera and A. Ajoudani and L. Masia} } @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 {4134, title = {Provably Safe Multi-Robot Coordination With Unreliable Communication}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, pages = {3232-3239}, doi = {10.1109/LRA.2019.2924849}, author = {A. Mannucci and L. Pallottino and F. Pecora} } @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 {3710, title = {Touch as an auxiliary proprioceptive cue for movement control}, journal = {Indian Journal of Pure and Applied Physics }, year = {2019}, author = {A. Moscatelli and M. Bianchi and S. Ciotti and G. C. Bettelani and C. V. Parise and F. Lacquaniti and A. Bicchi} } @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} } @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} } @conference {3383, title = {Autonomous 3D exploration of large areas: A cooperative frontier-based approach}, booktitle = {International Conference on Modelling and Simulation for Autonomous Systems}, volume = {10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in }, year = {2018}, note = {

Cited By :1

}, pages = {18-39}, doi = {10.1007/978-3-319-76072-8_2}, author = {A. Mannucci and S. Nardi and L. Pallottino} } @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} } @article {3474, title = {A Game Theoretic Robotic Team Coordination Protocol For Intruder Herding}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {10/2018}, pages = {4124-4131}, keywords = {autonomous agents, Cost function, distributed robot systems, game theory, Games, Protocols, Robot kinematics, Robot sensing systems}, issn = {2377-3766}, doi = {10.1109/LRA.2018.2857004}, author = {S. Nardi and F. Mazzitelli and L. Pallottino} } @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 {3531, title = {A Planning and Control System for Self-Driving Racing Vehicles}, booktitle = {2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI)}, year = {2018}, month = {Sept}, pages = {1-6}, address = {Palermo, Italy}, doi = {10.1109/RTSI.2018.8548444}, author = {D. Caporale and A. Fagiolini and L. Pallottino and A Settimi and A. Biondo and F. Amerotti and F. Massa and S. De Caro and A. Corti and L. Venturini} } @conference {3761, title = {Shared-autonomy control for intuitive bimanual tele-manipulation}, booktitle = {2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)}, year = {2018}, pages = {1{\textendash}9}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user{\textquoteright}s dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.

}, doi = {10.1109/HUMANOIDS.2018.8625047}, url = {https://ieeexplore.ieee.org/abstract/document/8625047}, author = {Laghi, Marco and Maimeri, Michele and Marchand, Mathieu and Leparoux, Clara and Catalano, Manuel and Ajoudani, Arash and Bicchi, Antonio} } @article {3349, title = {Systemic and vascular inflammation in an in-vitro model of central obesity}, journal = {PLoS ONE}, year = {2018}, month = {02/2018}, abstract = {

Metabolic disorders due to over-nutrition are a major global health problem, often associated with obesity and related morbidities. Obesity is peculiar to humans, as it is associated with lifestyle and diet, and so difficult to reproduce in animal models. Here we describe a model of human central adiposity based on a 3-tissue system consisting of a series of interconnected fluidic modules. Given the causal link between obesity and systemic inflammation, we focused primarily on pro-inflammatory markers, examining the similarities and differences between the 3-tissue model and evidence from human studies in the literature. When challenged with high levels of adiposity, the in-vitro system manifests cardiovascular stress through expression of E-selectin and von Willebrand factor as well as systemic inflammation (expressing IL-6 and MCP-1) as observed in humans. Interestingly, most of the responses are dependent on the synergic interaction between adiposity and the presence of multiple tissue types. The set-up has the potential to reduce animal experiments in obesity research and may help unravel specific cellular mechanisms which underlie tissue response to nutritional overload.

}, keywords = {Bioengineering}, doi = {https://doi.org/10.1371/journal.pone.0192824.s001}, url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0192824}, author = {A. Ahluwalia and A. Misto and G. Vozzi and C. Magliaro and G. Mattei and Marescotti MC and AVOGARO, A and Iori, E.} } @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 {3217, title = {W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality}, journal = {IEEE Transactions on Haptics}, volume = {11}, year = {2018}, pages = {304 - 316}, chapter = {304}, abstract = {

Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user{\textquoteright}s finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user{\textquoteright}s finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2017.2708717}, url = {http://ieeexplore.ieee.org/document/8003491/}, author = {S. Fani and S. Ciotti and E. Battaglia and A. Moscatelli and M. Bianchi} } @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} } @article {3124, title = {Decellularized Human Liver Is Too Heterogeneous for Designing a Generic Extracellular Matrix Mimic Hepatic Scaffold.}, journal = {Artificial Organs}, year = {2017}, month = {05/2017}, abstract = {

Decellularized human livers are considered the\ perfect extracellular matrix (ECM) surrogate because both three-dimensional architecture and biological features of the hepatic microenvironment are thought to be preserved. However, donor human livers are in chronically short supply, both for transplantation or as decellularized scaffolds, and will become even scarcer as life expectancy increases. It is hence of interest to determine the structural and biochemical properties of human hepatic ECM to derive design criteria for engineering biomimetic scaffolds. The intention of this work was to obtain quantitative design specifications for fabricating scaffolds for hepatic tissue engineering using human livers as a template. To this end, hepatic samples from five patients scheduled for hepatic resection were decellularized using a protocol shown to reproducibly conserve matrix composition and microstructure in porcine livers. The decellularization outcome was evaluated through histological and quantitative image analyses to evaluate cell removal, protein, and glycosaminoglycan content per unit area. Applying the same decellularization protocol to human liver samples obtained from five different patients yielded five different outcomes. Only one liver out of five was completely decellularized, while the other four showed different levels of remaining cells and matrix. Moreover, protein and glycosaminoglycan content per unit area after decellularization were also found to be patient- (or donor-) dependent. This donor-to-donor variability of human livers thus precludes their use as templates for engineering a generic "one-size fits all" ECM-mimic hepatic scaffold.

}, keywords = {Bioengineering}, doi = {10.1111/aor.12925.}, url = {https://www.ncbi.nlm.nih.gov/pubmed/28543403}, author = {G. Mattei and C. Magliaro and Pirone, A. and A. Ahluwalia} } @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 {3158, title = {Modular One-to-many Clutchable Actuator for a Soft Elbow Exosuit}, booktitle = { International Conference on Rehabilitation Robotics (ICORR 2017)}, year = {2017}, month = {07/2017}, pages = {1679-1685}, address = {London, UK, July 17 - 20, 2017}, keywords = {Robotics}, doi = {10.1109/ICORR.2017.8009489}, author = {M. Canesi and M. Xiloyannis and A. Ajoudani and A. Bicchi and L. Masia} } @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 {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 {3726, title = {Synergy-driven performance enhancement of vision-based 3D hand pose reconstruction}, booktitle = {Wireless mobile communication and healthcare : 6th International conference, MobiHealth 2016, Milan, Italy, November 14-16, 2016, Proceedings}, year = {2017}, doi = {10.1007/978-3-319-58877-3_42}, author = {S. Ciotti and E. Battaglia and I. Oikonomidis and A. Makris and A. Tsoli and A. Bicchi and A. A. Agyros and M. Bianchi} } @conference {3122, title = {Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions}, booktitle = {IEEE World Haptic Conference}, year = {2017}, 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, by the EU H2020 project {\textquotedblleft}SOFTPRO: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn{\textquotedblright} (no. 688857) and by the EU FP7 project (no. 601165), {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}. We thank Priscilla Balestrucci and Colleen P. Ryan for helpful comments and suggestions.

}, month = {06/2017}, publisher = {IEEE}, organization = {IEEE}, address = {F{\"u}rstenfeldbruck (Munich), Germany, June 6-9, 2017}, abstract = {

Touch provides an important cue to perceive the physical properties of the external objects. Recent studies showed that tactile sensation also contributes to our sense of hand position and displacement in perceptual tasks. In this study, we tested the hypothesis that, sliding our hand over a stationary surface, tactile motion may provide a feedback for guiding hand trajectory. We asked participants to touch a plate having parallel ridges at different orientations and to perform a self-paced, straight movement of the hand. In our daily-life experience, tactile slip motion is equal and opposite to hand motion. Here, we used a well-established perceptual illusion to dissociate, in a controlled manner, the two motion estimates. According to previous studies, this stimulus produces a bias in the perceived direction of tactile motion, predicted by tactile flow model. We showed a systematic deviation in the movement of the hand towards a direction opposite to the one predicted by tactile flow, supporting the hypothesis that touch contributes to motor control of the hand. We suggested a model where the perceived hand motion is equal to a weighted sum of the estimate from classical proprioceptive cues (e.g., from musculoskeletal system) and the estimate from tactile slip.

}, keywords = {Haptics}, author = {M. Bianchi and A. Moscatelli and S. Ciotti and G. C. Bettelani and F. Fioretti and F. Lacquaniti 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 {2847, title = {An Attitude Estimation Algorithm for Mobile Robots under Unknown Magnetic Disturbances}, journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS}, volume = {21}, year = {2016}, pages = {1900-1911}, chapter = {1900}, abstract = {
Attitude estimation is a crucial aspect for navigation and motion control of autonomous vehicles. This concept is particularly true in the case of unavailability of localization sensors when navigation and control rely on dead reckoning strategies; in this case, indeed, the orientation estimate is also used along with speed measurements to update the position estimate. Among the different approaches proposed in the literature, the de facto state of the art in this field is represented by nonlinear complementary filters: they fuse the measurements of angular rate obtained through gyroscopes, and a measurement of gravity and Earth{\textquoteright}s magnetic field vectors respectively obtained through accelerometers and magnetometers. This paper is focused on an attitude estimation strategy for autonomous underwater vehicles (AUV). The proposed novelty includes the identification of some critical issues that arise when AUV attitude estimation algorithms are applied in practice.
They are mainly due to the use of low-accuracy low-cost microelectromechanical systems (MEMS) sensors and on different sources of magnetic disturbances. Some strategies to overcome the identified issues are proposed, including the integration of a single-axis fiber optic gyroscope (FOG) that ensures a considerable performance improvement with a moderate cost increase. The proposed strategies for detection of issues and sensor fusion have been experimentally tested and validated in a real application scenario estimating the attitude of an AUV performing a lawn mower path.
The expected performance improvement is confirmed; the obtained results are described and analyzed in this paper.
}, keywords = {Robotics}, doi = {10.1109/TMECH.2016.2559941}, url = {http://ieeexplore.ieee.org/document/7460980/}, author = {R. Costanzi and F. Fanelli and N. Monni and A. Ridolfi and B. Allotta} } @article {2685, title = {The Change in Fingertip Contact Area as a Novel Proprioceptive Cue}, journal = {Current Biology}, volume = {26}, year = {2016}, month = {05/2016}, pages = {1159{\textendash}1163}, abstract = {

Humans, many animals, and certain robotic hands have deformable fingertip pads. Deformable pads have the advantage of conforming to the objects that are being touched, ensuring a stable grasp for a large range of forces and shapes. Pad deformations change with finger displacements during touch. Pushing a finger against an external surface typically provokes an increase of the gross contact area, potentially providing a relative motion cue, a situation comparable to looming in vision. The rate of increase of the area of contact also depends on the compliance of the object. Because objects normally do not suddenly change compliance, participants may interpret an artificially induced variation in compliance, which coincides with a change in the gross contact area, as a change in finger displacement, and consequently they may misestimate their finger{\textquoteright}s position relative to the touched object. To test this, we asked participants to compare the perceived displacements of their finger while contacting an object varying pseudo-randomly in compliance from trial to trial. Results indicate a bias in the perception of finger displacement induced by the change in compliance, hence in contact area, indicating that participants interpreted the altered cutaneous input as a cue to proprioception. This situation highlights the capacity of the brain to take advantage of knowledge of the mechanical properties of the body and of the external environment.

}, keywords = {Haptics, Robotics}, doi = {10.1016/j.cub.2016.02.052}, url = {http://www.sciencedirect.com/science/article/pii/S0960982216301348}, author = {A. Moscatelli and M. Bianchi and A. Serio and A. Terekhov and V. Hayward and M. Ernst and A. Bicchi} } @article {2835, title = {Clarifying CLARITY: Quantitative Optimization of the Diffusion Based Delipidation Protocol for Genetically Labeled Tissue}, journal = {Frontiers in Neuroscience}, year = {2016}, abstract = {

Tissue clarification has been recently proposed to allow deep tissue imaging without light scattering. The clarification parameters are somewhat arbitrary and dependent on tissue type, source and dimension: every laboratory has its own protocol, but a quantitative approach to determine the optimum clearing time is still lacking. Since the use of transgenic mouse lines that express fluorescent proteins to visualize specific cell populations is widespread, a quantitative approach to determine the optimum clearing time for genetically labeled neurons from thick murine brain slices using CLARITY2 is described. In particular, as the main objective of the delipidation treatment is to clarify tissues, while limiting loss of fluorescent signal, the {\textquotedblleft}goodness{\textquotedblright} of clarification was evaluated by considering the bulk tissue clarification index (BTCi) and the fraction of the fluorescent marker retained in the slice as easily quantifiable macroscale parameters. Here we describe the approach, illustrating an example of how it can be used to determine the optimum clearing time for 1 mm-thick cerebellar slice from transgenic L7GFP mice, in which Purkinje neurons express the GFP (green fluorescent protein) tag. To validate the method, we evaluated confocal stacks of our samples using standard image processing indices (i.e., the mean pixel intensity of neurons and the contrast-to-noise ratio) as figures of merit for image quality. The results show that detergent-based delipidation for more than 5 days does not increase tissue clarity but the fraction of GFP in the tissue continues to diminish. The optimum clearing time for 1 mm-thick slices was thus identified as 5 days, which is the best compromise between the increase in light penetration depth due to removal of lipids and a decrease in fluorescent signal as a consequence of protein loss: further clearing does not improve tissue transparency, but only leads to more protein removal or degradation. The rigorous quantitative approach described can be generalized to any clarification method to identify the moment when the clearing process should be terminated to avoid useless protein loss.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.3389/fnins.2016.00179}, url = {http://journal.frontiersin.org/article/10.3389/fnins.2016.00179/full}, author = {C. Magliaro and A. L. Callara and G. Mattei and M. Morcinelli and C. Viaggi and Vaglini, F 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} } @article {2791, title = {Controllability analysis of a pair of 3D Dubins vehicles in formation}, journal = {Robotics and Autonomous Systems}, volume = {83}, year = {2016}, month = {09/2016}, pages = {94 - 105}, abstract = {

In this paper we consider the controllability problem for a system consisting of a pair of Dubins vehicles moving in a 3D space (i.e.\ pair of 3D{\textendash}Dubins vehicles) while maintaining constant distance. Necessary and sufficient conditions for the existence of a limited control effort to steer the system between any two configurations are provided. The proposed controllability analysis and the developed motion planning algorithm are a step toward the solution of planning problems for example in case the robots are physically constrained to a payload to be deployed. Moreover, results obtained in this paper are relevant in order to solve formation control problems for multiple robots as aerial or underwater vehicles, which move in 3D spaces. Simulation results highlight the sufficiency of the obtained conditions showing that even from critical configurations an admissible control can be determined.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2016.05.015}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015301202}, author = {H. Marino and Salaris, P. and L. Pallottino} } @article {2481, title = {Convergence Analysis of Distributed Set-Valued Information Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {61}, year = {2016}, month = {06/2016}, pages = {1477 - 1491}, abstract = {
This paper focuses on the convergence of information in distributed systems of agents communicating over a network.
The information on which the convergence is sought is not represented by real numbers, as often in the literature, rather by sets. The dynamics of the evolution of information across the network is accordingly described by set-valued iterative maps. While the study of convergence of set-valued iterative maps is highly complex in general, this paper focuses on Boolean maps, which are comprised of arbitrary combinations of unions, intersections, and complements of sets. For these important class of systems, we provide tools to study both global and local convergence. A distributed geographic information system, leading to successful information reconstruction from partial and corrupted data, is used to illustrate the applications of the proposed methods.
}, keywords = {Embedded Control, Robotics}, doi = {10.1109/TAC.2015.2480176}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7272075}, author = {A. Fagiolini and N. Dubbini and S. Martini and A. Bicchi} } @article {2848, title = {Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles}, journal = {AUTONOMOUS ROBOTS}, volume = {40}, year = {2016}, month = {10/2016}, pages = {1229{\textendash}1244}, abstract = {

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet\ {\textquoteright}13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface\ {\textquoteright}14 workshop, organized by the University of Zagreb.

}, keywords = {Robotics}, issn = {0929-5593}, doi = {10.1007/s10514-016-9594-9}, url = {http://link.springer.com/journal/volumesAndIssues/10514}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Di Corato and D. Fenucci and N. Monni and L. Pugi and A. Ridolfi} } @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} } @article {2710, title = {fabrication and perivascular implantation of bioactive scaffolds engineered with human adventitial progenitor cells for stimulation of arteriogenesis in peripheral ischemia}, journal = {Biofabrication}, volume = {8}, year = {2016}, month = {03/24}, keywords = {Bioengineering}, doi = {10.1088/1758-5090/8/1/015020}, author = {Carrabba, M. and C. De Maria and A. Oikawa and C. Reni and I. Rodriguez-Arabaolaza and H. Spencer and S. Slater and E. Avolio and Z. Dang and G. Spinetti and MADEDDU, P. and G. Vozzi} } @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 {2719, title = {Human and Robot Hands - Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics}, year = {2016}, publisher = {Springer}, abstract = {

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics.\  Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.

Presented in two parts, the first part,\ Neuroscience,\ provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part,\ Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.

Human and Robot Hands\ provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

}, keywords = {Haptics, Robotics}, isbn = {978-3-319-26706-7}, url = {http://www.springer.com/us/book/9783319267050}, author = {M. Bianchi and A. Moscatelli} } @inbook {3704, title = {Human and robot hands: Sensorimotor Synergies to Bridge the Gap between Neuroscience and Robotics}, year = {2016}, author = {Matteo Bianchi and Alessandro Moscatelli} } @article {2496, title = {The influence of mesh topology in the abdominal wall repair process}, journal = {J Biomed Mater Res Part B. }, year = {2016}, month = {08/2016}, keywords = {Bioengineering}, doi = {https://doi.org/10.1002/jbm.b.33468}, url = {https://www.ncbi.nlm.nih.gov/pubmed/26097153}, author = {C. De Maria and S. Burchielli and C. Salvadori and V. Santoro and F. Montemurro and G. Orsi and G. Vozzi} } @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 {2810, title = {Multi{\textendash}object handling for robotic manufacturing}, booktitle = {IECON 2016: 42nd Annual Conference of the IEEE Industrial Electronics Society}, year = {2016}, month = {12/2016}, pages = {6887 - 6893}, publisher = {IEEE}, organization = {IEEE}, address = {Florence, Italy, October 24-27}, abstract = {

The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as manipulators, mobile robots and conveyor belts.
The proposed approach allows different objects to be handled by different robots simultaneously in an efficient way and avoiding collisions with the environment and self{\textendash}collisions between robots. In particular, the integrated system will be capable of planning paths for a set of objects from various starting points in the environment (e.g. shelves) to their respective final destinations. The proposed approach unifies the active (e.g., grasping by a hand) and passive (e.g., holding by a table) steps involved in moving the objects in the environment by treating them as end{\textendash}effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end{\textendash}effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.

}, keywords = {Robotics}, doi = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, url = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, author = {M. Ferrati and H. Marino and A Settimi and S. Nardi and L. Pallottino} } @article {2845, title = {A new AUV navigation system exploiting unscented Kalman filter}, journal = {OCEAN ENGINEERING}, volume = {113}, year = {2016}, pages = {121-132}, abstract = {

The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors affecting the accuracy of AUVs navigation systems is the algorithm used to estimate the vehicle motion, usually based on kinematic vehicle models and linear estimators. A precise and reliable navigation system is indeed fundamental to AUVs: the Global Positioning System (GPS) signal is not available underwater, thus making it very hard to know the position of the vehicle in real-time. In this paper, the authors present an innovative navigation strategy specifically designed for AUVs, based on the Unscented Kalman Filter (UKF). The new algorithm proves to be effective if applied to this class of vehicles and allows us to achieve a satisfying accuracy improvement compared to standard navigation algorithms. The proposed strategy has been experimentally validated using the navigation data acquired in suitable sea tests performed in Biograd Na Moru (Croatia) in the framework of the FP7 European ARROWS project tests performed during the Breaking the Surface 2014 (BtS 2014) workshop. The vehicles involved are the two Typhoon AUVs, developed and built by the Department of Industrial Engineering of the University of Florence within the THESAURUS Tuscany Region project for exploration and surveillance of underwater archaeological sites. The experiment, described in the paper, was performed to preliminary test the cooperative navigation between these AUVs. The new algorithm has been initially tested offline, and the validation of the proposed strategy provided accurate results in estimating the vehicle dynamic behaviour.

}, keywords = {Robotics}, doi = {10.1016/j.oceaneng.2015.12.058}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Fanelli and D. Fenucci and E. Meli and A. Ridolfi} } @article {2627, title = {No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem}, journal = {IEEE Robotics and Automation Magazine}, volume = {23}, year = {2016}, month = {08/2016}, chapter = {94}, keywords = {Robotics}, doi = {https://doi.org/10.1109/MRA.2016.2535098}, url = {https://ieeexplore.ieee.org/document/7553531}, author = {T. Stoyanov and N. Vaskeviciusz and C. A. Mueller and T. Fromm and R. Krug and V. Tincani and R. Mojtahedzadeh and S. Kunaschk and R. M. Ernits and D. R. Canelhas and M. Bonilla and S. Schwertfeger and M. Bonini and H. Halfar and K. Pathak and M. Rohde and G Fantoni and A. Bicchi and A. Birk and A. Lilienthal and W. Echelmeyer} } @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} } @article {2712, title = {riphasic scaffolds for the regeneration of the bone-ligament interface}, journal = {Biofabrication}, volume = {8}, year = {2016}, chapter = {015009}, doi = {10.1088/1758-5090/8/1/015009}, author = {G. Criscenti and A. Longoni and A. Di Luca and C. De Maria and Van Blitterswijk, C. and G. Vozzi and Moroni, L.} } @article {2833, title = {Sample, testing and analysis variables affecting liver mechanical properties: A review}, journal = {Acta Biomaterialia}, year = {2016}, abstract = {

Given the critical role of liver mechanics in regulating cell response and directing the development of tissue fibrosis, accurately characterising its mechanical behaviour is of relevance for both diagnostic purposes as well as for tissue engineering and for the development of in-vitro models. Determining and quantifying the mechanical behaviour of soft biological tissues is, however, highly challenging due to their intrinsic labile nature. Indeed, a unique set of values of liver mechanical properties is still lacking to date; testing conditions can significantly affect sample status and hence the measured behaviour and reported results are strongly dependent on the adopted testing method and configuration as well as sample type and status. This review aims at summarising the bulk mechanical properties of liver described in the literature, discussing the possible sources of variation and their implications on the reported results. We distinguish between the intrinsic mechanical behaviour of hepatic tissue, which depends on sample variables, and the measured mechanical properties which also depend on the testing and analysis methods. Finally, the review provides guidelines on tissue preparation and testing conditions for generating reproducible data which can be meaningfully compared across laboratories.

}, keywords = {Bioengineering}, doi = { http://dx.doi.org/10.1016/j.actbio.2016.08.055}, url = {http://www.sciencedirect.com/science/article/pii/S1742706116304603}, author = {A. Ahluwalia and G. Mattei} } @inbook {3729, title = {Sensorymotor Synergies: Fusion of Cutaneous Touch and Proprioception in the Perceived Hand Kinematics}, booktitle = {SPRINGER SERIES ON TOUCH AND HAPTIC SYSTEMS}, volume = {Human and Robot Hands}, year = {2016}, url = {https://link.springer.com/book/10.1007/978-3-319-26706-7}, author = {A. Moscatelli and M. Bianchi and A. Serio and A. Bicchi and M. Ernst} } @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} } @conference {2820, title = {Tactile Augmented Reality for Arteries Palpation in Open Surgery Training}, booktitle = {7th International Conference, MIAR 2016}, volume = {Medical Imaging and Augmented Reality - Volume 9805 of the series Lecture Notes in Computer Science }, year = {2016}, pages = {186-197}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Bern, Switzerland, August 24-26, 2016}, abstract = {

Palpation is an essential step of several open surgical procedures for locating arteries by arterial pulse detection. In this context, surgical simulation would ideally provide realistic haptic sensations to the operator. This paper presents a proof of concept implementation of tactile augmented reality for open-surgery training. The system is based on the integration of a wearable tactile device into an augmented physical simulator which allows the real time tracking of artery reproductions and the user finger and provides pulse feedback during palpation. Preliminary qualitative test showed a general consensus among surgeons regarding the realism of the arterial pulse feedback and the usefulness of tactile augmented reality in open-surgery simulators.

}, keywords = {Bioengineering}, isbn = {978-3-319-43774-3}, author = {S. Condino and R. Vigliaoro and M. Bianchi and Morelli, L and M. Ferrari and A. Bicchi and V. Ferrari} } @article {2846, title = {An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles}, journal = {Mechatronics}, volume = {39}, year = {2016}, month = {11/2016}, pages = {185-195}, abstract = {

Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the AUV navigation state strongly affects the performance of the overall system. In this paper, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an Unscented Kalman Filter (UKF). The comparison results to be significant as the two strategies of filtering are based on the same process and sensors models. The UKF-based approach, here adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load. UKF has not yet been extensively used in practical underwater applications, even if it turns out to be quite promising. The proposed results rely on the data acquired during a sea mission performed by one of the two Typhoon class vehicles involved in the NATO CommsNet13 experiment (held in September 2013). As ground truth for performance evaluation and comparison, performed offline, position measurements obtained through Ultra-Short BaseLine (USBL) fixes are used. The result analysis leads to identify both the strategies as effective for the purpose of being included in the control loop of an AUV. The UKF approach demonstrates higher performance encouraging its implementation as a more suitable navigation algorithm even if, up to now, it is still not used much in this field.

}, keywords = {Robotics}, doi = {http://dx.doi.org/10.1016/j.mechatronics.2016.05.007}, url = {http://www.sciencedirect.com/science/article/pii/S095741581630037X}, author = {B. Allotta and A. Caiti and L. Chisci and R. Costanzi and F. Di Corato and D. Fantacci and D. Fenucci and E. Meli and A. Ridolfi} } @article {2749, title = {The Walk-Man Robot Software Architecture}, journal = {Front. Robot. AI}, year = {2016}, month = {05/2016}, abstract = {

A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. These tasks need to be solved by robotics specialists in their corresponding research field, such as humanoid walking, motion planning, or object manipulation. The proposed architecture was developed in 10 months, provided boilerplate code for most of the functionalities required to control a humanoid robot and allowed robotics researchers to produce their control modules for DRC tasks in a short time. Additional capabilities of the architecture include firmware and hardware management, mixing of different middlewares, unreliable network management, and operator control station GUI. All the source code related to the architecture and some control modules have been released as open source projects.

}, keywords = {Robotics}, doi = { http://dx.doi.org/10.3389/frobt.2016.00025}, url = {http://bit.ly/2jAPke2}, author = {M. Ferrati and A Settimi and L. Muratore and N. G. Tsagarakis and L. Natale and L. Pallottino} } @article {2513, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, volume = {18(13)}, year = {2015}, pages = {1386 -1391}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @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 {2509, title = {CFD modelling of a mixing chamber for the realisation of functionally graded scaffolds}, journal = {Computers and Chemical Engineering}, year = {2015}, abstract = {

Biological tissues are characterised by spatially distributed gradients, intricately linked with functions. It widely accepted that ideal tissue engineered scaffolds should exhibit similar functional gradients to promote successful tissue regeneration. Focusing on bone, in previous work we proposed simple methods to obtain osteochondral functionally graded scaffolds (FGSs), starting from homogeneous suspensions of hydroxyapatite (HA) particles in gelatin solutions. With the main aim of developing an automated device to fabricate FGSs, this work is focused on designing a stirred tank to obtain homogeneous HA-gelatin suspensions. The HA particles transport within the gelatin solution was investigated through computational fluid dynamics (CFD) modelling. First, the steady-state flow field was solved for the continuous phase only. Then, it was used as a starting point for solving the multi-phase transient simulation. CFD results showed that the proposed tank geometry and setup allow for obtaining a homogeneous suspension of HA micro-particles within the gelatin solution.

}, keywords = {Bioengineering}, issn = {00981354}, doi = {10.1016/j.compchemeng.2015.08.021}, url = {http://www.sciencedirect.com/science/article/pii/S0098135415002823}, author = {G. Mattei and G. Vozzi} } @conference {2454, title = {Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering}, booktitle = {IEEE World Haptics Conference}, year = {2015}, note = {

softhands, werahap

}, pages = {63-68}, address = {Chicago, USA, 22-25 June 2015}, abstract = {

The computation of skin forces and deformations for\ tactilerendering\ requires an accurate model of the extremely\ nonlinear\ behavior of the skin. In this work, we investigate the\ characterization\ of\ fingermechanics\ with the goal of designing accurate\ nonlinear\ models for\ tactilerendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled\ finger\ indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches\ nonlinear\ models that match the measured data with high accuracy.

}, keywords = {Haptics, Robotics}, doi = {10.1109/WHC.2015.7177692}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7177692}, author = {E. Miguel and M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M Memeo and A. Bicchi and D. G. Caldwell and M. A. Otaduy} } @article {2501, title = {Combining Inkjet Printing and Sol-Gel chemistry for Making pH-Sensitive surfaces}, journal = {Current topics in medicinal chemistry}, volume = {15(3)}, year = {2015}, pages = {271-278}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @conference {2429, title = {Coordination of unmanned marine vehicles for asymmetric threats protection}, booktitle = {MTS/IEEE Oceans 2015}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = {May 18-21, Genoa, Italy}, abstract = {

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

}, keywords = {Robotics}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7271413/}, author = {S. Nardi and C. Della Santina and D. Meucci and L. Pallottino} } @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} } @article {2510, title = {Decoupling the role of stiffness from other hydroxyapatite signalling cues in periosteal derived stem cell differentiation}, journal = {Scientific Reports}, volume = {5}, year = {2015}, pages = {10778}, keywords = {Bioengineering}, issn = {2045-2322}, doi = {10.1038/srep10778}, url = {http://www.nature.com/doifinder/10.1038/srep10778}, author = {G. Mattei and Ferretti, C. and Tirella, A and A. Ahluwalia and Mattioli-Belmonte, M.} } @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} } @article {2473, title = {Distributed motion misbehavior detection in teams of heterogeneous aerial robots}, journal = {Robotics and Autonomous Systems information}, volume = {74 part A}, year = {2015}, month = {12/2015}, pages = {30-39}, abstract = {

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common\ interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider\ misbehaving\ those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2015.06.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001360}, author = {S. Martini and D. Di Baccio and F. Alarc{\`o}n-Romero and A. Viguria-Jim{\'e}nez and L. Pallottino and G. Dini and A. Ollero} } @article {2507, title = { HisTOOLogy: an open-source tool for quantitative analysis of histological sections }, journal = {Journal of Microscopy}, year = {2015}, month = {08/2015}, keywords = {Bioengineering}, doi = {10.1111/jmi.12292. }, author = {C. Magliaro and Tirella, A and G. Mattei and Pirone, A. and A. Ahluwalia} } @article {2497, title = {Improving African Healthcare through Open Source Biomedical Engineering}, journal = {International Journal On Advances in Life Sciences}, year = {2015}, month = {01/2015}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @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 {2540, title = {A muscle-like recruitment actuator with modular redundant actuation units for soft robotics}, journal = {Robotics and Autonomous Systems}, volume = {74}, year = {2015}, note = {

This work was supported by\ ERC-291166-SOFTHANDS

}, month = {12/2015}, pages = {40-50}, keywords = {Robotics}, doi = {10.1016/j.robot.2015.06.010}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001384}, author = {G. Mathijssen and J. Schultz and B. Vanderborght and A. Bicchi} } @article {2716, title = {Music, clicks, and their imaginations favor differently the event-based timing component for rhythmic movements}, journal = {EXPERIMENTAL BRAIN RESEARCH}, volume = {233}, year = {2015}, pages = {1945{\textendash}1961}, keywords = {Bioengineering}, issn = {0014-4819}, doi = {10.1007/s00221-015-4267-z}, url = {http://dx.medra.org/10.1007/s00221-015-4267-z}, author = {Bravi, R. and E. Quarta and Del Tongo, C. and N. Carbonaro and A. Tognetti and Minciacchi, D.} } @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 {2511, title = {Nano-in-Micro Self-Reporting Hydrogel Constructs}, journal = {Journal of Biomedical Nanotechnology}, volume = {11}, year = {2015}, pages = {1451{\textendash}1460}, keywords = {Bioengineering}, issn = {15507033}, doi = {10.1166/jbn.2015.2085}, url = {http://openurl.ingenta.com/content/xref?genre=article\&issn=1550-7033\&volume=11\&issue=8\&spage=1451}, author = {Tirella, A and La Marca, M and Brace, L.A. and G. Mattei and Aylott, J. and A. Ahluwalia} } @conference {2504, title = {Open Biomedical Engineering Education in Africa}, booktitle = {The 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = { Milan, Italy, 25-29 August 2015}, keywords = {Bioengineering}, author = {A. Ahluwalia and D. Atwine and C. De Maria and C. Ibingira and E. Kipkorir and F. Kiros and J. Madete and D. Mazzei and E. Molyneux and K. Moonga and M. Moshi and M. Nzomo and V. Oduol and J. Okuonzi} } @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} } @article {2506, title = {Profile analysis of hepatic porcine and murine brain tissue slices obtained with a vibratome}, journal = {PeerJ}, volume = {3:e932}, year = {2015}, month = {04/2015}, keywords = {Bioengineering}, doi = {10.7717/peerj.932}, url = {https://peerj.com/articles/932/}, author = {G. Mattei and I. Cristiani and C. Magliaro and A. Ahluwalia} } @conference {2561, title = {A Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, pages = {2231-2237}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties and replicating them in actuators for robotic devices. This paper describes a method to harness the redundancy present in muscle-like actuation systems composed of multiple motor units and shows that they have these same two qualities. By carefully choosing which motor units are recruited, the impedance viewed from the environment can be modulated while maintaining the same overall activation level. The degree to which the impedance can be controlled varies with total activation level and actuator length.

Discretizing the actuation effort into multiple parts that work together, inspired by the way muscle fibers work in the human body, produces damage-tolerant behavior. This paper shows that this not only produces reasonably good resolutions without inordinate numbers of units, but gives the control system the ability to set the impedance along with the drive effort to the load.

}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7353676}, author = {J. Shultz and G. Mathijssen and B. Vanderborght and A. Bicchi} } @inbook {2503, title = {Utilizzo di Phantom in oftalmologia}, booktitle = {Metodiche alternative alla sperimentazione animale}, volume = {34}, year = {2015}, publisher = {P{\`a}tron Editore}, organization = {P{\`a}tron Editore}, address = {Bologna}, keywords = {Bioengineering}, issn = {9788855533157}, author = {G. Vozzi and C. De Maria and F. Montemurro} } @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} } @article {2191, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, year = {2014}, pages = {1{\textendash}6}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @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}} } @conference {2086, title = {A change in the fingertip contact area induces an illusory displacement of the finger}, booktitle = {Eurohaptics}, volume = {LNCS - Free Preview Haptics: Neuroscience, Devices, Modeling, and Applications}, year = {2014}, pages = {72 - 79}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Versailles, France), June 2014}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-662-44196-1_10}, author = {A. Moscatelli and M. Bianchi and A. Serio and Al Atassi, O. and S. Fani and A. Terekhov and V. Hayward and M. Ernst and A. Bicchi} } @conference {2214, title = {Daily-Life Monitoring of Stroke Survivors Motor Performance: The INTERACTION Sensing System}, year = {2014}, abstract = {

The objective of the INTERACTION Eu project is to develop and validate an unobtrusive and modular system for monitoring daily life activities, physical interactions with the environment and for training upper and lower extremity motor function in stroke subjects. This paper describes the development and preliminary testing of the project sensing platform made of sensing shirt, trousers, gloves and shoes. Modular prototypes were designed and built considering the minimal set of inertial, force and textile sensors that may enable an efficient monitoring of stroke patients. The single sensing elements are described and the results of their preliminary lab-level testing are reported.

}, author = {A. Tognetti and F. Lorussi and N. Carbonaro and D. De Rossi and De Toma, G. and Mancuso, C. and Paradiso, R. and Luinge, H. and Reenalda, J. and Droog, E. and Veltink, P.} } @conference {2215, title = {Daily-life tele-monitoring of motor performance in stroke survivors}, booktitle = {Proceedings of XIII International Symposium on 3D Analysis of Human Movement}, year = {2014}, month = {17 July 2014}, pages = {159{\textendash}162}, abstract = {

The objective of the EU project INTERACTION is to develop an unobtrusive and modular sensing system for objective monitoring of daily-life motor performance of stroke survivors. This will enable clinical professionals to advise their patients about their continued daily-life activity profile and home training, and evaluate and optimize rehabilitation programs.A modular textile-integrated sensing system was developed and performance and capacity measures were proposed and clinically tested in stroke subject.Telemonitoring facilities were developed and tested. In the last stage of the project, the system will be tested during daily-life.

}, author = {Veltink, P.H. and van Meulen, F.B. and van Beijnum, B.J.F. and Klaassen, B. and Hermens, H. J. and Droog, E. and Weusthof, M. H. H. and F. Lorussi and A. Tognetti and Reenalda, J. and Nikamp, C. D. M. and Baten, C. T. M. and Buurke, J. H. and Held, J. and Luft, A. R. L. and Luinge, H. and De Toma, G. and Mancuso, C. and Paradiso, R.} } @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 {2189, title = { Development and Testing of a Multimodal Acquisition Platform for Human-Robot Interaction Affective Studies}, journal = {Journal of Human robot Interaction }, volume = {3}, year = {2014}, pages = {1-24}, keywords = {Robotics}, doi = { http://dx.doi.org/10.5898/JHRI.3.2.Lazzeri}, url = {http://humanrobotinteraction.org/journal/index.php/HRI/article/view/142/pdf_3}, author = {Lazzeri, N. and D. Mazzei and D. De Rossi} } @conference {2186, title = {An Experimental Eye-Tracking Study for the Design of a Context-Dependent Social Robot Blinking Model}, booktitle = {Living Machines 2014}, year = {2014}, pages = {356-366}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Milan, Italy, July 30 {\textendash} August 1}, abstract = {

uman gaze and blinking behaviours have been recently considered, to empower humanlike robots to convey a realistic behaviour in a social human-robot interaction. This paper reports the findings of our investigation on human eye-blinking behaviour in relation to human gaze behaviour, in a human-human interaction. These findings then can be used to design a humanlike eye-blinking model for a social humanlike robot. In an experimental eye-tracking study, we showed to 11 participants, a 7-minute video of social interactions of two people, and collected their eye-blinking and gaze behaviours with an eye-tracker. Analysing the collected data, we measured information such as participants{\textquoteright} blinking rate, maximum and minimum blinking duration, number of frequent (multiple) blinking, as well as the participants{\textquoteright} gaze directions on environment. The results revealed that participants{\textquoteright} blinking rate in a social interaction are qualitatively correlated to the gaze behaviour, as higher number of gaze shift increased the blinking rate. Based on the findings of this study, we can propose a context-dependent blinking model as an important component of the robot{\textquoteright}s gaze control system that can empower our robot to mimic human blinking behaviour in a multiparty social interaction.

}, keywords = {Robotics}, doi = {10.1007/978-3-319-09435-9_31}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_31}, author = {A. Zaraki and Dehkordi, M. B. and D. Mazzei and D. De Rossi} } @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} } @conference {2185, title = {I-CLIPS Brain: A Hybrid Cognitive System for Social Robots }, booktitle = { Living Machines 2014}, year = {2014}, pages = {213-224}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = { Milan, Italy, July 30 {\textendash} August 1}, abstract = {

Sensing and interpreting the interlocutor{\textquoteright}s social behaviours is a core challenge in the development of social robots. Social robots require both an innovative sensory apparatus able to perceive the {\textquotedblleft}social and emotional world{\textquotedblright} in which they act and a cognitive system able to manage this incoming sensory information and plan an organized and pondered response. In order to allow scientists to design cognitive models for this new generation of social machines, it is necessary to develop control architectures that can be easily used also by researchers without technical skills of programming such as psychologists and neuroscientists. In this work an innovative hybrid deliberative/reactive cognitive architecture for controlling a social humanoid robot is presented. Design and implementation of the overall architecture take inspiration from the human nervous system. In particular, the cognitive system is based on the Damasio{\textquoteright}s thesis. The architecture has been preliminary tested with the FACE robot. A social behaviour has been modeled to make FACE able to properly follow a human subject during a basic social interaction task and perform facial expressions as a reaction to the social context.

}, keywords = {Robotics}, isbn = {978-3-319-09434-2}, doi = {10.1007/978-3-319-09435-9_19}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_19}, author = {D. Mazzei and Cominelli, L. and Lazzeri, N. and A. Zaraki and D. De Rossi} } @article {2220, title = {In vitro development of engineered muscle using a scaffold based on the pressure-activated microsyringe (PAM) technique}, journal = {Journal of tissue engineering and regenerative medicine}, year = {2014}, author = {D. Cei and Malena, A. and C. De Maria and Loro, E. and Sandri, F. and Moro, G. and Bettio, S. and Vergani, L. and G. Vozzi} } @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 {2197, title = {In-silico model of cell metabolism in dynamic cell culture system}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {487{\textendash}488}, 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 = {Andreoni, C. and G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @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 {2127, title = {A modular approach for remote operation of humanoid robots in search and rescue scenarios }, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, year = {2014}, address = {Rome, 5-6 May 2014}, keywords = {Robotics}, author = {A Settimi and C. Pavan and V. Varricchio and M. Ferrati and E. Mingo and A. Rocchi and K. Melo and N G Tsagarakis and A. Bicchi} } @article {2032, title = {Modulation of isochronous movements in a flexible environment: links between motion and auditory experience}, journal = {Experimental Brain Research}, volume = {232}, year = {2014}, month = {06/2014}, pages = {1663 - 1675}, keywords = {Bioengineering}, doi = {10.1007/s00221-014-3845-9}, author = {Bravi, R. and Del Tongo, C. and Cohen, E. J. and Dalle Mura, G. and A. Tognetti and Minciacchi, D.} } @conference {2198, title = {Multimaterial and multiscale biofabrication for smart scaffolds}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {470{\textendash}470}, 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 = {C. De Maria and Carrabba, M. and G. Criscenti and G. Orsi and F. Montemurro and G. Vozzi} } @conference {2199, title = {Nanoparticles doped sol-gel ink for inkjet printers}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {197{\textendash}198}, 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 = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @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 {2194, title = {A new 3D concentration gradient maker and its application in building hydrogels with a 3D stiffness gradient}, journal = {Journal of Tissue Engineering and Regenerative Medicine}, year = {2014}, keywords = {Bioengineering}, author = {G. Orsi and Fagnano, M. and C. De Maria and F. Montemurro and G. Vozzi} } @article {2193, title = {New eye phantom for ophthalmic surgery.}, journal = {Journal of biomedical optics}, volume = {19}, year = {2014}, pages = {68001}, keywords = {Bioengineering}, author = {Fogli, G. and G. Orsi and C. De Maria and F. Montemurro and Palla, M. and Rizzo, S. and G. Vozzi} } @conference {2200, title = {A novel concentration gradient bioreactor by PMMA laser micromachining}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {482{\textendash}482}, 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 = {G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @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 {2190, title = {Open Source Biomedical Engineering for Sustainability in African Healthcare: Combining Academic Excellence with Innovation}, booktitle = {ICDS 2014, The Eighth International Conference on Digital Society}, year = {2014}, pages = {48{\textendash}53}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei 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} } @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} } @conference {2222, title = {Realization of a soft-MI electrospun scaffold for tissue engineering applications}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {255{\textendash}256}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, author = {G. Criscenti and Cerulli, G. and Saris, D. and Van Blitterswijk, C. and G. Vozzi and Fernandes, H. and Moroni, L.} } @conference {2187, title = {Recognition and Expression of Emotions by a Symbiotic Android Head}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {134 - 139 }, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, keywords = {Bioengineering, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041349}, author = {D. Mazzei and A. Zaraki and Lazzeri, N. and D. De Rossi} } @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 {2290, title = {Sphyga: a multiparameter open source tool for fabricating smart and tunable hydrogel microbeads}, journal = {Biofabrication}, volume = {6}, year = {2014}, keywords = {Bioengineering}, doi = {10.1088/1758-5082/6/2/025009}, author = {Tirella, A and C. Magliaro and M. Penta and M. Troncone and Pimentel, R 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} } @article {2177, title = {Tuning of the freezing and melting points of [Hmim][NO3] by the addition of water and nitrate salts }, journal = {RSC Advances}, volume = {4}, year = {2014}, pages = {40407 - 40413}, keywords = {Bioengineering}, doi = {10.1039/c4ra06290f}, author = {Di Francesco, F. and Ferrari, F. and Moni, L. and Melai, B. and Bernazzania, L. and Chiappe, C.} } @article {2241, title = {Wearable Wireless Tactile Display for Virtual Interactions with Soft Bodies}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {2}, year = {2014}, abstract = {

We describe here a wearable, wireless, compact, and lightweight tactile display, able to mechanically stimulate the fingertip of users, so as to simulate contact with soft bodies in virtual environments. The device was based on dielectric elastomer actuators, as high-performance electromechanically active polymers. The actuator was arranged at the user{\textquoteright}s fingertip, integrated within a plastic case, which also hosted a compact high-voltage circuitry. A custom-made wireless control unit was arranged on the forearm and connected to the display via low-voltage leads. We present the structure of the device and a characterization of it, in terms of electromechanical response and stress relaxation. Furthermore, we present results of a psychophysical test aimed at assessing the ability of the system to generate different levels of force that can be perceived by users.

}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2014.00031}, url = {http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4150388/}, author = {G. Frediani and D. Mazzei and D. De Rossi and F. Carpi} } @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} } @conference {2077, title = {Yarp Based Plugins for Gazebo Simulator}, booktitle = {2014 Modelling and Simulation for Autonomous Systems Workshop (MESAS)}, year = {2014}, address = {Roma, Italy, 5 -6 May 2014}, keywords = {Robotics}, author = {Mingo, E and Traversaro, S and Rocchi, A and M. Ferrati and A Settimi and Romano, F and Natale, L and A. Bicchi and Nori, F and N G Tsagarakis} } @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 {1994, title = {An Activity Classifier based on Heart Rate and Accelerometer Data Fusion}, journal = {INTERNATIONAL JOURNAL OF BIOELECTROMAGNETISM}, volume = {15}, year = {2013}, pages = {7{\textendash}12}, issn = {1456-7857}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Magenes} } @conference {1812, title = {Advanced Interfaces to Stem the Data Deluge in Mixed Reality: Placing Human (un)consciuosness in the Loop}, booktitle = {ACM SIGGRAPH 2013}, year = {2013}, address = {New York, NY, USA}, keywords = {Bioengineering}, url = {10.1145/2503385.2503460}, author = {A. Betella and E. Mart{\`\i}nez and R. Zucca and X. D. Arsiwalla and P Omedas and S. Wierenga and A. Mura and J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and A Lanata and D. De Rossi and P. F. M. J. Verschure} } @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 {1492, title = {Bone scaffolds with homogeneous and discrete gradient mechanical properties}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {2013}, pages = {28{\textendash}36}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Jelen, C. and G. Mattei and F. Montemurro and C. De Maria and Mattioli-Belmonte, M. and G. Vozzi} } @article {2257, title = {Cardiovascular Molecular Imaging: New Methodological Strategies}, journal = {CURRENT PHARMACEUTICAL DESIGN }, volume = {19}, year = {2013}, pages = { 2439-2446}, author = {M. F. Santarelli and V. Positano and Menichetti, L. and L. Landini} } @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 {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 {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} } @conference {1798, title = {Gelatin-Hydroxyapatite hydrogels to investigate periosteal derived progenitor cells (PDPCs) response for tissue engineering applications}, booktitle = {Advanced Cell Culture}, year = {2013}, address = {Liverpool, UK}, keywords = {Bioengineering}, author = {G. Mattei and Tirella, A and Mattioli-Belmonte, M. and Ferretti, C and A. Ahluwalia} } @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} } @article {1876, title = {Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment}, journal = {JOURNAL OF FIELD ROBOTICS}, volume = {30}, year = {2013}, pages = {237{\textendash}253}, keywords = {Robotics}, issn = {1556-4959}, doi = {10.1002/rob.21447}, url = {http://dx.medra.org/10.1002/rob.21447}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {2259, title = {Modified cine inversion recovery pulse sequence for the quantification of myocardial T1 and gadolinium partition coefficient}, journal = {JOURNAL OF MAGNETIC RESONANCE IMAGING}, volume = {37}, year = {2013}, pages = {109-118}, doi = {10.1002/jmri.23807}, author = {Milanesi, M. and Barison, A. and Positano, V. and Masci, P. G. and De Marchi, D. and Marinelli, L. and Hardy, C. J. and Foo, T. K. and L. Landini and Lombardi, M.} } @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} } @article {2289, title = {NEuronMOrphological analysis tool: open-source software for quantitative morphometrics}, journal = {Front. Neuroinform.}, volume = {7}, year = {2013}, keywords = {Bioengineering}, doi = {10.3389/fninf.2013.00002.c}, author = {Billeci, L. and C. Magliaro and G. Pioggia and A. Ahluwalia} } @article {1783, title = {A new approach to fabricate agarose microstructures}, journal = {Polymers Advanced Technologies}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/pat.3162}, author = {C. De Maria and J. Rincon and A.A. Duarte and G. Vozzi and Boland, T} } @conference {2243, title = {Piezoresistive Goniometer Network for Sensing Gloves}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2013}, pages = {1547{\textendash}1550}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

This paper presents a kinesthetic glove realized with knitted piezoresistive fabric (KPF) sensor technology. The glove forefinger area is sensorized by two KPF goniometers obtained on the same piezoresistive substrate. The piezoresistive textile is used for the realization of both electrogoniometers and connections, thus avoiding mechanical constraints due to metallic wires. Sensors are characterized in comparison with commercial goniometers. The glove behavior is pointed out in terms of methacarpal-phalangeal and interphalangeal joint movement reconstruction.

}, keywords = {Bioengineering}, doi = {10.1007/978-3-319-00846-2_382}, author = {G. Dalle Mura and F. Lorussi and A. Tognetti and G. Anania and N. Carbonaro and M. Pacelli and R. Paradiso and D. De Rossi} } @inbook {1810, title = {Preliminary Implementation of Context-Aware Attention System for Humanoid Robots}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, volume = {8064}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {457-459}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

A context-aware attention system is fundamental for regulating the robot behaviour in a social interaction since it enables social robots to actively select the right environmental stimuli at the right time during a multiparty social interaction. This contribution presents a modular context-aware attention system which drives the robot gaze. It is composed by two modules: the scene analyzer module manages incoming data flow and provides a human-like understanding of the information coming from the surrounding environment; the attention module allows the robot to select the most important target in the perceived scene on the base of a computational model. After describing the motivation, we report the proposed system and the preliminary test.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_65}, author = {A. Zaraki and D. Mazzei and Lazzeri, N. and M. Pieroni and D. De Rossi} } @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} } @conference {1998, title = {A Sensing Architecture for Empathetic Data Systems}, booktitle = {ACM International Conference Proceeding Series}, year = {2013}, month = {7-8 March}, pages = {{\textendash}}, publisher = {ACM Digital Library}, organization = {ACM Digital Library}, doi = {10.1145/2459236.2459253}, url = {http://dx.medra.org/10.1145/2459236.2459253}, author = {J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and D. De Rossi and A. Betella and R. Zucca and P Omedas and P. F. M. J. Verschure} } @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} } @conference {1793, title = {{SpHyGa: fabrication of hepatic lobule replicas using tissue derived material composites}}, booktitle = {ESB 2013}, year = {2013}, pages = {ID 520}, address = {Madrid}, keywords = {Bioengineering}, author = {M. La Marca and Tirella, A and G. Mattei and A. Ahluwalia} } @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} } @article {1790, title = {{Strain rate viscoelastic analysis of soft and highly hydrated biomaterials.}}, journal = {Journal of biomedical materials research. Part A}, year = {2013}, abstract = {

Measuring the viscoelastic behaviour of highly hydrated biological materials is challenging because of their intrinsic softness and labile nature. In these materials it is difficult to avoid pre-stress and therefore to establish precise initial stress and strain conditions for lumped parameter estimation using creep or stress-relaxation tests. We describe a method ($ε$M or epsilon dot method) for deriving the viscoelastic parameters of soft hydrated biomaterials which avoids pre-stress and can be used to rapidly test degradable samples. Standard mechanical tests are first performed compressing samples using different strain rates. The dataset obtained is then analysed to mathematically derive the material{\textquoteright}s viscoelastic parameters. In this work a stable elastomer, PDMS, and a labile hydrogel, gelatin, were first tested using the $ε$M, in parallel stress-relaxation was used to compare lumped parameter estimation. After demonstrating that the elastic parameters are equivalent and that the estimation of short time constants is more precise using the proposed method, the viscoelastic behaviour of porcine liver was investigated using this approach. The results show that the constitutive parameters of hepatic tissue can be quickly quantified without the application of any pre-stress and before the onset of time dependent degradation phenomena.

}, keywords = {Bioengineering}, issn = {1552-4965}, doi = {10.1002/jbm.a.34914}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23946054}, author = {Tirella, A and G. Mattei and A. Ahluwalia} } @booklet {2229, title = {Struttura protesica per amputazione mano}, year = {2013}, author = {Bacchereti, M. and N. Carbonaro and G. Dalle Mura and FERRETTI, L. and PELLICCI, G. and A. Tognetti and Vitetta, N.} } @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} } @inbook {1811, title = {Towards a Believable Social Robot}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {393-395}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

Two perspectives define a human being in his social sphere: appearance and behaviour. The aesthetic aspect is the first significant element that impacts a communication while the behavioural aspect is a crucial factor in evaluating the ongoing interaction. In particular, we have more expectations when interacting with anthropomorphic robots and we tend to define them believable if they respect human social conventions. Therefore researchers are focused both on increasingly anthropomorphizing the embodiment of the robots and on giving the robots a realistic behaviour.This paper describes our research on making a humanoid robot socially interacting with human beings in a believable way.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_45}, author = {Lazzeri, N. and D. Mazzei and A. Zaraki and D. De Rossi} } @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 {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.} } @article {2000, title = {Assessment of Sensing Fire Fighters Uniforms for Physiological Parameter Measurement in Harsh Environment}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {16}, year = {2012}, pages = {501{\textendash}511}, issn = {1089-7771}, doi = {10.1109/TITB.2011.2182615}, url = {http://dx.medra.org/10.1109/TITB.2011.2182615}, author = {Curone, D. and Secco, E. L. and Caldani, L. and A Lanata and R. Paradiso and A. Tognetti and G. Magenes} } @conference {1504, title = {Characterization and modeling of mechanical behavior a discrete gradient structure}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {130 - 131}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Caputo, M and G. Vozzi and G. Mattei} } @conference {1801, title = {Continuous functionally graded materials (cFGMs) for TE}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

Biological structures are not uniform but possess spatially distributed functions and properties, or functional gradients. To ensure functional, mechanical and structural integration, a tissue engineered (TE) scaffold has to reproduce these functional gradients. However the fabrication of functionally graded materials is challenging and usually an experimental trial-and-error approach is used. In this work we present a controlled method for the fabrication of cFGMs using the gravitational sedimentation of discrete solid particles within a primary fluid phase. To have an overall control over particle distribution, a time-varying dynamic viscosity solution (i.e. thermo-sensitive) was used as fluid phase. Computational fluid dynamic models were developed to have a fine control over particle distribution. Biomimetic osteochondral cFGMs scaffolds were fabricated using hydroxyapatite (HA) and gelatin. Glutaraldehyde was used to covalently bind gelatin-HA graded scaffolds. Mechanical properties were measured and correlated as a function of HA volume fraction. SEM-EDX analysis was used to further characterise HA content and its distribution within gelatin-HA cFGMs. Finally gelatin-HA cFGMs scaffold were seeded using periosteum derived progenitor cells, to investigate how the HA gradient modulates cell response. This approach represents an innovative yet simple tool for the fabrication of tailored cFGMs with biologically and physiologically relevant gradients for TE applications.

}, keywords = {Bioengineering}, author = {G. Mattei and A. Ahluwalia and Ferretti, C and Mattioli-Belmonte, M. and Tirella, A} } @article {DM10, title = {An equivalent of Kronecker{\textquoteright}s Theorem for powers of an Algebraic Number and Structure of Linear Recurrences of fixed length}, journal = {Acta Arithmetica}, volume = {153}, year = {2012}, note = {

accepted for publication

}, pages = {15-33}, abstract = {

After defining a notion of epsilon-density, we provide for any integer m\>1 and real algebraic number alpha an estimate of the smallest epsilon such that the set of vectors of the form (t,t^alpha,...,t alpha^{m-1}) for tR is epsilon-dense modulo 1 in terms of the multiplicative Mahler measure M(A(x)) of the minimal integral polynomial A(x) of alpha, which is independent of m. In particular, we show that if alpha has degree d it is possible to take epsilon = 2^{[d/2]}/M(A(x)). On the other side we show using asymptotic estimates for Toeplitz determinants that we cannot have epsilon$-density for sufficiently large m whenever epsilon is strictly smaller than 1/M(A(x)). In the process of proving this we obtain a result of independent interest about the structure of the Z-module of integral linear recurrences of fixed length determined by a non-monic polynomial.

}, keywords = {Robotics}, issn = {0065-1036}, doi = {10.4064/aa153-1-2}, url = {http://journals.impan.pl/cgi-bin/doi?aa153-1-2}, author = {N. Dubbini and M. Monge} } @article {1330, title = {Functionally Graded Materials (FGMs) with predictable and controlled gradient profiles: computational modelling and realisation}, journal = {International Journal for Computational Methods in Engineering Science \& Mechanics (CMES)}, year = {2012}, pages = {accepted}, keywords = {Bioengineering}, author = {G. Mattei and Tirella, A and A. Ahluwalia} } @inbook {1875, title = {Further Advances in Unmanned Marine Vehicles}, year = {2012}, pages = {309{\textendash}330}, publisher = {IET}, organization = {IET}, chapter = {The enhanced FOLAGA: a hybrid glider/propelled AUV capable of carrying universal payload modules}, address = {Londra}, keywords = {Robotics}, isbn = {9781849194792}, author = {A. Caffaz and A. Caiti and V. Calabr{\`o} and G. Casalino and A Maguer and A. Munaf{\`o} and J.R. Potter and H Tay and A. Turetta} } @article {1475, title = {Gait and Anthropometric Profile Biometrics: A Step Forward}, journal = {Second Generation Biometrics: The Ethical, Legal and Social Context}, year = {2012}, pages = {105{\textendash}127}, keywords = {Bioengineering}, author = {Ioannidis, D. and Tzovaras, D. and Mura, G.D. and M. Ferro and G. Valenza and A. Tognetti and G. Pioggia} } @article {1290, title = {A geographical information system (GIS)-based simulation tool to assess civilian harbor protection levels}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {37}, year = {2012}, pages = {85{\textendash}102}, keywords = {Robotics}, issn = {0364-9059}, doi = {10.1109/JOE.2011.2174675}, url = {http://dx.medra.org/10.1109/JOE.2011.2174675}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {1265, title = {HEFES: an Hybrid Engine for Facial Expressions Synthesis to control human-like androids and avatars}, booktitle = {BIOROB2012}, year = {2012}, pages = {195 - 200}, address = {Rome, Italy}, keywords = {Bioengineering}, author = {D. Mazzei and Lazzeri, N. and Hanson, D. and D. De Rossi} } @article {1232, title = {Interacting with networks: How does structure relate to controllability in single-leader, consensus networks?}, journal = {Control Systems Magazine}, volume = {32}, year = {2012}, pages = {66 - 73}, keywords = {Embedded Control, Robotics}, author = {M. Egerstedt and S. Martini and M. Cao and K. Camlibel and A. Bicchi} } @conference {2003, title = {INTERACTION, Training and monitoring of daily-life physical interaction with the environment after stroke}, booktitle = {Proceedings of XII International Symposium on 3D Analysis of Human Movement}, year = {2012}, pages = {{\textendash}}, author = {Veltink, PH and van Meulen, FB and van Beijnum, BJF and Hermens, HJ and D. De Rossi and F. Lorussi and A. Tognetti and Buurke, JH and Reenalda, J and Baten, CTM and Simons, CDM and Luft, AR L and Schepers, HM and Luinge, HJ and R. Paradiso and Orselli, R} } @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 {1874, title = {MOOS middleware and node adaptivity in underwater sensor networks: Results from the UAN11 sea trial}, booktitle = {Proceedings of Meetings on Acoustics}, year = {2012}, month = {2-6 July,}, pages = {1{\textendash}9}, publisher = {Acoustical Society of America}, organization = {Acoustical Society of America}, address = {Edinburgh}, keywords = {Robotics}, doi = {10.1121/1.4772678}, url = {http://dx.medra.org/10.1121/1.4772678}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Duca and A. Munaf{\`o}} } @conference {1244, title = {Motion Planning for Two 3D-Dubins Vehicles with Distance Contraint}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {4702 - 4707 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {H. Marino and M. Bonizzato and R. Bartalucci and P Salaris and L. Pallottino} } @conference {1501, title = {Natural bioactive matrix for cartilage tissue engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {161 - 162}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {F. Montemurro and G. Vozzi} } @conference {1797, title = {New method for the viscoelastic analysis of soft and highly hydrated biomaterials}, booktitle = {National Conference of Bioengineering}, year = {2012}, address = {Rome, Italy}, abstract = {

The role of materials mechanical properties is a new frontier for the evaluation of cell/material interaction, as well as for the determination of healthy/pathological state of a tissue. In these sense there is the need to have a unique method to measure materials viscoelastic properties. However, concerning with soft and highly hydrated constructs, the experimental set-up to precisely measure these properties is challenging because of the difficulty in defining zero stress or strain. To overcome these problems, we propose a novel and unique testing and data analysis technique (ERM) to derive materials viscoelastic properties. Results derived with this method can be compared to the ones obtained with standard testing techniques for viscoelastic materials. Pre-conditioning problems of testing soft and floppy materials are thus overcome, giving rise to have an accurate measure of viscous and elastic moduli of both hydrated materials and soft biological tissues. Small variations of measured properties can be also monitored with high precision, allowing a deeper investigation on the role of the scaffolding material or of tissue{\^a}{\texteuro}{\texttrademark}s extracellular matrix (respectively in cell culture systems or in biomechanics measurements for the characterisation of soft tissues).

}, keywords = {Bioengineering}, author = {Tirella, A and G. Mattei and A. Ahluwalia} } @article {1493, title = {A Novel Method to Produce Immobilised Biomolecular Concentration Gradients to Study Cell Activities: Design and Modelling}, journal = {MOLECULAR BIOTECHNOLOGY}, volume = {50}, year = {2012}, pages = {99-107}, keywords = {Bioengineering}, issn = {1073-6085}, doi = {10.1007/s12033-011-9411-9}, author = {G. Vozzi and Lenzi, T and F. Montemurro and Pardini, C and Vaglini, F and A. Ahluwalia} } @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.} } @conference {1507, title = {Realization and characterization of bilayer scaffold with molecularly imprinted hydrogel layer,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {65 - 66}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Morelli, L and G. Vozzi} } @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} } @article {1289, title = {Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network}, journal = {SENSORS}, volume = {12}, year = {2012}, pages = {1967{\textendash}1989}, keywords = {Embedded Control, Robotics}, issn = {1424-8220}, doi = {10.3390/s120201967}, url = {http://dx.medra.org/10.3390/s120201967}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @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} } @article {2001, title = {Validation of Smart Garments for Physiological and Activity-Related Monitoring of Humans in Harsh Environment}, journal = {AMERICAN JOURNAL OF BIOMEDICAL ENGINEERING}, volume = {2}, year = {2012}, pages = {189{\textendash}196}, issn = {2163-1050}, doi = {10.5923/j.ajbe.20120204.07}, url = {http://dx.medra.org/10.5923/j.ajbe.20120204.07}, author = {Secco, E. L. and Curone, D. and A. Tognetti and Bonfiglio, A. and G. Magenes} } @article {1291, title = {Autonomous underwater vehicle teams for adaptive ocean sampling: a data-driven approach}, journal = {OCEAN DYNAMICS}, volume = {61}, year = {2011}, pages = {{\textendash}}, keywords = {Embedded Control, Robotics}, issn = {1616-7341}, doi = {10.1007/s10236-011-0464-x}, url = {http://dx.medra.org/10.1007/s10236-011-0464-x}, author = {A. Munaf{\`o} and E. Simetti and A. Turetta and G. Casalino and A. Caiti} } @conference {1870, title = {AUVs as mobile nodes in acoustic networks: field experience at the UAN10 experiment}, booktitle = {Proceedings of the OCEANS{\^a}{\texteuro}{\texttrademark}11 IEEE Santander Conference}, year = {2011}, month = {June}, pages = {1{\textendash}6}, keywords = {Robotics}, doi = {10.1109/Oceans-Spain.2011.6003462}, url = {http://dx.medra.org/10.1109/Oceans-Spain.2011.6003462}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @conference {MFB11, title = {Behavior classification, security, and consensus in societies of robots}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini 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} } @article {1514, title = {Cooperation of Biological and Mechanical Signals in Cardiac Progenitor Cell Differentiation}, journal = {ADVANCED MATERIALS}, year = {2011}, keywords = {Bioengineering}, issn = {0935-9648}, author = {S. Pagliari and A.C. Vilela-Silva and G. Forte and F. Pagliari and C. Mandoli and G. Vozzi and S. Pietronave and M. Prat and S. Licoccia and A. Ahluwalia and E. Traversa and M. Minieri and P. Di Nardo} } @conference {MFP11, title = {Decentralized Coordination System for Multiple AGVs in a Structured Environment}, booktitle = {2011 Congress of the International Federation of Automatic Control}, year = {2011}, month = {Aug 28 - Sept 1}, pages = {6005 - 6010}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Manca and A. Fagiolini and L. Pallottino} } @conference {MFZB11, title = {Decentralized Species Classification in Societies of Autonomous and Heterogenous Robots}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {32 - 39}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Zichittella and M. Egerstedt and A. Bicchi} } @conference {1272, title = {Development and evaluation of a social robot platform for therapy in autism}, booktitle = {Proc. Annual Int Engineering in Medicine and Biology Society,EMBC Conf. of the IEEE}, year = {2011}, pages = {4515{\textendash}4518}, keywords = {Bioengineering}, doi = {10.1109/IEMBS.2011.6091119}, author = {D. Mazzei and Lazzeri, N. and Billeci, L. and Igliozzi, R. and A Mancini and A. Ahluwalia and Muratori, F. and D. De Rossi} } @article {1279, title = {Dispositivo per tomografia ad impedenza elettrica}, year = {2011}, keywords = {Bioengineering}, issn = {PI2011A000124}, author = {Baldi, G. and D. Mazzei and Gervasi, V.} } @article {1285, title = {A flexible bioreactor system for constructing in vitro tissue and organ models.}, journal = {Biotechnol Bioeng}, volume = {108}, year = {2011}, month = {Sep}, pages = {2129{\textendash}2140}, abstract = {

To develop in vitro models of cells, tissues and organs we have designed and realized a series of cell culture chambers. Each chamber is purpose designed to simulate a particular feature of the in vivo environment. The bioreactor system is user friendly, and the chambers are easy to produce, sterilize and assemble. In addition they can be connected together to simulate inter-organ or tissue cross-talk. Here we discuss the design philosophy of the bioreactor system and then describe its construction. Preliminary results of validation tests obtained with hepatocytes and endothelial cells are also reported. The results show that endothelial cells are extremely sensitive to small levels of shear stress and that the presence of heterotypic signals from endothelial cells enhances the endogenous metabolic function of hepatocytes.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/bit.23164}, author = {Vozzi, F. and D. Mazzei and Vinci, B. and G. Vozzi and Sbrana, T. and Ricotti, L. and Forgione, N. and A. Ahluwalia} } @article {1277, title = {High throughput sensorized bioreactor for applying hydrodynamic pressure and shear stress stiumli on cell cutlures}, year = {2011}, month = {10/2011}, keywords = {Bioengineering}, issn = {WO 2011/121377}, author = {A. Ahluwalia and C. De Maria and D. Mazzei and G. Vozzi} } @inbook {1789, title = {{Inherently Bio-Active Scaffolds: Intelligent Constructs to Model the Stem Cell Niche}}, booktitle = {Myocardial Tissue Engineering}, series = {Studies in Mechanobiology, Tissue Engineering and Biomaterials}, volume = {6}, year = {2011}, pages = {29{\textendash}47}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {Berlin, Heidelberg}, abstract = {

The oft-abused phrase {\^a}{\texteuro}{\oe}genes load the gun, environment pulls the trigger{\^a}{\texteuro} can be applied to stem cells and stem cell niches as well as to cell{\^a}{\texteuro}{\textquotedblleft}material interfaces. Much is known about cell{\^a}{\texteuro}{\textquotedblleft}material interaction in general, perhaps a little less about how these interactions condition cell phenotype. With the increasing interest in stem cells and, in particular, their applications in tissue regeneration, the regulation of the stem cell microenvironment through modulation of intuitive or smart materials and structures, or what we term IBAS (Inherently Bio-Active Scaffolds) is poised to become a major field of research. Here, we discuss how cardiac regeneration strategies have undergone a gradual shift from the emphasis on biochemical signals and basic biology to one in which the material or scaffold plays a major role in establishing an equilibrium state. From being a constant battle or tug-of-war between the cells and synthetic environments, we conceive IBAS as intuitively responding to the cell{\^a}{\texteuro}{\texttrademark}s requirements to instate a sort of equilibrium in the system.

}, keywords = {Bioengineering}, isbn = {978-3-642-18055-2}, doi = {10.1007/978-3-642-18056-9}, url = {http://www.springerlink.com/content/j3k541l113233424/}, author = {P. Di Nardo and M. Minieri and Tirella, A and G. Forte and A. Ahluwalia}, editor = {Boccaccini, A. R. and Harding, S. E.} } @conference {DMB11, title = {Left invertibility of output-quantized MISO linear systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC2011}, year = {2011}, month = {August 28 - Sept}, pages = {11278 - 11283}, address = {Milano, italy}, abstract = {

This paper studies left invertibility of single-output discrete-time quantized linear systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a finite alphabet. Left invertibility deals with the possibility of recovering unknown inputs from the only knowledge of the outputs. It is reduced, under suitable conditions, to left D-invertibility: while left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is easily (and algorithmically) detectable. Our main result is a sufficient condition for the equivalence between left invertibility and left D-invertibility in MISO system. In unidimensional systems the equivalence is valid except at most a finite (and computable) number of cases. These results allows the effective detection of left invertibility by means of left Dinvertibility, which is algorithmically detectable. An example with effective computations is presented to show the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and M. Monge and A. Bicchi} } @conference {1805, title = {Modelling and realisation of smart graded hydrogel scaffolds}, booktitle = {Euromat-FEMS}, year = {2011}, address = {Montpellier, France}, abstract = {

European Congress and Exhibition on Advanced Materials and Processes - Poster F12-P-2-08

}, keywords = {Bioengineering}, author = {Tirella, A and G. Mattei and F. Montemurro and G. Vozzi and A. Ahluwalia} } @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 {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 {1460, title = {Robust multiple cardiac arrhythmia detection through bispectrum analysis}, journal = {Expert Systems with Applications}, volume = {38}, year = {2011}, pages = {6798{\textendash}6804}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo} } @conference {MDBGB11, title = {Robust Network Agreement on Logical Information}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {13905 - 13911}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and D. Di Baccio and A. Fagiolini and A. Bicchi} } @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} } @conference {1871, title = {Secure Cooperation of Mobile Sensors in an Underwater Acoustic Network}, booktitle = {Proceedings of the 8th European Conference on Wireless Sensor Networks}, year = {2011}, month = {23-25 February,}, pages = {1{\textendash}2}, keywords = {Robotics}, author = {A. Caiti and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {2007, title = {SoC CMOS UWB Pulse Radar Sensor for Contactless Respiratory Rate Monitoring}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS}, volume = {5}, year = {2011}, pages = {503{\textendash}510}, issn = {1932-4545}, doi = {10.1109/TBCAS.2011.2176937}, url = {http://dx.medra.org/10.1109/TBCAS.2011.2176937}, author = {D. Zito and D. Pepe and M. Mincica and F. Zito and A. Tognetti and A Lanata and D. De Rossi} } @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} } @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} } @article {1278, title = {Supporto per camere di coltura cellulare}, year = {2011}, month = {11/2011}, keywords = {Bioengineering}, issn = {MI2011A002073}, author = {A. Ahluwalia and Sbrana, T. and D. Mazzei} } @article {1509, title = {Tuning polycaprolactone-carbon nanotube composites for bone tissue engineering scaffolds}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, year = {2011}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Mattioli-Belmonte, M. and G. Vozzi and Whulanza, Y and Seggiani, M and Fantauzzi, V and Orsini, G and A. Ahluwalia} } @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} } @conference {2013, title = {Wearable biomonitoring system for stress management: A preliminary study on robust ECG signal processing}, booktitle = {2011 IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks, WoWMoM 2011}, year = {2011}, month = {20-24 June}, pages = {{\textendash}}, doi = {10.1109/WoWMoM.2011.5986192}, url = {http://dx.medra.org/10.1109/WoWMoM.2011.5986192}, author = {N. Carbonaro and G. Anania and G. Dalle Mura and M. Tesconi and A. Tognetti and G. Zupone and D. De Rossi} } @inbook {2009, title = {Wearable Monitoring Systems}, year = {2011}, pages = {205{\textendash}219}, publisher = {Springer US}, organization = {Springer US}, chapter = {Emergency and work}, isbn = {9781441973832}, doi = {10.1007/978-1-4419-7384-9_10}, url = {http://dx.medra.org/10.1007/978-1-4419-7384-9_10}, author = {Bonfiglio, A. and Curone, D. and Secco, E. and G. Magenes and A. Tognetti} } @article {2008, title = {Wearable Systems for Brain body Reading and Mind Healing}, journal = {CYBER THERAPY AND REHABILITATION MAGAZINE}, year = {2011}, pages = {39{\textendash}40}, issn = {1784-9926}, author = {A. Tognetti and E. P. Scilingo and G. Anania and N. Carbonaro and A Lanata and F. Lorussi and D. Mazzei and G. Valenza and D. De Rossi} } @article {1468, title = {074 EARLY EVALUATION OF THE CONNECTIONS BETWEEN AUTISM AND ALTERATIONS OF MOVEMENT}, journal = {Parkinsonism \& Related Disorders}, volume = {16}, year = {2010}, pages = {S22}, keywords = {Bioengineering}, author = {Nardini, E. and G. Valenza and Mancuso, C. and Armato, A. and A Lanata and E. P. Scilingo and D. De Rossi} } @conference {1861, title = {Adaptive Cooperative Algorithms for AUV Networks}, booktitle = {Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @article {1520, title = {Automated software for analysis of ciliary beat frequency and metachronal wave orientation in Primary Ciliary Dyskinesia}, journal = {EUROPEAN ARCHIVES OF OTO-RHINO-LARYNGOLOGY}, year = {2010}, keywords = {Bioengineering}, issn = {0937-4477}, author = {G. MANTOVANI and M. PIFFERI and G. Vozzi} } @conference {1860, title = {AUV networks for adaptive area coverage with reliable acoustic communication links}, booktitle = {Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010}, year = {2010}, month = {Apr}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @article {1276, title = {Contenitore per alimenti caldi e simili}, year = {2010}, keywords = {Bioengineering}, issn = {PI2009A000145}, author = {M. Bonini and R. Casati and M. Falorni and G Fantoni and M. Massei and D. Mazzei and M. Mazzuoli and G. Renucci} } @article {MEB09, title = {Controllability analysis of multi-agent systems using relaxed equitable partitions}, journal = {Int. J. Systems, Control and Communications}, volume = {2}, number = {1,2,3}, year = {2010}, pages = {100-121}, abstract = {

This paper investigates the issue of how to make decentralised networks amenable to external control, i.e. how to ensure that they are appropriately organised so that they can be effectively

}, keywords = {Embedded Control, Robotics}, author = {S. Martini and M. Egerstedt and A. Bicchi} } @conference {2023, title = {Enabling technology for heart health wireless assistance}, booktitle = {12th IEEE International conference on e-Health networking, application and services}, year = {2010}, month = {1-3 July}, pages = {36{\textendash}42}, doi = {10.1109/HEALTH.2010.5556540}, url = {http://dx.medra.org/10.1109/HEALTH.2010.5556540}, author = {M. Mincica and D. Pepe and A. Tognetti and A Lanata and D. De Rossi and D. Zito} } @conference {1529, title = {Engineered Skeletal Muscle using Pam Scaffold}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {D. Cei and E. Loro and A. Malena and C. De Maria and L. Vergani and G. Vozzi} } @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 {1271, title = {The FACE of autism}, booktitle = {Proc. IEEE RO-MAN}, year = {2010}, pages = {791{\textendash}796}, keywords = {Bioengineering}, doi = {10.1109/ROMAN.2010.5598683}, author = {D. Mazzei and Billeci, L. and Armato, A. and Lazzeri, N. and Cisternino, A. and G. Pioggia and Igliozzi, R. and Muratori, F. and A. Ahluwalia and D. De Rossi} } @article {1332, title = {Finite element modelling and design of a concentration gradient generating bioreactor: Application to biological pattern formation and toxicology}, journal = {Toxicology in vitro}, volume = {24}, year = {2010}, pages = {1828{\textendash}1837}, abstract = {

This paper describes the use of a microfluidic gradient maker for the toxicological analysis of some conventional biomolecules such as hydrogen peroxide and a local anaesthetic, lidocaine on different cell cultures, human endothelial cells and myoblasts, respectively. The microfluidic device was designed and simulated using COMSOL Multiphysics(R) and the concentration gradient in the microfluidic network was analysed through a fluid-dynamic and mass-transport study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250mum deep. Hydrogen peroxide was tested on human endothelial cells, while lidocaine was tested on C2C12 myoblasts and an analysis was performed using propidium iodide staining followed by an imaging processing routine to obtain quantitative dose-response profiles in the gradient maker. The results show that the Gradient Maker (GM) bioreactor is a more sensitive method for detection of cell toxicity, and compared with testing of drug toxicity using microwells with individual cell cultures, allows one shot testing with a single cell culture exposed to a large number of concentrations. Moreover, the Gradient Maker was also modelled in order to realise biological pattern formation using two morphogenes acting as activator and inhibitor with varying diffusion rates.

}, keywords = {Bioengineering}, issn = {1879-3177}, doi = {10.1016/j.tiv.2010.05.010}, url = {http://www.ncbi.nlm.nih.gov/pubmed/20580814}, author = {G. Vozzi and D. Mazzei and Tirella, A and Vozzi, F. and A. Ahluwalia} } @article {2015, title = {Heart Rate and Accelerometer data fusion for activity assessment of rescuers during emergency interventions}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {702{\textendash}710}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2047727}, url = {http://dx.medra.org/10.1109/TITB.2010.2047727}, author = {Curone, D. and A. Tognetti and Secco, E. L. and G. Anania and N. Carbonaro and D. De Rossi and G. Magenes} } @conference {1537, title = {In silico model of hepatic metabolism of Diclofenac}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, author = {A. Moschetti and F. Montemurro and C. De Maria and Vozzi, F. and A. Ahluwalia and G. Vozzi} } @article {1284, title = {In vitro liver model using microfabricated scaffolds in a modular bioreactor.}, journal = {Biotechnol J}, volume = {5}, year = {2010}, month = {Feb}, pages = {232{\textendash}241}, abstract = {

Hepatocyte function on 3-D microfabricated polymer scaffolds realised with the pressure-activated microsyringe was tested under static and dynamic conditions. The dynamic cell culture was obtained using the multicompartment modular bioreactor system. Hepatocyte cell density, glucose consumption, and albumin secretion rate were measured daily over a week. Cells seeded on scaffolds showed an increase in cell density compared with monolayer controls. Moreover, in dynamic culture, cell metabolic function increased three times in comparison with static monolayer cultures. These results suggest that cell density and cell-cell interactions are mediated by the architecture of the substrate, while the endogenous biochemical functions are regulated by a sustainable supply of nutrients and interstitial-like flow. Thus, a combination of 3-D scaffolds and dynamic flow conditions are both important for the development of a hepatic tissue model for applications in drug testing and regenerative medicine.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/biot.200900074}, author = {Vinci, B. and Cavallone, D. and G. Vozzi and D. Mazzei and C. Domenici and Brunetto, M. and A. Ahluwalia} } @conference {2019, title = {The influence of audio-stimuli on isochronic repetitive movements. A time analysis using kinematic data}, booktitle = {Joint Meeting of Young Italian and Japanese Neuroscientists, Italian Society for Neuroscience}, year = {2010}, month = {21 settembre}, pages = {35{\textendash}35}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @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} } @conference {1533, title = {Mechanical characterization of polymer cartilage scaffold at different pH}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {S. Romiti and G. Vozzi and C. De Maria and F. Montemurro} } @article {1282, title = {Modification of Pointing Performance in Altered Gravitational Environments}, journal = {Microgravity Science and Technology}, volume = {22}, year = {2010}, note = {

10.1007/s12217-009-9163-3

}, pages = {123-128}, abstract = {

The Fitts{\textquoteright} law describes a correlation between the time needed to complete basic tasks such as pointing movements and the level of knowledge of the specific target to be reached. While it has been largely proved in normal gravity, very few experiments have been carried out in altered gravitational conditions. In our experiment, four subjects were positioned in front of a panel where round targets were placed along a circumference. They carried out pointing movements towards the targets when these were switched on. The task time was acquired and processed off-line. In all the cases, the performance of each subject have been significantly modified in the altered gravitational environment and, in particular, hypergravity seems to affect motor performance more considerably than microgravity. Even if experiments involving several subjects and more complex tasks have to be carried out in order to confirm our findings, these results show that ergonomics could be strongly affected by the modification of gravity, especially during the first phase of exposure to gravity alteration.

}, keywords = {Bioengineering}, issn = {0938-0108}, doi = {http://dx.doi.org/10.1007/s12217-009-9163-3}, author = {Ciofani, G. and Migliore, A. and D. Mazzei and Carrozza, M. and P. Dario} } @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 {PMB10, title = {On motion and force controllability of grasping hands with postural synergies}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and M. Malvezzi and A. Bicchi} } @article {1517, title = {Novel injectable hydrogel scaffold for cartilage repair based on natural polymers}, journal = {JOURNAL OF OSTEOLOGY AND BIOMATERIALS}, year = {2010}, keywords = {Bioengineering}, issn = {2036-6795}, author = {G. Mattei and F. Montemurro and Mattioli-Belmonte, M. and G. Vozzi} } @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} } @conference {1536, title = {Pam Scaffold For Tissue Engineering Of Skeletal Muscle}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {D. Cei and E. Loro and A. Malena and L. Vergani and G. Vozzi} } @conference {FMDBB10, title = {A Self-Routing Protocol for Distributed Consensus on Logical Information}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2010}, month = {October, 18 - 22}, pages = {5151 - 5156}, address = {Taipei, Taiwan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and D. Di Baccio and A. Bicchi} } @inbook {1867, title = {Sensor Systems and Software}, year = {2010}, pages = {111{\textendash}126}, publisher = {Springer}, organization = {Springer}, chapter = {Physical characterization of acoustic communication channel properties in underwater mobile sensor networks}, keywords = {Robotics}, isbn = {9783642115271}, author = {A. Caiti and E. Crisostomi and A. Munaf{\`o}} } @conference {1526, title = {Site Specific Nano-Tuning of Scaffolds Using Inkjet Printing}, booktitle = {NIP Conference}, year = {2010}, address = {Austin, Texas }, keywords = {Bioengineering}, author = {Tirella, A and F. Montemurro and Vinci, B. and Vozzi, F. and G. Vozzi and Sassano, D and Sandri, T and Cognolato, L and A. Ahluwalia} } @article {2017, title = {Smart Garments for Emergency Operators: The ProeTEX Project}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {694{\textendash}701}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2045003}, url = {http://dx.medra.org/10.1109/TITB.2010.2045003}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Loriga and Dudnik, G. and Risatti, M. and Whyte, R. and Bonfiglio, A. and G. Magenes} } @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 {1535, title = {Soft-MI scaffold for tissue engineering applications}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {MORACHIOLI, A and G. Vozzi and F. Montemurro} } @conference {FontanelliPP09, title = {Convergence of Distributed WSN Algorithms: The Wake-Up Scattering Problem}, booktitle = {Proc. of Hybrid Systems: Computation and Control}, year = {2009}, month = {April 13{\textendash}15}, pages = {180{\textendash}193}, publisher = {Springer-Verlag Berlin Heidelberg}, organization = {Springer-Verlag Berlin Heidelberg}, address = {San Francisco}, keywords = {Robotics}, author = {D. Fontanelli and L. Palopoli and R. Passerone}, editor = {R. Majumdar and P. Tabuada} } @conference {1856, title = {Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278255}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278255}, author = {A. Caiti and G. Casalino and A. Munaf{\`o} and A. Turetta} } @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 {FMDB-NecSys09, title = {Distributed Consensus on Boolean Information}, booktitle = {1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys{\textquoteright}09)}, year = {2009}, month = {September, 24 - }, pages = {72 - 77}, address = {Venice, Italy}, abstract = {

In this paper we study the convergence towards consensus on information in a distributed system of agents communicating over a network. The particularity of this study is that the information on which the consensus is seeked is not represented by real numbers, rather by logical values or compact sets. Whereas the problems of allowing a network of agents to reach a consensus on logical functions of input events, and that of agreeing on set-valued information, have been separately addressed in previous work, in this paper we show that these problems can indeed be attacked in a unified way in the framework of Boolean distributed information systems. Based on a notion of contractivity for Boolean dynamical systems, a necessary and suficient condition ensuring the global convergence toward a unique equilibrium point is presented. This result can be seen as a first step toward the de nition of a unified framework to uniformly address all consensus problems on Boolean algebras.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and N. Dubbini and A. Bicchi} } @conference {FontanelliMP09, title = {A Flexible Linear Control Algorithm for Wireless Sensor Networks Synchronization}, booktitle = {Proc. IEEE Intl. Instrumentation and Measurement Technology Conference (I2MTC)}, year = {2009}, month = {May 5-7}, pages = {384{\textendash}389}, address = {Singapore}, keywords = {Robotics}, author = {D. Fontanelli and D. Macii and D. Petri} } @conference {1462, title = {An FPGA based arrhythmia recognition system for wearable applications}, booktitle = {Intelligent Systems Design and Applications, 2009. ISDA{\textquoteright}09. Ninth International Conference on}, year = {2009}, pages = {660{\textendash}664}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {Armato, A. and Nardini, E. and A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo and D. De Rossi} } @conference {1855, title = {HISS: Harbour Intrusion Simulator System}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278264}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278264}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {FontanelliPPMP09, title = {Lifetime and Coverage Maximization in Wireless Sensor Networks}, booktitle = {Proc. IFAC Workshop on Estimation and Control of Networked Systems}, year = {2009}, month = {24-26 September}, address = {Venice, Italy}, keywords = {Robotics}, author = {D. Fontanelli and L. Palopoli and R. Passerone and D. Macii and D. Petri} } @conference {MaciiFP09, title = {A Master{\textendash}Slave Synchronization Model for Enhanced Servo Clock Design}, booktitle = {Proc. IEEE Int. Symp. on Precision Clock Synchronization for Measurement, Control and Communication (ISPCS)}, year = {2009}, note = {

DOI: 10.1109/ISPCS.2009.5340199

}, month = {October 12-16}, pages = {1{\textendash}6}, address = {Brescia (Italy)}, keywords = {Robotics}, author = {D. Macii and D. Fontanelli and D. Petri} } @conference {2028, title = {Music and non-musical timed information affect accuracy of motor performance in a task of synchronization}, booktitle = {Proceedings of the National Congress of the Italian Society for Neuroscience}, year = {2009}, pages = {{\textendash}}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @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} } @conference {FMDB-NESTER09, title = {Safety and Security in Networked Robotics Systems via Logical Consensus}, booktitle = {International Workshop on Networked embedded and control system technologies: European and Russian R\&D cooperation (NESTER{\textquoteright}09)}, year = {2009}, month = {July, 2 - 5}, address = {Milan, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Dini and A. Bicchi} } @conference {2031, title = {A sensorized glove for hand rehabilitation}, booktitle = {Proceedings of the Annual Northeast Bioengineering Conference}, year = {2009}, month = {3-5 April}, pages = {139{\textendash}140}, doi = {10.1109/NEBC.2009.4967775}, url = {http://dx.medra.org/10.1109/NEBC.2009.4967775}, author = {F. Cutolo and C. Mancinelli and S. Patel and N. Carbonaro and M. Schmid and A. Tognetti and D. De Rossi and P. Bonato} } @conference {FMB-CASE09, title = {Set-Valued Consensus for Distributed Clock Synchronization}, booktitle = {Proc. IEEE Conference on Automation Science and Engineering}, year = {2009}, month = {August, 22-25}, pages = {116 - 121}, address = {Bangalore}, abstract = {

This paper addresses the clock synchronization problem in a wireless sensor network (WSN) and proposes a distributed solution that consists of a form of consensus, where agents are able to exchange data representing intervals or sets. The solution is based on a centralized algorithm for clock synchronization, proposed by Marzullo, that determines the smallest interval that is in common with the maximum number of measured interval. We first show how to convert such an algorithm into a problem involving only operations on sets, and then we convert it into a set

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and A. Bicchi} } @article {1538, title = {Simplified cell culture method for the diagnosis of atypical Primary Ciliary}, journal = {THORAX}, volume = {64}, year = {2009}, pages = {1077-81}, keywords = {Bioengineering}, issn = {0040-6376}, doi = {10.1136/thx.2008}, author = {M. PIFFERI and F. Montemurro and CANGIOTTI, A M and RAGAZZO, V and DI CICCO, M and Vinci, B. and G. Vozzi and MACCHIA, P and BONER, A L} } @conference {1857, title = {System performance trade-off in underwater harbour protection}, booktitle = {Proc. Int. Conf. Underwater Acoustic Measurements 09}, year = {2009}, month = {Jun}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @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 {1546, title = {Comparative study of porous and engineered biomaterials}, journal = {INTERNAL MEDICINE}, volume = {15}, year = {2008}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {0918-2918}, author = {Mattioli-Belmonte, M. and K KYRIAKIDOU and LUCARINI, G and ZIZZI, A and A. Ahluwalia and G. Vozzi} } @conference {MMB-CDC08, title = {Controllability Decompositions of Networked Systems Through Quotient Graphs}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {5244 - 5249}, keywords = {Embedded Control, Robotics}, author = {S. Martini and M. Egerstedt and A. Bicchi} } @article {1559, title = {Controlled in vitro growth of cell microtubes: towards the realisation of artificial microvessels}, journal = {BIOMEDICAL MICRODEVICES}, year = {2008}, keywords = {Bioengineering}, issn = {1387-2176}, author = {Migliore, A. and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @article {1549, title = {Criticality of the Biological and Physical Stimuli Array Inducing Resident Cardiac Stem Cell Determination}, journal = {STEM CELLS}, volume = {26}, year = {2008}, pages = {2093{\textendash}2103}, keywords = {Bioengineering}, issn = {1066-5099}, author = {G. Forte and CAROTENUTO, F and F. Pagliari and S. Pagliari and COSSA, P and FIACCAVENTO, R and A. Ahluwalia and G. Vozzi and Vinci, B. and SERAFINO, A and RINALDI, A and E. Traversa and CAROSELLA, L and M. Minieri and P. Di Nardo} } @article {1630, title = {Electroactive Carbon Nanotube Actuators: Soft-Lithographic Fabrication and Electro-chemical Modelling}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0928-4931}, author = {A. Mazzoldi and M. Tesconi and A. Tognetti and W. Rocchia and G. Vozzi and G. Pioggia and A. Ahluwalia and D. De Rossi} } @article {1281, title = {A High-Throughput Bioreactor System for Simulating Physiological Environments}, journal = {IEEE T Ind Electron}, volume = {55}, year = {2008}, pages = {3273{\textendash}3280}, keywords = {Bioengineering}, doi = {10.1109/TIE.2008.928122}, author = {D. Mazzei and Vozzi, F. and Cisternino, A. and G. Vozzi and A. Ahluwalia} } @conference {MSVBB-CDC08, title = {Hybrid system reduction}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {227 -232}, keywords = {Embedded Control, Robotics}, author = {E. Mazzi and A. Sangiovanni Vincentelli and A. Balluchi and A. Bicchi} } @article {1275, title = {IMPROVED BIOREACTOR CHAMBER}, year = {2008}, keywords = {Bioengineering}, issn = {P121684GB}, author = {A. Ahluwalia and D. Mazzei and Vozzi, F.} } @conference {1794, title = {Microfluidic Gradient Maker for Pattern Generation}, booktitle = {TERMIS-EU}, year = {2008}, pages = {879}, address = {Porto, Portugal}, abstract = {

poster

}, keywords = {Bioengineering}, author = {Tirella, A and D. Mazzei and G. Vozzi and A. Ahluwalia} } @article {1489, title = {A microfluidic gradient maker for toxicity testing of bupivacaine and lidocaine}, journal = {Toxicology in vitro}, volume = {22}, year = {2008}, pages = {1957{\textendash}64}, abstract = {

A great deal of effort is being dedicated to the development of new devices able to conduct effective in vitro toxicology analyses. This paper describes the use of a microfluidic gradient maker for the toxicological analysis of two conventional local anesthetics, bupivacaine and lidocaine on cell cultures. The microfluidic device was designed and simulated using COMSOL Multiphysics and the concentration gradient in the microfluidic network was analysed through a fluidodynamic and diffusive study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250 microm deep. Both drugs were tested on C2C12 myoblasts and an analysis was performed using propidium iodide staining followed by an imaging processing routine to obtain quantitative dose-response profiles in the gradient maker. The system was critically compared with microwell-based toxicity testing. The results show that the GM is a more sensitive method for detection of cell toxicity, and compared with testing of drug toxicity using microwells with individual cell cultures, allows one shot testing with a single cell culture exposed to a large number of concentrations. However, the flow rates required to obtain a suitable concentration range across the device may damage shear sensitive cells.

}, keywords = {Bioengineering}, issn = {0887-2333}, doi = {10.1016/j.tiv.2008.09.016}, url = {http://www.ncbi.nlm.nih.gov/pubmed/18940244}, author = {Tirella, A and Marano, M and Vozzi, F. and A. Ahluwalia} } @article {1274, title = {MULTI-CAVITY BIOREACTOR CHAMBER}, year = {2008}, keywords = {Bioengineering}, issn = {P122454GB}, author = {A. Ahluwalia and D. Mazzei and Vinci, B.} } @conference {1796, title = {PAM Composite Scaffold of PCL and Carbon NanoTubes for Bone Tissue Regeneration}, booktitle = {National Conference of Bioengineering}, year = {2008}, pages = {369}, address = {Pisa, Italy}, abstract = {

poster

}, keywords = {Bioengineering}, author = {Mattioli-Belmonte, M. and Fantauzzi, V and K KYRIAKIDOU and Tirella, A and A. Ahluwalia and G. Vozzi} } @conference {RMSBR08, title = {A Permanent Magnets Exciter for MRFs-based Haptic Interfaces}, booktitle = {IEEE Conference on Electromagnetic Field Computation}, year = {2008}, address = {Atene}, keywords = {Haptics}, author = {R. Rizzo and A. Musolino and E. P. Scilingo and A. Bicchi and M. Raugi} } @conference {1645, title = {Quantitative assesment of nerve reneration by electromyographical and electroneurographical signals}, year = {2008}, author = {C. De Maria and D. S. POGGI and S. Burchielli and G. Vozzi} } @article {1555, title = {Rapid-prototyped and salt-leached PLGA scaffolds condition cell morpho-functional behaviour}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Mattioli-Belmonte, M. and G. Vozzi and K KYRIAKIDOU and PULIERI, E and LUCARINI, G and Vinci, B. and PUGNALONI, A and BIAGINI, G and A. Ahluwalia} } @conference {PMB08, title = {Steering a Leader-Follower Team via Linear Consensus}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981/2008}, year = {2008}, pages = {642-645}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader{\textendash}follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.

}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and S. Martini and A. Bicchi}, editor = {M. Egerstedt and B. Mishra} } @conference {1639, title = {Sviluppo e caratterizzazione meccanica di scaffold a base di collagene per la rigenerazione della cartilagine}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Mattei and F. Montemurro and A. Ahluwalia and G. Vozzi} } @article {1402, title = {Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {80}, year = {2007}, pages = {1151{\textendash}1168}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170701230973}, url = {http://dx.medra.org/10.1080/00207170701230973}, author = {A. Caiti and A. Munaf{\`o} and R. Viviani} } @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} } @conference {1657, title = {Cardiac and Mesenchymal Stem Cell Growth and Selective Differentiation on Three Dimensional Bioerodable Scaffolds}, booktitle = {Termis Eu-Meeting London (UK) 4-7 September 2007 Tissue Engineering 2007, 13 (7): 1647}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Forte and CAROTENUTO, F and G. Vozzi and COSSA, P and FIACCAVENTO, R and M. Minieri and F. Pagliari and S. Pagliari and Romano, R. and A. Ahluwalia and E. Traversa and P. Di Nardo} } @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.} } @conference {1269, title = {Development of a high-throughput bioreactor system for biomedical applications}, booktitle = {Proc. IEEE Int. Symp. Industrial Electronics ISIE 2007}, year = {2007}, pages = {2788{\textendash}2792}, keywords = {Bioengineering}, doi = {10.1109/ISIE.2007.4375051}, author = {D. Mazzei and G. Vozzi and A. Ahluwalia and Cisternino, A.} } @article {MMMSS-07, title = {Hybrid Modeling and Control of the Common-Rail Injection System}, journal = {Int. J. Control}, volume = {80}, number = {11}, year = {2007}, pages = {1780 - 1795}, abstract = {We present an industrial case study in automotive control of significant complexity: the new common rail fuel injection system for Diesel engines, currently under production by Magneti Marelli Powertrain.In this system, an inlet metering valve, introduced before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point (e.g. engine speed, desired torque). The standard approach followed in automotive control is to use a mean{\textendash}value model for the plant and to develop a controller based on this model.I n this particular case, this approach does not provide a satisfactory solution as the discrete{\textendash}continuous interactions in the fuel injection system, due to the slow time{\textendash}varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation, play a fundamental role.W e present a design approach based on a hybrid model of the Magneti Marelli Powertrain common{\textendash}rail fuel{\textendash}injection system for four-cylinder multi{\textendash}jet engines and a hybrid approach to the design of a rail pressure controller.T he hybrid controller is compared with a classical mean{\textendash}value based approach to automotive control design whereby the quality of the hybrid solution is demonstrated.}, keywords = {Automotive, Embedded Control}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni-Vincentelli and G. Serra} } @conference {BBMSS-07, title = {Hybrid Multi-rate Control of the Common-Rail}, booktitle = {European Control Conference}, year = {2007}, pages = {54-61}, abstract = {

We present an industrial case study in automotive control of significant complexity: the new common-rail fuel- injection system for Diesel engines developed by Magneti Marelli Powertrain. In this system, an inlet metering valve, inserted before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point (e.g. engine speed and torque). The standard approach to controller design adopted in the automotive in- dustry is based on mean-value models of the plant. However, the fuel injection system exhibits complex discrete-continuous interactions, due to the slow time-varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation. Hence, a hybrid approach to controller design is very promising. In this paper, we present the synthesis of a hybrid multi-rate controller for a Magneti Marelli Powertrain common-rail fuel- injection system for four-cylinder multi-jet engines. Controller design is based on a hybrid model of the injection system. The resulting hybrid controller performs significantly better then previous controllers developed in the company on the basis of mean-value models of the plant.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni-Vincentelli and G. Serra} } @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} } @article {1652, title = {La rigenerazione nervosa negli innesti a polarit{\`a}~ invertita: dati a confronto tra applicazione sull{\textquoteright}uomo e analisi sperimentale su modello animale}, journal = {RIVISTA DI CHIRURGIA DELLA MANO}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {D. S. POGGI and Massarella, M. and Cerulli, G. and Caraffa, A. and S. Burchielli and Modenato, M. and Cantile, C. and G. Vozzi and C. De Maria and Lisanti, M. and Bonicoli, E. and Cantini, G.} } @article {1656, title = {Microfabrication of fractal polymeric structures for capillary morphogenesis: applications in therapeutic angiogenesis and in the engineering of vascularized tissue}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART B, APPLIED BIOMATERIALS}, volume = {81}, year = {2007}, pages = {462{\textendash}468}, keywords = {Bioengineering}, issn = {1552-4981}, author = {BIANCHI, F and ROSI, M. and G. Vozzi and EMANUELI, C. and MADEDDU, P. and A. Ahluwalia} } @conference {1659, title = {New strategies in polymer functionalisation}, booktitle = {Biosurf, 28-31 August 2007}, year = {2007}, pages = { European Cells and Materials Vol. 14. Suppl. 3}, address = {Zurich (Switzerland)}, keywords = {Bioengineering}, author = {Sartori, S and Rechichi, A and G. Ciardelli and CAPORALE, A and G. Vozzi and MAZZUCCO, L} } @article {BBMP-TAC06, title = {Feedback Encoding for Efficient Symbolic Control of Dynamical Systems}, journal = {IEEE Trans. on Automatic Control}, volume = {51}, number = {6}, year = {2006}, pages = {1-16}, abstract = {

The problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite{\textendash}length words constructed on a finite 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. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). 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. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @article {1404, title = {GIS tools application for risk assessment of toxic waste buried in seafloor sediments}, journal = {CHEMISTRY IN ECOLOGY}, year = {2006}, pages = {S145{\textendash}S161}, keywords = {Robotics}, issn = {0275-7540}, doi = {10.1080/02757540600670828}, url = {http://dx.medra.org/10.1080/02757540600670828}, author = {A. Caiti and R. Minciardi and M. Palmese and M. Robba and R. Sacile and A. Trucco} } @conference {BBMSS06, title = {Hybrid Modelling and Control of the Common Rail Injection System}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {3927 / 2006}, year = {2006}, pages = {79-92}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

We present an industrial case study in automotive control of significant complexity: the new common rail fuel injection system for Diesel engines, currently under production by Magneti Marelli Powertrain. In this system, a flow-rate valve, introduced before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point. The standard approach followed in automotive control is to use a mean-value model for the plant and to develop a controller based on this model. In this particular case, this approach does not provide a satisfactory solution as the discrete-continuous interactions in the fuel injection system, due to the slow time-varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation, play a fundamental role. We present a design approach based on a hybrid model of the Magneti Marelli Powertrain common-rail fuel-injection system for four-cylinder multi-jet engines and a hybrid approach to the design of a rail pressure controller. The hybrid controller is compared with a classical mean-value based approach to automotive control design whereby the quality of the hybrid solution is demonstrated.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni Vincentelli and G. Serra}, editor = {J. Hespanha and A. Tiwari} } @conference {BMP06-HSCC, title = {Improving efficiency of finite plans by optimal choice of input sets}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {3927 / 2006}, year = {2006}, pages = {108-122}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

Finite plans proved to be an efficient method to steer complex control systems via feedback quantization. Such finite plans can be encoded by finite{\textendash}length words constructed on suitable alphabets, thus permitting transmission on limited capacity channels. In particular flat systems can be steered computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range. Efficiency is here measured in terms of computational complexity and description length (in number of bits) of finite plans.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli}, editor = {J. Hespanha and A. Tiwari} } @inbook {ISER04, title = {Optimal Mechanical/Control Design for Safe and Fast Robotics}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics}, series = {Springer Tracts in Advanced Robotics}, volume = {21}, year = {2006}, pages = {311 - 320}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi}, editor = {Marcelo H. Ang, Oussama Khatib} } @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} } @article {1273, title = {Sensore di flusso tattile e di parametri ambientali}, year = {2006}, keywords = {Bioengineering}, issn = {PI2006A000119}, author = {G. Vozzi and Cisternino, A. and Colombo, D. and D. Mazzei and Migliore, A.} } @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} } @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} } @article {1280, title = {Osmolality control by inhalation or micro-infusions?}, journal = {WIT Transactions on Biomedicine and Health}, volume = {9}, year = {2005}, pages = {559-570}, abstract = {

A model of osmolarity is proposed in this paper. This model represents a typical example of embedded physiological feedback control in physiology. Extensive simulation tests with a compartmental approach (using the specific software SAAM II) have been performed, showing that the model agrees with the findings published in the literature of endocrine physiology and with medical practice. As a relevant example of application of the models, the diabetes insipidus pathology was considered. In the case of central insipidus diabetes, it is possible to predict effects of a therapy, giving out synthetic ADH (where ADH is the antidiuretic hormone, the vasopressine) for restoring homeostatic conditions. Two kinds of therapy were considered: supply by inhalation or by microinfusion. In the first case, we evaluated the effect of inhalation using a two compartmental model to describe the effect of commercial drug (minirin, that means desmopressine acetate), and compared results with data existing in the literature. In the second case, the aim was to have a helping tool in the study and development of micro-infusors with sensors and controllers embedded so as to be able to release a controlled drug quantity, accorded to the patient and optimized for avoiding hyper- or ipo-concentrations of plasma ADH hormone. In this case, we used a mono-compartmental model, considering that the drug is infused directly in the plasma; results are again compared with data existing in the literature and with experimental data.

}, keywords = {Bioengineering}, author = {Ciofani, G. and A. Landi and D. Mazzei and A. Mazzoldi} } @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} } @conference {1266, title = {Physiological Cybernetics: Model of Osmolality and Volemia}, booktitle = {Proc. and 2005 European Control Conf. Decision and Control CDC-ECC {\textquoteright}05. 44th IEEE Conf}, year = {2005}, pages = {5552{\textendash}5557}, keywords = {Bioengineering}, doi = {10.1109/CDC.2005.1583046}, author = {Ciofani, G. and A. Landi and D. Mazzei and A. Mazzoldi} } @conference {1267, title = {Realisation of a concentration gradients cell chamber to study their effect of biomolecules on the cell activity}, booktitle = {Proceedings of: 4Th Annual Meeting of the European Tissue Engineering Society (ETES)}, year = {2005}, keywords = {Bioengineering}, author = {D. Mazzei and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @conference {BPMLSC-04, title = {Analysis Of Heart Rate And Respiration Variability Signals Obtained Through A Wearable System}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {R. Paradiso and M. O. Mendez and G. Loriga and E. P. Scilingo and S. Cerutti} } @conference {BMP04, title = {Discrete and Hybrid Nonholonomy}, booktitle = {Hybrid Systems: Computation and Control}, series = {LNCS}, volume = {2993}, number = {157{\textendash}172}, year = {2004}, pages = {157-172}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing for discrete and hybrid (mixed continuous and discrete) configurations and transitions. We show that the general notion of nonholonomy can be captured by the definition of two different types of nonholonomicbehaviours, which we call {\em internal}nd {\em external}, respectively. Examples are reported of systems exhibiting either the former only, or the latter only, or both. For some classes of systems, we provide equivalent or sufficient characterizations of such definitions, which allow for practical tests.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli}, editor = {R. Alur and G. Pappas} } @article {MFB03, title = {A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback}, journal = {Int. Jour. of Robotics Research}, volume = {23}, number = {4-5}, year = {2004}, month = {April-May}, pages = {437-448}, abstract = {

In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi} } @inbook {BLMS03, title = {On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles}, booktitle = {Advances in Control of Articulated and Mobile Robots}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {10}, year = {2004}, pages = {223-239}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and F. Lorussi and P. Murrieri and V. G. Scordio}, editor = {B. Siciliano and A. De Luca and C. Melchiorri and G. Casalino} } @article {MCB04, title = {Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy}, journal = {IEEE Trans. on Automatic Control}, volume = {49}, number = {5}, year = {2004}, month = {May}, pages = {710-726}, abstract = {

Rolling a ball on a plane is a standard example of nonholonomy reported in many textbooks, and the problem is also well understood for any smooth deformation of the surfaces. For non-smoothly deformed surfaces, however, much less is known. Although it may seem intuitive that nonholonomy is conserved (think e.g. to polyhedral approximations of smooth surfaces), current definitions of {\textquoteleft}{\textquoteleft}nonholonomy{\textquoteright}{\textquoteright} are inherently referred to systems described by ordinary differential equations, and are thus inapplicable to such systems. \{\.I}n this paper we study the set of positions and orientations that a polyhedral part can reach by rolling on a plane through sequences of adjacent faces. We provide a description of such reachable set, discuss conditions under which the set is dense, or discrete, or has a compound structure, and provide a method for steering the system to a desired reachable configuration, robustly with respect to model uncertainties. \\Based on ideas and concepts encountered in this case study, and in some other examples we provide, we turn back to the most general aspects of the problem and investigate the possible generalization of the notion of (kinematic) nonholonomy to non-smooth, discrete, and hybrid dynamical systems. To capture the essence of phenomena commonly regarded as {\textquoteleft}{\textquoteleft}nonholonomic{\textquoteright}{\textquoteright}, at least two irreducible concepts are to be defined, of {\textquoteleft}{\textquoteleft}internal{\textquoteright}{\textquoteright} and {\textquoteleft}{\textquoteleft}external{\textquoteright}{\textquoteright} nonholonomy, which may coexist in the same system. These definitions are instantiated by examples.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and Y. Chitour and A. Marigo} } @inbook {DLMOS03, title = {Active dressware: wearable kinesthetic systems}, booktitle = {Sensor and sensing in biology and engineering}, year = {2003}, pages = {379-392}, publisher = {Springer Wien}, organization = {Springer Wien}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DFMSB03, title = {Cooperative Simultaneous Localization and Map Building for Servoing}, booktitle = {Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference}, year = {2003}, month = {July}, address = {Padova}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and D. Fontanelli and P. Murrieri and V. G. Scordio and A. Bicchi} } @article {DCLMPS03, title = {Electroactive Fabrics And Wearable Biomonitoring Devices}, journal = {AUTEX Research Journal}, volume = {3}, number = {4}, year = {2003}, month = {December}, pages = {180-185}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {BMP03, title = {Encoding steering control with symbols}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2003}, pages = {3343-3348}, abstract = {

In this paper, we consider the problem of steering complex dynamical systems among equilibria in their state space in efficient ways. Efficiency is considered as the possibility of compactly representing the (typically very large, or infinite) set of reachable equilibria and quickly computing plans to move among them. To this purpose, we consider the possibility of building lattice structures by purposefully introducing quantization of inputs. We consider different ways in which control actions can be encoded in a finite or numerable set of symbols, review different applications where symbolic encoding of control actions can be employed with success, and provide a unified framework in which to study the many different possible manifestations of the idea.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {OVMB03, title = {From nominal to robust planning: The plate-ball manipulation system}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {3175-3180}, address = {Taipei, Taiwan}, abstract = {

Robotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.

}, keywords = {Embedded Control, Robotics}, author = {G. Oriolo and M. Vendittelli and A. Marigo and A. Bicchi} } @inbook {PB03-HSCC, title = {Stabilization of LTI Systems with Quantized State-Quantized Input Static Feedback}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2623}, year = {2003}, pages = {405-416}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

This paper is concerned with the stabilization problem for discrete-time linear systems subject to a uniform quantization of the control set and to a regular state quantization, both fixed a priori. As it is well known, for quantized systems only weak (practical) stability properties can be achieved. Therefore, we focus on the existence and construction of quantized controllers (mapping a quantized state into a quantized input set) capable of steering a system to within invariant neighbourhoods of the equilibrium. Such analysis is helpful because it allows to decide a priori whether adesired control objective can be achieved by using a \textit{given} technology (actuators, sensors, communication and computational means).

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi}, editor = {A. Pnueli and O. Maler} } @article {SLMD03, title = {Strain-Sensing Fabrics for Wearable Kinaesthetic-Like Systems}, journal = {IEEE Sensors Journal}, volume = {3}, number = {4}, year = {2003}, month = {August}, pages = {460-467}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and A. Mazzoldi and D. De Rossi} } @conference {TCLMOSTD-03, title = {Wearable Sensory-Motor Orthoses for Tele-Rehabilitation}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3724-3727}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {A. Tognetti and F. Carpi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo and M. Tesconi and D. De Rossi} } @conference {DLMOS-02, title = {Active dressware: Wearable kinestetic system}, booktitle = {International Interactive Textiles for the Warrior Conference}, year = {2002}, month = {July}, address = {Boston, USA}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {MFBENEA02, title = {Controllo Ibrido di Veicoli su Ruote con Retroazione Visiva}, booktitle = {Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics}, year = {2002}, month = {October}, pages = {197-199}, address = {ENEA, Frascati}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi} } @article {BM02, title = {Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation}, journal = {Int. Jour. of Robotics Research}, volume = {21}, number = {5-6}, year = {2002}, note = {

Special Issue on Nonholonomy on Purpose, H. Arai, A. Bicchi, eds.

}, month = {May-June}, pages = {427-442}, keywords = {Robotics}, author = {A. Bicchi and A. Marigo} } @conference {DCLMST-02, title = {Electroactive Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {The first IEEE International Conference on Sensors}, year = {2002}, month = {June}, pages = {1608-1613}, address = {Orlando, Florida}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {DCLMST-02, title = {Electroactive Fibers and Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {Proceedings of the First European Workshop on Structural Health Monitoring}, year = {2002}, month = {July}, address = {Cachan, France}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {PB02, title = {Grasp Control: a General Manipulation System Approach}, booktitle = {Proc. Int. Works. Towards Intelligent Robotic Manipulation}, year = {2002}, month = {September}, publisher = {IEEE/RSJ IROS}, organization = {IEEE/RSJ IROS}, address = {Lausanne}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and A. Bicchi}, editor = {C. Melchiorri and P. J. Sanz and R. Molfino} } @conference {MPB02, title = {A Group-Theoretic Characterization of Quantized Control Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {811-816}, abstract = {

In this paper we consider the reachability problem for quantized control systems, i.e. systems that take inputs from a finite set of symbols. Previous work addressed this problem for linear systems and for some specific classes of nonlinear driftless systems. In this paper we attack the study of more general nonlinear systems. To do so we find it useful to pose the problem in more abstract terms, and make use of the wealth of tools available in group theory, which enables us to proceed in our agenda of better understanding effects of quantization of inputs on dynamic systems.

}, keywords = {Embedded Control, Robotics}, author = {A. Marigo and B. Piccoli and A. Bicchi} } @conference {MB02-ICRA, title = {A local-local planning algorithm for rolling objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2002}, month = {May}, pages = {1759-1764}, abstract = {

In this paper, we consider planning motions of objects of regular shape rolling on a plane among obstacles. Theoretical foundations and applications of this type of operations in robotic manipulation and locomotion have been discussed elsewhere. In this paper, we propose a novel algorithm that improves upon existing techniques in that: i) it is finitely computable and predictable (an upper bound on the computations necessary to reach a given goal within a tolerance can be given), and ii) it possesses a topological (local-local) property which enables obstacles and workspace limitations to be dealt with in an effective way.

}, keywords = {Embedded Control, Robotics}, author = {A. Marigo and A. Bicchi} } @article {BMP02, title = {On the reachability of quantized control systems}, journal = {IEEE Trans. on Automatic Control}, volume = {4}, number = {47}, year = {2002}, month = {April}, pages = {546-563}, abstract = {

In this paper we study control systems whose input sets are quantized, i.e. finite or regularly distributed on a mesh. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report results on the reachable set of linear quantized systems, and on a particular but interesting class of nonlinear systems, i.e. nonholonomic chained-form systems. For such systems, we provide a complete characterization of the reachable set, and, in the case the set is discrete, a computable method to completely and succinctly describe its structure. Implications and open problems in the analysis and synthesis of quantized control systems are addressed.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @article {MDLSP02, title = {Smart textiles for wearable motion capture systems}, journal = {AUTEX Research Journal}, volume = {2}, number = {4}, year = {2002}, month = {December}, pages = {199-203}, keywords = {Bioengineering}, author = {A. Mazzoldi and D. De Rossi and F. Lorussi and E. P. Scilingo and R. Paradiso} } @inbook {MFB02, title = {Visual-servoed parking with limited view angle}, booktitle = {Experimental Robotics VIII}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {5}, year = {2002}, pages = {254-263}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi}, editor = {B. Siciliano and P. Dario} } @conference {DLMOS-01, title = {Active dressware: wearable haptics systems}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {155-158}, address = {Lucca, Italy}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLMSO-01, title = {Active dressware :wearable proprioceptive system based on electroactive polymers}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, pages = {161-162}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @conference {CLMPS-01, title = {Electroactive polymer based skin and muscles for man machine interfaces}, booktitle = {MRS Fall Meeting}, year = {2001}, month = {December}, address = {Boston, USA}, keywords = {Man-machine Interface}, author = {F. Carpi and F. Lorussi and A. Mazzoldi and G. Pioggia and E. P. Scilingo} } @conference {DLMPS-01, title = {Haptic smart skins: from biomimetics reasoning to wearing technology}, booktitle = {Fifth Workshop on Multifunctional Polymer and Smart Polymer Systems}, year = {2001}, month = {January}, address = {Wollongong, Australia}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo} } @conference {LMB01, title = {Optimal exploratory paths for a mobile rover}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2001}, pages = {2078-2083}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Lorussi and A. Marigo and A. Bicchi} } @conference {ADLMOS-01, title = {Piezoresistive fabrics for monitoring body kinematics and gesture}, booktitle = {First International Symposium on Measurement, Analysis and Modeling of Human Functions}, year = {2001}, month = {September}, pages = {395-399}, address = {Sapporo, Japan}, keywords = {Biomechanics, Smart Textiles}, author = {A. Ahluwalia and D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLMWS-01, title = {Strain-amplified electroactive polymer actuator for haptic interfaces}, booktitle = {Proceedings of SPIE}, year = {2001}, month = {July}, pages = {43-53}, address = {Newport Beach, USA}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and W. Rocchia and E. P. Scilingo} } @conference {PPDLMSO-01, title = {Wearable technology for multisensory expressive gesture applications}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {R. Paradiso and M. Pacelli and D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @inbook {DLMS01, title = {Wearable thermo- and piezoresistive sensors: realization and properties}, booktitle = {Sensors and Microsystems}, year = {2001}, pages = {195-200}, publisher = {World Scientific}, organization = {World Scientific}, keywords = {Piezoresistive sensor, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo} } @conference {DLMOS-00, title = {Monitoring Body Kinematics and Gesture Through Sensing Fabrics}, booktitle = {1st Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine AND Biology}, year = {2000}, month = {October}, pages = {587-592}, address = {Lyon, France}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @article {MCPB00, title = {Planning Motions of Polyhedral Parts by Rolling}, journal = {Algorithmica}, volume = {26}, year = {2000}, pages = {560-576}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems, Robot Hands}, author = {A. Marigo and M. Ceccarelli and S. Piccinocchi and A. Bicchi} } @conference {BMP00, title = {Quantized Control Systems and Discrete Nonholonomy}, booktitle = {Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control}, year = {2000}, publisher = {Elsevier}, organization = {Elsevier}, address = {Princeton, NJ, USA}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {MPB00-cdc, title = {Reachability Analysis for a Class of Quantized Control Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2000}, month = {December}, pages = {3963-3968}, address = {Sydney, AU}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and B. Piccoli and A. Bicchi} } @article {MB00, title = {Rolling Bodies with Regular Surface: Controllability Theory and Applications}, journal = {IEEE Trans. on Automatic Control}, volume = {45}, number = {9}, year = {2000}, month = {September}, pages = {1586-1599}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Marigo and A. Bicchi} } @conference {BM00, title = {Rolling Contacts and Dextrous Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {May}, pages = {282-287}, address = {San Francisco, CA}, keywords = {Nonholonomic Systems, Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo} } @conference {BMP99, title = {Dexterity through rolling: Manipulation of unknown objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {1583-1568}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo and D Prattichizzo} } @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 {PMBV98, title = {Active Suspensions Decoupling by Algebraic Output Feedback}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Embedded Control, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BMPPPTS98, title = {Decentralized Air Traffic Management Systems: Performance and Fault Tolerance}, booktitle = {Proc. IFAC Workshop on Motion Control}, year = {1998}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Marigo and G. Pappas and M. Pardini and G. Parlangeli and C. Tomlin and S. Sastry} } @conference {PMBV98-CCA, title = {Geometric Disturbance Decoupling Control of Vehicles with Active Suspensions}, booktitle = {Proc. IEEE Conf. on Control Applications}, year = {1998}, pages = {253-257}, keywords = {Automotive, Autonomous Vehicles}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BPMB98, title = {On the observability of mobile vehicles localization}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, abstract = {

In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non{\textendash}observable, while results obtained from differential{\textendash}geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {A. Bicchi and D Prattichizzo and A. Marigo and A. Balestrino} } @conference {MB98-CDC, title = {Steering Driftless Nonholonomic Systems by Control Quanta}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {1998}, pages = {4164-4169}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and A. Bicchi} } @conference {PMBV97-SYROCO, title = {On the Decoupling and Output Functional Controllability of Robotic Manipulation}, booktitle = {Proc. IFAC Int. Symp. on Robot Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BPM97, title = {Force and Dynamic Manipulability for Cooperating Robot Systems}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1997}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo and C. Melchiorri} } @conference {PMBV97-CDC, title = {On the Geometric Control of Internal Forces in Power Grasp}, booktitle = {Proc. Conf. on Decision and Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PMBV97-CIS, title = {Geometric Control Techniques for Manipulation Systems}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PMBV97-AIMETA, title = {Geometric Control Techniques for Mechanical Systems}, booktitle = {Int. Conf. Italian Association for Theretical and Applied Mechanics}, year = {1997}, address = {Siena, Italia, september 29 - October 3 1997}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {MCB97, title = {Manipulation of polyhedral parts by rolling}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and Y. Chitour and A. Bicchi} } @inbook {BMP99-CPRA, title = {Robotic Dexterity via Nonholonomy}, booktitle = {Control Problems in Robotics and Automation}, series = {LNCIS 230}, year = {1997}, pages = {35-49}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and A. Marigo and D Prattichizzo}, editor = {B. Siciliano and K. Valavanis} } @inbook {CMPB97, title = {Rolling Polyhedra on a Plane: Analysis of the Reachable Set}, booktitle = {Algorithms for Robotic Motion and Manipulation}, year = {1997}, pages = {277-286}, publisher = {A. K. Peters}, organization = {A. K. Peters}, address = {Wellesley, MA, U.S.A.}, keywords = {Embedded Control, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {J.P. Laumond and M. Overmars} } @inbook {BP97, title = {On some structural properties of general manipulation systems}, booktitle = {Modelling and Control of Mechanichal Systems}, year = {1997}, pages = {187-202}, publisher = {Imperial College Press}, organization = {Imperial College Press}, address = {London, U.K.}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo}, editor = {A. Astolfi and D. J. N. Limebeer and C. Melchiorri and A. Tornamb\èe and R.B. Vinter} } @conference {BCMP96, title = {Dexterity through Rolling: Towards Manipulation of Unknown Objects}, booktitle = {Proc. Third Int. Symp. on Methods and Models for Automation and Robotics}, year = {1996}, address = {Miedzyzdroje, Poland}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and Y. Chitour and A. Marigo and D Prattichizzo} } @article {1412, title = {A multiquadrics-based algorithm for the acceleration of simulated annealing optimization procedures}, journal = {IEEE TRANSACTIONS ON MAGNETICS}, volume = {32}, year = {1996}, pages = {1198{\textendash}1201}, issn = {0018-9464}, doi = {10.1109/20.497458}, url = {http://dx.medra.org/10.1109/20.497458}, author = {P. Alotto and A. Caiti and G. Molinari and M. Repetto} } @conference {PMBV96, title = { Noninteracting force/motion control of defective manipulation systems }, booktitle = {Proc. Conf. on Decision and Control}, year = {1996}, keywords = {Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @inbook {CMPB96, title = {Reachability of Rolling Parts}, booktitle = {Advances in Robotics: The ERNET Perspective}, year = {1996}, pages = {51-60}, publisher = {World Scientific Publisher Corp.}, organization = {World Scientific Publisher Corp.}, address = {Singapore}, keywords = {Haptics, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {C. Bonivento and C. Melchiorri and H. Tolle} } @article {1418, title = {BEAMFORMING ON SEISMIC INTERFACE WAVES WITH AN ARRAY OF GEOPHONES ON THE SHALLOW SEA-FLOOR}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {20}, year = {1995}, pages = {300{\textendash}310}, issn = {0364-9059}, doi = {10.1109/48.468245}, url = {http://dx.medra.org/10.1109/48.468245}, author = {J. A. Tencate and T. G. Muir and A. Caiti and A. Kristensen and J. F. Manning and J. A. Shooter and R. A. Koch and E. Michelozzi} } @article {BM95, title = {Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation}, journal = {The Journal of Advanced Robotics}, year = {1995}, month = {October}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi and H. Mayeda} } @article {BMB95, title = {On the Mobility and Manipulability of General Multiple Limb Robotic Systems}, journal = {IEEE Trans. Robotics and Automation}, volume = {11}, number = {2}, year = {1995}, month = {April}, pages = {215-228}, keywords = {Grasping, Manipulability, Robot Arms, Robot Hands}, author = {A. Bicchi and C. Melchiorri and D. Balluchi} } @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} } @conference {BM93, title = {Manipulability Measures of Cooperating Arms}, booktitle = {Proc. American Control Conference}, year = {1993}, keywords = {Haptics, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4792867}, author = {A. Bicchi and C. Melchiorri} } @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 {BM92-ICRA, title = {Mobility and Kinematic Analysis of General Cooperating Robotic Systems}, booktitle = {Proc. IEEE Conf. on Robotics and Automation}, year = {1992}, pages = {421-426}, keywords = {Robot Arms, Robot Hands}, author = {A. Bicchi and C. Melchiorri} } @inbook {BM92, title = {Quasi-Static Compensation of Force Errors for Flexible Manipulators}, booktitle = {Selected papers from the Third IFAC/IFIS/IMAC Symposium on Robot Control}, year = {1992}, pages = {381-385}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U.K.}, keywords = {Robotics}, author = {A. Bicchi and C. Melchiorri}, editor = {I. Troch and K. Desoer and P. Kopacek} } @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 {1771, title = {NTIR Optical Immunosensor}, journal = {MEDICINE BIOLOGIE ENVIRONMENT}, volume = {15}, year = {1987}, pages = {49{\textendash}54}, keywords = {Bioengineering}, author = {M. Monici and A. Nannini and D. De Rossi} }