@article {4318, title = {Comparison between rigid and soft poly-articulated prosthetic hands in non-expert myo-electric users shows advantages of soft robotics.}, journal = {Scientific Reports}, volume = {11}, year = {2021}, month = {12/2021}, chapter = {1}, abstract = {

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

}, isbn = {ISSN 2045-2322}, doi = {https://doi.org/10.1038/s41598-021-02562-y}, url = {https://www.nature.com/articles/s41598-021-02562-y}, author = {Capsi-Morales, Patricia and Piazza, Cristina and Catalano, Manuel G. and Grioli, Giorgio and Schiavon, Lisa and Fiaschi, Elena and Bicchi, Antonio} } @conference {4382, title = {Iterative Learning in Functional Space for Non-Square Linear Systems}, booktitle = {2021 60th IEEE Conference on Decision and Control (CDC)}, year = {2021}, pages = {5858{\textendash}5863}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Many control problems are naturally expressed in continuous time. Yet, in Iterative Learning Control of linear systems, sampling the output signal has proven to be a convenient strategy to simplify the learning process while sacrificing only marginally the overall performance. In this context, the control action is similarly discretized through zero-order hold - thus leading to a discrete-time system. With this paper, we want to investigate an alternative strategy, which is to track sampled outputs without masking the continuous nature of the input. Instead, we look at the whole input evolution as an element of a functional subspace. We show how standard results in linear Iterative Learning Control naturally extend to this context. As a result, we can leverage the infinite-dimensional nature of functional spaces to achieve exact tracking of strongly non-square systems (number of inputs less than outputs). We also show that constraints - like those imposed by intermittent control - can be naturally integrated within this framework.

}, keywords = {Aerospace electronics, Conferences, Discrete-time systems, Linear systems, Process control, Standards, Time-varying systems}, doi = {10.1109/CDC45484.2021.9683673}, url = {https://ieeexplore.ieee.org/document/9683673}, author = {Della Santina, Cosimo and Angelini, Franco} } @article {4271, title = {WRAPP-up: A Dual-Arm Robot for Intralogistics}, journal = {IEEE Robotics Automation Magazine}, volume = {28}, year = {2021}, pages = {50-66}, abstract = {

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

}, doi = {10.1109/MRA.2020.3015899}, url = {https://ieeexplore.ieee.org/document/9212558?fbclid=IwAR05rgEATvdOFrtQWMrNKMrGHGfvtKE4MEKcj3i9pb6KAI4XTdhMqaq7MNc}, author = {Garabini, Manolo and Caporale, Danilo and Tincani, Vinicio and Palleschi, Alessandro and Gabellieri, Chiara and Gugliotta, Marco and Settimi, Alessandro and Catalano, Manuel Giuseppe and Grioli, Giorgio and Pallottino, Lucia} } @conference {4179, title = {Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7196-7202}, doi = {10.1109/IROS45743.2020.9340703}, author = {C. Gabellieri and Y. S. Sarkisov and A. Coelho and L. Pallottino and K. Kondak and M. J. Kim} } @article {4293, title = {Control architecture for human-like motion with applications to articulated soft robots}, journal = {Frontiers in Robotics and AI}, volume = {7}, year = {2020}, author = {Angelini, Franco and Della Santina, Cosimo and Garabini, Manolo and Bianchi, Matteo and Bicchi, Antonio} } @article {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 {4295, title = {Hands in the real world}, journal = {Frontiers in Robotics and AI}, volume = {6}, year = {2020}, pages = {147}, author = {Negrello, Francesca and Stuart, Hannah S and Catalano, Manuel G} } @conference {4297, title = {Iterative learning control as a framework for human-inspired control with bio-mimetic actuators}, booktitle = {Conference on Biomimetic and Biohybrid Systems}, year = {2020}, pages = {12{\textendash}16}, publisher = {Springer}, organization = {Springer}, author = {Angelini, Franco and Bianchi, Matteo and Garabini, Manolo and Bicchi, Antonio and Della Santina, Cosimo} } @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} } @inbook {4117, title = {Networked Systems Theory: Distributed Algorithms for Optimal Cooperation of Dynamical Systems}, booktitle = {Analytics for the Sharing Economy: Mathematics, Engineering and Business Perspectives}, year = {2020}, pages = {25{\textendash}37}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, abstract = {

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

}, isbn = {978-3-030-35032-1}, doi = {10.1007/978-3-030-35032-1_3}, url = {https://doi.org/10.1007/978-3-030-35032-1_3}, author = {L. Pallottino}, editor = {E. Crisostomi and B. Ghaddar and F. Hausler and J. Naoum-Sawaya and G. Russo and R. Shorten} } @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} } @article {3678, title = {Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates}, journal = {Biomedical Signal Processing and Control}, volume = {51}, year = {2019}, month = {05/2019}, chapter = {42}, doi = {https://doi.org/10.1016/j.bspc.2019.02.007}, url = {https://www.sciencedirect.com/science/article/pii/S1746809419300436}, author = {A. Greco and G. Valenza and A. Bicchi and M. Bianchi and E. P. Scilingo} } @conference {3719, title = {Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units}, booktitle = {18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018}, year = {2019}, doi = {10.1109/HUMANOIDS.2018.8624929}, url = {https://ieeexplore.ieee.org/document/8624929}, author = {P. J. Kieliba and P. H. Veltink and T. Lisini Baldi and D. Pratichizzo and G. Santaera and A. Bicchi and M. Bianchi and B. J. F. Van Beijnum} } @conference {3708, title = {Dynamic motion control of multi-segment soft robots using piecewise constant curvature matched with an augmented rigid body model}, booktitle = {RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics }, year = {2019}, author = {R. K. Katzschmann and C. D. Santina and Y. Toshimitsu and A. Bicchi and D. Rus} } @article {4218, title = {Functional linear and nonlinear brain{\textendash}heart interplay during emotional video elicitation: a maximum information coefficient study}, journal = {Entropy}, volume = {21}, year = {2019}, pages = {892}, author = {Catrambone, Vincenzo and Greco, Alberto and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3709, title = {Guest Editorial Neuro-Robotics Systems: Sensing, Cognition, Learning, and Control}, journal = {IEEE Transactions on Cognitive and Developmental Systems }, year = {2019}, author = {Z. Li and F. Chen and A. Bicchi and Y. Sun and T. Fukuda} } @article {4221, title = {Lateralization of directional brain-heart information transfer during visual emotional elicitation}, journal = {American Journal of Physiology-Regulatory, Integrative and Comparative Physiology}, volume = {317}, year = {2019}, pages = {R25{\textendash}R38}, author = {Greco, Alberto and Faes, Luca and Catrambone, Vincenzo and Barbieri, Riccardo and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3621, title = {Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {April}, pages = {1533-1540}, keywords = {Computer architecture, Control, Deep Learning in Robotics and Automation, Grasping, Learning for Soft Robots, Modeling, Natural Machine Motion, Neural networks, Robot sensing systems, Uncertainty, Videos}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2896485}, author = {C. D. Santina and V. Arapi and G. Averta and F. Damiani and G. Fiore and A Settimi and M. G. Catalano and D. Bacciu and A. Bicchi and M. Bianchi} } @article {4219, title = {Predicting object-mediated gestures from brain activity: an EEG study on gender differences}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {27}, year = {2019}, pages = {411{\textendash}418}, author = {Catrambone, Vincenzo and Greco, Alberto and Averta, Giuseppe and Bianchi, Matteo and Valenza, Gaetano and Scilingo, Enzo Pasquale} } @article {3677, title = {On the time-invariance properties of upper limb synergies}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering }, year = {2019}, month = {07/2019}, doi = {https://doi.org/10.1109/TNSRE.2019.2918311}, url = {https://www.ncbi.nlm.nih.gov/pubmed/31135365}, author = {G. Averta and G. Valenza and V. Catrambone and F. Barontini and E. P. Scilingo and A. Bicchi and M. Bianchi} } @article {4217, title = {Time-resolved directional brain{\textendash}heart interplay measurement through synthetic data generation models}, journal = {Annals of biomedical engineering}, volume = {47}, year = {2019}, pages = {1479{\textendash}1489}, author = {Catrambone, Vincenzo and Greco, Alberto and Vanello, Nicola and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @proceedings {3698, title = {Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars}, year = {2019}, author = {D. Caporale and A Settimi and F. Massa and F. Amerotti and A. Corti and A. Fagiolini and M. Guiggiani and A. Bicchi and L. Pallottino} } @article {3655, title = {Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.}, journal = {Journal of Robotic Surgery }, year = {2019}, author = {A. Giannini and M. Bianchi and D. Doria and S. Fani and M. Caretto and A. Bicchi and T. Simoncini} } @conference {3682, title = {Advanced grasping with the Pisa/IIT softHand}, booktitle = {Robotic Grasping and Manipulation Challenge }, year = {2018}, pages = {pp. 19-38}, author = {M. Bonilla and C. Della Santina and A. Rocchi and E. Luberto and G. Santaera and E. Farnioli and C. Piazza and F. Bonomo and A. Brando and A. Raugi and M. G. Catalano and M. Bianchi and M. Garabini and G. Grioli and A. Bicchi} } @conference {3382, title = {Design of an indoor autonomous robot navigation system for unknown environments}, 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 = {153-169}, doi = {10.1007/978-3-319-76072-8_11}, author = {L. Silvestri and L. Pallottino and S. Nardi} } @conference {3721, title = {EEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery}, booktitle = { Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = { 10.1109/EMBC.2018.8512912}, url = { https://ieeexplore.ieee.org/document/8512912}, author = {V. Catambrone and A. Greco and G. Averta and M. Bianchi and A. Bicchi and E. P. Scilingo and G. Valenza} } @conference {3722, title = {EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = {10.1109/EMBC.2018.8512239}, url = {https://zenodo.org/record/2559406$\#$.XTbl43ux9GM}, author = {V. Catrambone and A. Greco and G. Averta and M. Bianchi and N. Vanello and A. Bicchi and G. Valenza and E. P. Scilingo} } @article {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 {3796, title = {Optimal Active Sensing with Process and Measurement Noise}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, month = {May}, pages = {2118-2125}, abstract = {

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

}, keywords = {continuous Riccati equation, covariance matrices, eigenvalues and eigenfunctions, Estimation, estimation algorithm, gradient methods, inversely proportional, Kalman Filter, Kalman filters, largest eigenvalue, maximum estimation uncertainty, measurement noise, mobile robots, noise measurement, nonlinear differentially flat system, nonlinear filters, nonnegligible process noise, observability, observability gramian, OG, onboard sensors, online gradient descent method, optimal active sensing, optimal trajectories, optimisation, path planning, posteriori covariance matrix, Riccati equations, Robot sensing systems, Trajectory, trajectory control, unicycle robot}, doi = {10.1109/ICRA.2018.8460476}, url = {https://ieeexplore.ieee.org/document/8460476}, author = {M. Cognetti and P Salaris and P. Robuffo Giordano} } @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} } @article {3697, title = {The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis}, journal = {PLOS One}, year = {2018}, author = {S. B. Godfrey and K. Zhao and A. Theuer and M. G. Catalano and M. Bianchi and R. Breighner and D. Bhaskaran and R. Lennon and G. Grioli and M. Santello and A. Bicchi and K. Andrews} } @conference {3747, title = {The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation}, booktitle = {International Symposium on Wearable Robotics}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01887-0_71}, author = {C. Piazza and M. G. Catalano and M. Bianchi and E. Ricciardi and D. Pratichizzo and S. Haddadin and Luft, A. R. L. and O. Lambercy and R. Gassert and E. Jakubowitz and H. Van Der Kooij and F. Tonis and F. Bonomo and B. de Jonge and T. Ward and K. Zhao and M. Santello and A. Bicchi} } @conference {3683, title = {Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, author = {M. Bianchi and G. Averta and E. Battaglia and C. Rosales and M. Bonilla and A. Tondo and M. Poggiani and G. Santaera and S. Ciotti and M. G. Catalano and A. Bicchi} } @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 {2814, title = {Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations}, journal = {IEEE Transactions on Robotics}, volume = {34}, year = {2017}, month = {11/2017}, chapter = {264}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.1109/TRO.2017.2765334}, url = {https://ieeexplore.ieee.org/document/8103340}, author = {Z. Li and Z. Chen and A. Ajoudani and C. Yang and C. Su and A. Bicchi} } @conference {3222, title = {Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery}, booktitle = {Proceedings of the second International Conference on Medical Information and Bioengineering}, year = {2017}, abstract = {

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

}, author = {L. Santos and N. Carbonaro and A. Tognetti and Gonzales, R. and J. C. Fraile and J. P. Turiel and E. De La Fuente} } @conference {3141, title = {Distributed Task-priority Based Control in Area Coverage \& Adaptive Sampling}, booktitle = {MTS/IEEE Oceans 2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen, Scotland, June 2017}, abstract = {

The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.

}, keywords = {Robotics}, author = {T. Fabbri and E. Simetti and G. Casalino and L. Pallottino and A. Caiti} } @article {3214, title = { Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism }, journal = {IEEE Robotics and Automation Letters}, volume = {2}, year = {2017}, month = {07/2017}, pages = {1664 - 1671}, abstract = {

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

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

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

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

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

}, keywords = {Robotics}, doi = { 10.1007/s10957-017-1110-7}, url = {http://download.springer.com/static/pdf/641/art\%253A10.1007\%252Fs10957-017-1110-7.pdf?originUrl=http\%3A\%2F\%2Flink.springer.com\%2Farticle\%2F10.1007\%2Fs10957-017-1110-7\&token2=exp=1492507070~acl=\%2Fstatic\%2Fpdf\%2F641\%2Fart\%25253A10.1007\%25252Fs10957-017-111}, author = {A. Cristofaro and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @conference {3727, title = {Muscle fatigue assessment through electrodermal activity analysis during isometric contraction}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2017}, doi = {10.1109/EMBC.2017.8036846}, author = {A. Greco and A. Guidi and F. Felici and A. Leo and E. Ricciardi and M. Bianchi and A. Bicchi and L. Citi and G. Valenza and E. P. Scilingo} } @article {3216, title = {Postural Hand Synergies during Environmental Constraint Exploitation}, journal = {Fronters in Neurorobotics}, year = {2017}, month = {08/2017}, abstract = {

Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kinematic perspective, i.e., the hand joint angles, in both pre-shaping and during the interaction with the environment. To determine the role of tactile feedback, we repeated the same experiments but with subjects wearing a rigid shell on the fingertips to reduce cutaneous afferent inputs. Results show the persistence of at least two postural synergies in all the considered experimental conditions and phases. Tactile impairment does not alter significantly the first two synergies, and contact with the environment generates a change only for higher order Principal Components. A good match also arises between the first synergy found in our analysis and the first synergy of grasping as quantified by previous work. The present study is motivated by the interest of learning from the human example, extracting lessons that can be applied in robot design and control. Thus, we conclude with a discussion on implications for robotics of our findings.

}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.3389/fnbot.2017.00041}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2017.00041/full}, author = {C. Della Santina and M. Bianchi and G. Averta and S. Ciotti and V. Arapi and S. Fani and E. Battaglia and M. G. Catalano and M. Santello and A. Bicchi} } @article {3105, title = {On the Role of Affective Properties in Hedonic and Discriminant Haptic Systems}, journal = {International Journal of Social Robotics}, volume = {9}, year = {2017}, month = {01/2017}, pages = {87{\textendash}95}, abstract = {

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

}, keywords = {Haptics}, issn = {1875-4791}, doi = {10.1007/s12369-016-0371-x}, url = {http://rdcu.be/ugoW}, author = {M. Bianchi and G. Valenza and A Lanata and A. Greco and M. Nardelli and A. Bicchi and E. P. Scilingo} } @article {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} } @conference {2880, title = {APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {139 - 157}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_11}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_11}, author = {A. Ferrarelli and D. Caporale and A Settimi and L. Pallottino} } @article {2844, title = {Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications}, journal = {Frontiers in Neurorobotics}, volume = {10}, year = {2016}, month = {10/2016}, abstract = {

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

}, keywords = {Haptics, Robotics}, doi = {10.3389/fnbot.2016.00011}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/}, author = {S. Fani and M. Bianchi and S. Jain and J. Pimenta Neto and S. Boege and G. Grioli and A. Bicchi and M. Santello} } @article {3246, title = {Assessment of spontaneous cardiovascular oscillations in Parkinson{\textquoteright}s disease}, journal = {Biomedical Signal Processing and Control}, volume = {26}, year = {2016}, pages = {80{\textendash}89}, keywords = {Bioengineering}, author = {G. Valenza and S. Orsolini and S. Diciotti and L. Citi and E. P. Scilingo and M. Guerrisi and S. Danti and C. Lucetti and C. Tessa and R. Barbieri} } @article {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 {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 {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} } @inbook {2886, title = {From Soft to Adaptive Synergies: The Pisa/IIT SoftHand}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, publisher = {Springer}, organization = {Springer}, chapter = {101 - 125}, abstract = {

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

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_8}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and M. Bonilla and M. Garabini and C. Piazza and M Gabiccini and A. Bicchi} } @article {2652, title = {Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands}, journal = {Physics of Life Reviews}, volume = {17}, year = {2016}, month = {07/2016}, pages = {1-23}, keywords = {Haptics, Robotics}, url = {http://www.sciencedirect.com/science/article/pii/S1571064516000269}, author = {M. Santello and M. Bianchi and M Gabiccini and E. Ricciardi and G. Salvietti and D Prattichizzo and M. Ernst and A. Moscatelli and H. Jorntell and A. Kappers and K. Kyriakopulos and A Albu-Schaeffer and C. Castellini and A. Bicchi} } @article {3253, title = {The heart side of brain neuromodulation}, journal = {Phil. Trans. R. Soc. A}, volume = {374}, year = {2016}, pages = {20150187}, keywords = {Bioengineering}, author = {S. Rossi and E. Santarnecchi and G. Valenza and M. Ulivelli} } @conference {2899, title = {Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference }, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, doi = {10.1109/EMBC.2016.7591957}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957}, author = {S. B. Godfrey and M. Bianchi and A. Bicchi and M. Santello} } @article {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} } @article {3255, title = {Inhomogeneous point-processes to instantaneously assess affective haptic perception through heartbeat dynamics information}, journal = {Scientific reports}, volume = {6}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and L. Citi and M. Bianchi and R. Barbieri and E. P. Scilingo} } @conference {2893, title = {Motion Primitive Based Random Planning for Loco{\textendash}Manipulation Tasks}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS 2016)}, year = {2016}, note = {
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco{\textendash}manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole{\textendash}body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco{\textendash}manipulation tasks.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = {10.1109/HUMANOIDS.2016.7803402}, url = {http://ieeexplore.ieee.org/document/7803402/}, author = {A Settimi and D. Caporale and P. Kryczka and M. Ferrati and L. Pallottino} } @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 {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} } @proceedings {2900, title = {On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis}, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, author = {M. Nardelli and A. Greco and M. Bianchi and E. P. Scilingo and G. Valenza} } @article {2834, title = {Polymeric microporous nanofilms as smart platforms for in vitro assessment of nanoparticle translocation and Caco-2 cell culture}, journal = { IEEE Transactions on NanoBioscience }, year = {2016}, keywords = {Bioengineering}, doi = { 10.1109/TNB.2016.2603191}, url = {http://ieeexplore.ieee.org/document/7552480/}, author = {L. Ricotti and G. Gori and D. Cei and J. Costa and G. Signore and A. Ahluwalia} } @article {3254, title = {Predicting Mood Changes in Bipolar Disorder through Heartbeat Nonlinear Dynamics}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and C. Gentili and G. Bertschy and M. Kosel and E. P. Scilingo} } @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 {2711, title = {Reconstruction of medial patello-femoral ligament: Comparison of two surgical techniques}, journal = {J Mech Behav Biomed Mater.}, year = {2016}, month = {02/10}, pages = {272-278}, keywords = {Bioengineering}, doi = {10.1016/j.jmbbm.2016.02.009}, author = {Criscenti, G. and C. De Maria and E. Sebastiani and M. Tei and G. Placella and G. Vozzi and Cerulli, G.} } @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} } @inbook {2865, title = {The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype}, booktitle = {Converging Clinical and Engineering Research on Neurorehabilitation II}, volume = {15}, number = {Biosystems \& Biorobotics }, year = {2016}, note = {

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

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

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

}, keywords = {Haptics, Robotics}, issn = {978-3-319-46668-2}, doi = {10.1007/978-3-319-46669-9_78}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78}, author = {S. B. Godfrey and M. Bianchi and K. Zhao and M. G. Catalano and R. Breighner and A. Theuer and K. Andrews and G. Grioli and M. Santello and A. Bicchi} } @article {2660, title = {A synergy-based hand control is encoded in human motor cortical areas}, journal = {eLIFE}, year = {2016}, abstract = {

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

}, doi = {http://dx.doi.org/10.7554/eLife.13420}, url = {http://elifesciences.org/content/5/e13420v2}, author = {A. Leo and G. Handjaras and M. Bianchi and H. Marino and M Gabiccini and Guidi, A. and E. P. Scilingo and P. Pietrini and A. Bicchi and M. Santello and E. Ricciardi} } @inbook {2887, title = {Synergy-Based Optimal Sensing Techniques for Hand Pose Reconstruction}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, pages = {259-283}, publisher = {Springer}, organization = {Springer}, abstract = {

Most of the neuroscientific results on synergies and their technical implementations in robotic systems, which are widely discussed throughout this book (see e.g. Chaps.\ 2, 3, 4, 8, 10, 12 and 13), moved from the analysis of hand kinematics in free motion or during the interaction with the external environment. This observation motivates both the need for the development of suitable and manageable models for kinematic recordings, as described in Chap.\ 14, and the calling for accurate and economic systems or {\textquotedblleft}gloves{\textquotedblright} able to provide reliable hand pose reconstructions. However, this latter aspect, which represents a challenging point also for many human-machine applications, is hardly achievable in economically and ergonomically viable sensing gloves, which are often imprecise and limited. To overcome these limitations, in this chapter we propose to exploit the bi-directional relationship between neuroscience and robotic/artificial systems, showing how the findings achieved in one field can inspire and be used to advance the state of art in the other one, and vice versa. More specifically, our leading approach is to use the concept of kinematic synergies to optimally estimate the posture of a human hand using non-ideal sensing gloves. Our strategy is to collect and organize synergistic information and to fuse it with insufficient and inaccurate glove measurements in a consistent manner and with no extra costs. Furthermore, we will push forward such an analysis to the dual problem of how to design pose sensing devices, i.e.\ how and where to place sensors on a glove, to get maximum information about the actual hand posture, especially with a limited number of sensors. We will study the optimal design of gloves of different nature. Conclusions that can be drawn take inspiration from and might inspire further investigations on the biology of human hand receptors. Experimental evaluations of these techniques are reported and discussed.

}, isbn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_15}, author = {M. Bianchi and Salaris, P. and A. Bicchi} } @article {2544, title = {ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis}, journal = {IEEE Transactions on Haptics}, volume = {9}, year = {2016}, note = {
This work was partially supported by the European Community funded projects WEARHAP, PACMAN and SOMA (contracts 601165, 600918 and 645599 respectively), by the ERC Advanced Grant no. 291166 SoftHands
}, month = {03/2016}, pages = {121-133}, abstract = {

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

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2015.2482478}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7294702}, author = {E. Battaglia and M. Bianchi and Altobelli, A and G. Grioli and M. G. Catalano and A. Serio and M. Santello and A. Bicchi} } @conference {2898, title = {Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction}, booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2016.}, year = {2016}, note = {
This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands {\textquotedblleft}A
Theory of Soft Synergies for a New Generation of Artificial
Hands{\textquotedblright} (no. ERC-291166), by the EU FP7 project {\textquotedblleft}WEAR-
able HAPtics for Humans and Robots (WEARHAP){\textquotedblright} (no.
601165) and by the EU H2020 project {\textquotedblleft}SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn{\textquotedblright} (H2020-ICT-688857).
}, address = {New York, August 26-31, 2016}, doi = {10.1109/ROMAN.2016.7745100}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7745100}, author = {M. Bianchi and G. Valenza and A. Greco and M. Nardelli and E. Battaglia and A. Bicchi and E. P. Scilingo} } @article {2904, title = {Variable Stiffness Actuators: Review on Design and Components}, journal = { IEEE/ASME Transactions on Mechatronics }, volume = {21}, year = {2016}, month = {10/2016}, pages = {2418 - 2430}, abstract = {

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

}, keywords = {Robotics}, doi = {10.1109/TMECH.2015.2501019}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7330025}, author = {S. Wolf and G. Grioli and O. Eiberger and W. Friedl and M. Grebenstein and H. Hoppner and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and D. Lefeber and S. Stramigioli and N. G. Tsagarakis and M. Van Damme and R. Van Ham and B. Vanderborght and L. C. Visser and A. Bicchi and A Albu-Schaeffer} } @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} } @conference {2593, title = {Arousal recognition system based on heartbeat dynamics during auditory elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {6110{\textendash}6113}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319786}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @book {3240, title = {Autonomic Nervous System Dynamics for Mood and Emotional-State Recognition [electronic resource]: Significant Advances in Data Acquisition, Signal Processing and Classification}, series = {Series in BioEngineering}, year = {2015}, publisher = {Springer}, organization = {Springer}, keywords = {Bioengineering}, author = {G. Valenza and E. P. Scilingo} } @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} } @conference {3248, title = {Changes in instantaneous complex dynamics during exercise in Chronic Mountain Sickness}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {997{\textendash}1000}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and F. Faita and L. Pratali and N. Vanello and A Lanata and R. Barbieri and E. P. Scilingo} } @article {3237, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {263{\textendash}274}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2387, title = {Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics}, journal = {Frontiers in Computational Neuroscience}, volume = {9}, year = {2015}, month = {03/2015}, doi = {dx.doi.org/10.3389/fncom.2015.00037}, author = {M. Nardelli and G. Valenza and Cristea, I. and C. Gentili and C. Cotet and David, D. and A Lanata and E. P. Scilingo} } @article {3238, title = {Complexity Index from a Personalized Wearable Monitoring System for Assessing Remission in Mental Health}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {132{\textendash}139}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and M. Nardelli and C. Gentili and E. P. Scilingo} } @article {2339, title = {Design and Characterization of a Fabric-based Softness Display}, journal = {IEEE Transactions on Haptics}, volume = {8}, year = {2015}, note = {

This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} (no. ERC-291166), and by the EU FP7 project (no. 601165) {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}

}, pages = {152-163}, abstract = {

To enable a realistic tactile interaction with remote or virtual objects, softness information represents a fundamental property to be rendered via haptic devices. What is challenging is to reduce the complexity of such an information as it arises from contact mechanics and to find suitable simplifications that can lead an effective development of softness displays. A possible approach is to surrogate detailed tactile cues with information on the rate of spread of the contact area between the object and the finger as the contact force increases, i.e. force/area relation. This paradigm is called contact area spread rate. In this paper we discuss how such a paradigm has inspired the design of a tactile device (hereinafter referred to as Fabric Yielding Display, FYD-2), which exploits the elasticity of a fabric to mimic different levels of stiffness, while the contact area on the finger indenting the fabric is measured. In this manner, the FYD-2 can be controlled to reproduce force-area characteristics. In this work, we describe the FYD-2 architecture and report a psychophysical characterization. FYD-2 is shown to be able to accurately reproduce force-area curves of typical objects and to enable a reliable softness discrimination in human users.

}, keywords = {Haptics, Robotics}, doi = {10.1109/TOH.2015.2404353}, author = {M. Bianchi and A. Serio} } @conference {2596, title = {Electrodermal activity analysis during affective haptic elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

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

Published

}, pages = {4733{\textendash}4736}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319451}, author = {G. Valenza and A. Greco and M. Nardelli and M. Bianchi and A Lanata and S. Rossi and E. P. Scilingo} } @article {2530, title = {Epsilon-Optimal Synthesis for Unicycle-like Vehicles with Limited Field-Of-View Sensors}, journal = {IEEE Transactions on Robotics (T-RO)}, volume = {31}, year = {2015}, pages = {1404 - 1418}, abstract = {

In this paper we study the minimum length paths covered by the center of a unicycle equipped with a limited Field{\textendash}Of{\textendash}View (FOV) camera, which must keep a given landmark in sight. Previous works on this subject have provided the optimal synthesis for the cases in which the FOV is only limited in the horizontal directions (i.e. left and right bounds) or in the vertical directions (i.e. upper and lower bounds). In this paper we show how to merge previous results and hence obtaining, for a realistic image plane modeled as a rectangle, a finite alphabet of extremal arcs and the overall synthesis. As shown, this objective can not be straightforwardly achieved from previous results but needs further analysis and developments. Moreover, there are initial configurations such that there exists no optimal path. Nonetheless, we are always able to provide an e{\textendash}optimal path whose length approximates arbitrarily well any other shorter path. As final results, we provide a partition of the motion plane in regions such that the optimal or e{\textendash}optimal path from each point in thatregion is univocally determined.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/TRO.2015.2492878}, author = {P Salaris and A. Cristofaro and L. Pallottino} } @article {2207, title = {Epsilon{\textendash}optimal synthesis for vehicles with vertically bounded Field-Of-View}, journal = {IEEE Transactions on Automatic Control}, volume = {60}, year = {2015}, pages = {1204 - 1218}, abstract = {

This paper presents a contribution to the problem of obtaining an optimal synthesis for shortest paths for a unicycle guided by an on{\textendash}board limited Field Of{\textendash}View (FOV) sensor, which must keep a given landmark in sight. Previous works on this subject have provided an optimal synthesis for the case in which the FOV is limited in the horizontal directions (H{\textendash} FOV, i.e. left and right boundaries). In this paper we study the complementary case in which the FOV is limited only in the vertical direction (V{\textendash}FOV, i.e. upper and lower boundaries). With respect to the H{\textendash}FOV case, the vertical limitation is all but a simple extension. Indeed, not only the geometry of extremal arcs is different, but also a more complex structure of the synthesis is revealed by analysis. We will indeed show that there exist initial configurations for which the optimal path does not exist. In such cases, we provide an e{\textendash}optimal path whose length approximates arbitrarily well any other shorter path. Finally, we provide a partition of the motion plane in regions such that the optimal or e{\textendash}optimal path from each point in that region is univocally determined.

}, keywords = {Embedded Control, Robotics}, issn = {0018-9286}, doi = {10.1109/TAC.2014.2366271}, author = {Salaris, P. and Cristofaro, A. and L. Pallottino and A. Bicchi} } @conference {2539, title = {A Finite Element Model of Tactile Flow for Softness Perception}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {

This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.

}, pages = {2430 - 2433}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, Italy, August 25th-29th, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7318884}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7318884}, author = {E. Battaglia and M. Bianchi and M. L. D{\textquoteright}Angelo and M. D{\textquoteright}Imperio and F. Cannella and E. P. Scilingo and A. Bicchi} } @conference {2594, title = {Gender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {298{\textendash}301}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7318359}, author = {M. Nardelli and G. Valenza and M. Bianchi and A. Greco and A Lanata and A. Bicchi and E. P. Scilingo} } @article {2263, title = {How the autonomic nervous system and driving style change with incremental stressing conditions during simulated driving}, journal = {IEEE Transactions on Intelligent Transportation Systems}, year = {2015}, pages = {1505 - 1517 }, keywords = {Bioengineering}, doi = {10.1109/TITS.2014.2365681}, author = {A Lanata and G. Valenza and A. Greco and C. Gentili and F. Bucchi and F. Frendo and E. P. Scilingo} } @conference {2621, title = {An instrumented manipulandum for human grasping studies}, booktitle = {14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015}, year = {2015}, pages = {169-174}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 11-14 Aug. 2015}, doi = {10.1109/ICORR.2015.7281194}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7281194}, author = {Altobelli, A and M. Bianchi and M. G. Catalano and A. Serio and Baud-Bovy, G and A. Bicchi} } @conference {2205, title = {Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands wearhap

}, pages = {2728 - 2735}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139569}, author = {G. Santaera and Luberto, E. and A. Serio and M Gabiccini and A. Bicchi} } @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 {3239, title = {Nonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics}, journal = {Frontiers in physiology}, volume = {6}, year = {2015}, keywords = {Bioengineering}, author = {G. Valenza and R. G. Garcia and L. Citi and E. P. Scilingo and C. A. Tomaz and R. Barbieri} } @article {3242, title = {A novel algorithm for movement artifact removal in ECG signals acquired from wearable systems applied to horses}, journal = {PloS one}, volume = {10}, year = {2015}, pages = {e0140783}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and G. Valenza and E. P. Scilingo} } @conference {2453, title = {A Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks}, booktitle = { IEEE World Haptics Conference}, year = {2015}, note = {

This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} no. ERC-291166, and by the EU FP7 project (no. 601165), {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}

}, pages = {49-56}, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, USA, 22-25 June 2015}, abstract = {

Softness\ and\ texture\ high-frequency information represent fundamental haptic properties for every day life activities and environment tactual exploration. While several\ displays\ have been produced to convey either\ softness\ or high-frequency information, there is no or little evidence of systems that are able to reproduce both these properties in an integrated fashion. This aspect is especially crucial in medical\ tele-operated procedures, where roughness and stiffness of human tissues are both important to correctly identify given pathologies through palpation (e.g. in\ tele-dermatology). This work presents a fabric yielding\ display\ (FYD-pad), a fabric-based\ tactiledisplay\ for\ softness\ and\ texturerendering. The system exploits the control of two motors to modify both the stretching state of the elastic fabric forsoftnessrendering\ and to convey\ texture\ information on the basis of accelerometer-based data. At the same time, the measurement of the contact area can be used to control remote or virtual robots. In this paper, we discuss the architecture of FYD-pad and the techniques used for\ softness\ and\ texturereproduction as well as for synthesizing probe-surface interactions from real data.\ Tele-operationexamples and preliminary experiments with humans are reported, which show the effectiveness of the device in delivering both\ softness\ and\ texture\ information.

}, keywords = {Haptics, Robotics}, doi = {10.1109/WHC.2015.7177690}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7177690}, author = {M. Bianchi and M. Poggiani and A. Serio and A. Bicchi} } @conference {3249, title = {Predicting mood changes in bipolar disorder through heartbeat nonlinear dynamics: A preliminary study}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {801{\textendash}804}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A. Lanat{\`a} and C. Gentili and G. Bertschy and E. P. Scilingo} } @article {2417, title = {Recognizing Emotions Induced by Affective Sounds through Heart Rate Variability}, journal = {IEEE Transactions on Affective Computing}, year = {2015}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @conference {3243, title = {Removing movement artifacts from equine ECG recordings acquired with textile electrodes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, pages = {1955{\textendash}1958}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and R. Paradiso and G. Valenza and E. P. Scilingo} } @article {3244, title = {Robust Head Mounted Wearable Eye Tracking System for Dynamical Calibration}, journal = {Journal of Eye Movement Research}, volume = {8}, year = {2015}, pages = {1{\textendash}15}, keywords = {Bioengineering}, author = {A Lanata and A. Greco and G. Valenza and E. P. Scilingo} } @conference {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} } @conference {2562, title = {Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring}, booktitle = {IEEE International Conference on Robotics and Biomimetics - ROBIO2015}, year = {2015}, pages = {1202-1208}, publisher = {IEEE}, organization = {IEEE}, address = {Zhuhai, China, December 6-9, 2015}, keywords = {Robotics}, doi = {10.1109/ROBIO.2015.7418935}, url = {http://ieeexplore.ieee.org/document/7418935/}, author = {C. Yang and P. Liang and Z. Li and A. Ajoudani and C. Su and A. Bicchi} } @article {2158, title = {Tele- Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance}, journal = {Robotics and Autonomous Systems}, volume = {73 part A}, year = {2015}, note = {

special issue\ "Wearable Robotics"

}, month = {11/2015}, pages = {78-90}, abstract = {

This paper presents a tele-impedance based assistive control scheme for a knee exoskeleton device. The proposed controller captures the user{\textquoteright}s intent to generate task-related assistive torques by means of the exoskeleton in different phases of the subject{\textquoteright}s normal activity. To do so, a detailed musculoskeletal model of the human knee is developed and experimentally calibrated to best match the user{\textquoteright}s kinematic and dynamic behavior. Three dominant antagonistic muscle pairs are used in our model, in which electromyography (EMG) signals are acquired, processed and used for the estimation of the knee joint torque, trajectory and the stiffness trend, in real time. The estimated stiffness trend is then scaled and mapped to a task-related stiffness interval to agree with the desired degree of assistance. The desired stiffness and equilibrium trajectories are then tracked by the exoskeleton{\textquoteright}s impedance controller. As a consequence, while minimum muscular activity corresponds to low stiffness, i.e.\ highly transparent motion, higher co-contractions result in a stiffer joint and a greater level of assistance. To evaluate the robustness of the proposed technique, a study of the dynamics of the human{\textendash}exoskeleton system is conducted, while the stability in the steady state and transient condition is investigated. In addition, experimental results of standing-up and sitting-down tasks are demonstrated to further investigate the capabilities of the controller. The results indicate that the compliant knee exoskeleton, incorporating the proposed tele-impedance controller, can effectively generate assistive actions that are volitionally and intuitively controlled by the user{\textquoteright}s muscle activity.

}, keywords = {Robotics}, doi = {10.1016/j.robot.2014.09.027}, url = {http://www.sciencedirect.com/science/article/pii/S0921889014002127}, author = {N. Karavas and A. Ajoudani and N G Tsagarakis and J. Saglia and A. Bicchi and D. Caldwell} } @conference {2595, title = {On the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

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

Extensions.zip

}, month = {05/2015}, pages = {727-743}, keywords = {Robotics}, doi = {10.1177/0278364914566515}, url = {http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP\&keytype=finite}, author = {G. Grioli and S. Wolf and M. Garabini and M. G. Catalano and E. Burdet and D. G. Caldwell and R. Carloni and W. Friedl and M. Grebenstein and M. Laffranchi and D. Lefeber and S. Stramigioli and N G Tsagarakis and M. Van Damme and B. Vanderborght and A Albu-Schaeffer and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @conference {2129, title = {ASCARI: a component based simulator for distributed mobile robot systems}, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, volume = { Lecture Notes in Computer Science, Volume 8906, 2014}, year = {2014}, pages = {152-163}, publisher = {Springer}, organization = {Springer}, address = {Rome, 5-6 May 2014}, keywords = {Embedded Control, Robotics}, author = {M. Ferrati and A Settimi and L. Pallottino} } @conference {2342, title = {Assessment of Dynamic Autonomic Changes with Posture using Instantaneous Entropy Measures}, booktitle = {Computers in Cardiology}, volume = { 41}, year = {2014}, note = {

Winner of a Mortara Fellowship

}, pages = {489-492}, address = {Cambridge (MA, USA)}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @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} } @article {2216, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell biochemistry and biophysics}, volume = {68}, year = {2014}, pages = {37{\textendash}47}, author = {G. Orsi and Ghelardoni, S. and Saba, A. and R. Zucca and G. Vozzi} } @article {2145, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2228, title = {A Decision Support System for Real-Time Stress Detection During Virtual Reality Exposure}, year = {2014}, pages = {114{\textendash}120}, abstract = {

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

}, doi = {10.3233/978-1-61499-375-9-114}, author = {A. Gaggioli and P. Cipresso and Serino, S. and G. Pioggia and Tartarisco, G. and Baldus, G. and Corda, D. and M. Ferro and N. Carbonaro and A. Tognetti and D. De Rossi and Giakoumis, D. and Tzovaras, D. and Riera, A. and G. Riva} } @conference {2082, title = {Design and preliminary affective characterization of a novel fabric-based tactile display}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, pages = { 591 - 596}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775522}, author = {M. Bianchi and G. Valenza and A. Serio and A Lanata and L. Greco and M. Nardelli and E. P. Scilingo and A. Bicchi} } @article {2146, title = {Electrodermal Activity in Bipolar Patients during Affective Elicitation}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {18}, year = {2014}, pages = {1865-1873}, author = {A. Greco and G. Valenza and A Lanata and G. Rota and E. P. Scilingo} } @inbook {2087, title = {A Fabric-based Approach for Softness Rendering}, booktitle = {Multisensory Softness: Perceived Compliance from Multiple Sources of Information}, volume = {Springer Series on Touch and Haptic Systems}, year = {2014}, pages = {219 - 240}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {11}, abstract = {

In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.

}, keywords = {Haptics, Robotics}, issn = {978-1-4471-6532-3}, doi = {10.1007/978-1-4471-6533-0_11}, url = {http://link.springer.com/chapter/10.1007\%2F978-1-4471-6533-0_11}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {2273, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Gruppo Nazionale Bioingegneria IV Congresso}, year = {2014}, address = {Pavia, 25-27 June}, abstract = {

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

}, keywords = {Bioengineering}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @conference {2277, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Proceedings of ICMMB2014}, year = {2014}, pages = {363{\textendash}68}, keywords = {Bioengineering}, doi = {10.6092/unibo/amsacta/4085. In: Proceedings ICMMB A cura di: Zannoli, Romani ; Corazza, Ivan ; Stagni, Rita.}, url = {http://amsacta.unibo.it/4085/1/Proceedings{\.I}CMMB2014.pdf}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @article {2178, title = {Grasping devices and methods in automated production processes }, journal = {CIRP Annals - Manufacturing Technology}, volume = {63}, year = {2014}, pages = {679-701}, abstract = {

In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.

}, keywords = {Robotics}, doi = {10.1016/j.cirp.2014.05.006}, url = {http://www.sciencedirect.com/science/article/pii/S0007850614001887}, author = {G Fantoni and Santochi, M. and Dini, G. and Tracht, K. and Scholz-Reiter, B. and Fleischer, J. and Kristoffer Lien, T. and Seliger, G. and Reinhart, G. and Franke, J. and N{\o}rgaard Hansen, H. and Verl, A.} } @inbook {1694, title = {HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS}, booktitle = {Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project}, volume = {94}, number = {Springer Tracts in Advanced Robotics}, year = {2014}, pages = {197-215}, abstract = {

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

}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-319-02934-4_10}, author = {G. Salvietti and G. Gioioso and M. Malvezzi and D Prattichizzo and A. Serio and E. Farnioli and M Gabiccini and A. Bicchi and I. Sarakoglou and N G Tsagarakis and D. G. Caldwell} } @article {2230, title = {Improving sodium Magnetic Resonance in humans by design of a dedicated Na-23 surface coil }, journal = {MEASUREMENT }, volume = {50}, year = {2014}, month = {04/2014}, chapter = {285-292}, doi = {10.1016/j.measurement.2014.01.006}, author = {G. Giovannetti and Pingitore, A. and V. Positano and De Marchi, D. and Valvano, G. and Gibiino, F. and Aquaro, G. D. and Lombardi, M. and L. Landini and M. F. Santarelli} } @article {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 {2269, title = {Inhomogeneous point-process entropy: An instantaneous measure of complexity in discrete systems}, journal = {Physical Review E}, volume = {89}, year = {2014}, author = {G. Valenza and Citi, L. and E. P. Scilingo and Barbieri, R.} } @article {2247, title = {Instantaneous monitoring of heart beat dynamics during anesthesia and sedation}, journal = {Journal of Computational Surgery}, volume = {3}, year = {2014}, author = {G. Valenza and O. Akeju and K. J. Pavone and L. Citi and K. E. Hartnack and A. Sampson and Purdon, P.L. and Brown, E.N. and R. Barbieri} } @conference {2159, title = {Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {664 - 670}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve{\textquoteright}s friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041434}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041434}, author = {A. Ajoudani and J. Lee and A. Rocchi and M. Ferrati and E. Mingo Hoffman and A Settimi and D. G. Caldwell and A. Bicchi and N G Tsagarakis} } @conference {2344, title = {Maximal-Radius Multiscale Entropy of Cardiovascular Variability: A Promising Biomarker of Pathological Mood States in Bipolar Disorders}, booktitle = {36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and G. Bertschy and A Lanata and R. Barbieri and E. P. Scilingo} } @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} } @conference {2280, title = {Multi-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity}, booktitle = {ESTIV 2014}, year = {2014}, pages = {107}, address = {Egmond aan Zee, The Netherlands}, abstract = {

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

}, keywords = {Bioengineering}, author = {S. Giusti and Sbrana, T. and D. Giacopelli and V. Di Patria and A. Ahluwalia} } @conference {2279, title = {The need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {45{\textendash}6}, address = {Prague, Czech Republic}, abstract = {

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

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

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

}, keywords = {Bioengineering}, issn = {1860-7314}, doi = {10.1002/biot.201400004}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24756869}, author = {S. Giusti and Sbrana, T. and La Marca, M and V. Di Patria and V. Martinucci and Tirella, A and C. Domenici and A. Ahluwalia} } @conference {2120, title = {The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {1261 - 1268}, address = {Chicago, USA}, abstract = {

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

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

invited

}, pages = {296{\textendash}302}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @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.} } @article {2149, title = {Revealing Real-Time Emotional Responses: a Personalized Assessment based on Heartbeat Dynamics}, journal = {Nature Scientific Reports}, volume = {4}, year = {2014}, pages = {1{\textendash}13}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and A Lanata and E. P. Scilingo and R. Barbieri} } @conference {2084, title = {The tactile toolbox}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775573}, author = {A. Serio and M. Bianchi and M Gabiccini and A. Bicchi} } @conference {2083, title = {ThimbleSense: A new wearable tactile device for human and robotic fingers }, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775571}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Bianchi and A. Serio and M. Santello and A. Bicchi} } @conference {2130, title = {ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies}, booktitle = {IEEE International Conference on Robotics and Automation - ICRA 2014}, year = {2014}, pages = {2728 - 2735 }, publisher = {IEEE}, organization = {IEEE}, address = { Hong Kong, May 31 - June 7, 2014}, abstract = {

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

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

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

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

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

}, keywords = {Embedded Control, Robotics}, isbn = {978-1-4799-7746-8}, doi = {10.1109/CDC.2014.7039723}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7039723}, author = {Cristofaro, A. and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @conference {2343, title = {Tracking Instantaneous Entropy in Heartbeat Dynamics through Inhomogeneous Point-Process Nonlinear Models}, booktitle = {36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @conference {2160, title = {Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {713 - 719}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

The advent of humanoids has brought new challenges in the real-world application. As a part of ongoing efforts to foster functionality of the robot accommodating a real environment, this paper introduces a recent progress on a door opening task with our compliant humanoid, CoMan. We presents a task-prioritized impedance control framework for an upper body system that includes a dual-arm, a waist, two soft hands, and 3D camera. Aimed to create desired responses to open the door, a novel stiffness modulation method is proposed, incorporating a realtime optimization. As a preliminary experiment, a full door-opening scenario (approaching to the door and reaching, grasping, rotating and pulling the door handle) is demonstrated under a semi-autonomous operation with a pilot. The experimental result shows the effectiveness and efficacy of the proposed impedance control approach. Despite of uncertainties from sensory data, the door opening task is successfully achieved and safe and robust interaction is established without creating excessive forces.

}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2014.7041441}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041441}, author = {J. Lee and A. Ajoudani and E. Mingo Hoffman and A. Rocchi and A Settimi and M. Ferrati and A. Bicchi and N G Tsagarakis and D. G. Caldwell} } @conference {2037, title = {Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, year = {2014}, pages = {3669 - 3675}, publisher = {IEEE}, organization = {IEEE}, address = {Hong Kong, May 31 2014-June 7 2014}, abstract = {

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is {\textquoteleft}pulled-in{\textquoteright} towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907390 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907390}, author = {R. Krug and T. Stoyanov and M. Bonilla and V. Tincani and N. Vaskeviciusz and G Fantoni and A. Birkz and A. Lilienthal and A. Bicchi} } @article {2143, title = {Wearable Monitoring for Mood Recognition in Bipolar Disorder based on History-Dependent Long-Term Heart Rate Variability Analysis}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A Lanata and C. Gentili and G. Bertschy and R. Paradiso and E. P. Scilingo} } @conference {2226, title = {XIM-Engine: a software framework to support the development of interactive applications that uses conscious and unconscious reactions in immersive mixed reality}, booktitle = {VIRTUAL REALITY INTERNATIONAL CONFERENCE}, year = {2014}, abstract = {

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

}, author = {P. Omedas and A. Betella and Zucca, R. and X. D. Arsiwalla and Pacheco, D. and J. Wagner and F. Lingenfelser and D. Mazzei and A Lanata and A. Tognetti and Goldhoorn, A. and Guerra, E. and Alqu{\`\i}zar, R. and Grau, A. and Sanfeliu, A. and D. De Rossi and E. Andr{\'e} and P. F. M. J. Verschure} } @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} } @article {2148, title = {Advanced Technology Meets Mental Health: How smartphones, textile electronics, and signal processing can serve mental health monitoring, diagnosis, and treatment.}, journal = {IEEE pulse}, volume = {5}, year = {2013}, pages = {56{\textendash}59}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and R. Paradiso and E. P. Scilingo} } @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 {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 {1234, title = {Characterization and Psychophysical Studies of an Air-Jet Lump Display}, journal = {Transactions on Haptics}, year = {2013}, pages = {156 - 166}, keywords = {Robotics}, doi = {10.1109/TOH.2012.71 }, author = {J.C Gwilliam and M. Bianchi and L. K. Su and A.M. Okamura} } @article {1779, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell Biochem Biophys}, year = {2013}, keywords = {Bioengineering}, doi = {10.1007/s12013-013-9680-y}, author = {G. Orsi and S. Ghelardoni and A. Saba and R. Zucca and G. Vozzi} } @article {1725, title = {A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities}, journal = {International Journal of Advanced Robotic Systems}, volume = {10}, year = {2013}, abstract = {

This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera{\textquoteright}s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.

}, keywords = {Robotics}, doi = {10.5772/54603}, url = {http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing}, author = {F. A. W. Belo and P Salaris and D. Fontanelli and A. Bicchi} } @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} } @conference {1705, title = {A Device for Mimicking the Contact Force/Contact Area Relationship of Different Materials with Applications to Softness Rendering}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {4484 - 4490 }, address = {Tokyo, Japan}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6697001 }, author = {A. Serio and M. Bianchi and A. Bicchi} } @article {2134, title = {Eye gaze patterns in emotional pictures}, journal = {Journal of Ambient Intelligence and Humanized Computing}, volume = {4}, year = {2013}, pages = {705{\textendash}715}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @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 {1760, title = {Global Path Planning for Competitive Robotic Cars}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {4510 - 4516}, address = {Florence, Italy}, keywords = {Robotics}, author = {T. Rizano and D. Fontanelli and L. Palopoli and L. Pallottino and P Salaris} } @article {2138, title = {Improving emotion recognition systems by embedding cardiorespiratory coupling}, journal = {Physiological Measurement}, volume = {34}, year = {2013}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @article {1791, title = {In vitro toxicological screening of nanoparticles on primary human endothelial cells and the role of flow in modulating cell response}, journal = {Nanotoxicology}, year = {2013}, abstract = {

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

}, keywords = {Bioengineering}, issn = {1743-5404}, doi = {10.3109/17435390.2013.831500}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23909703}, author = {Ucciferri, N and Collnot, E. M. and Gaiser, B. and Tirella, A and Stone, V. and C. Domenici and Lehr, C.-M. and A. Ahluwalia} } @conference {2137, title = {Instantaneous bispectral characterization of the autonomic nervous system through a point-process nonlinear model}, booktitle = {World Congress on Medical Physics and Biomedical Engineering}, year = {2013}, pages = {530{\textendash}533}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {May 26-31, 2012, Beijing, China}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @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 {2136, title = {Mood recognition in bipolar patients through the PSYCHE platform: Preliminary evaluations and perspectives}, journal = {Artificial Intelligence In Medicine}, volume = {57}, year = {2013}, pages = {49{\textendash}58}, keywords = {Bioengineering}, author = {G. Valenza and C. Gentili and A Lanata and E. P. Scilingo} } @conference {2141, title = {A nonlinear heartbeat dynamics model approach for personalized emotion recognition}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {2579{\textendash}2582}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and A Lanata and E. P. Scilingo and R. Barbieri} } @conference {1813, title = {Novel Spiking Neuron-Astrocyte Networks based on NoNlinearTransistor-Like Models of Tripartite Synapses}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC{\textquoteright}13)}, year = {2013}, address = {Osaka, Japan}, abstract = {

In this paper a novel and efficient computational implementation of a Spiking Neuron-Astrocyte Network (SNAN) is reported. Neurons are modeled according to the Izhikevich formulation and the neuron-astrocyte interactions are intended as tripartite synapsis and modeled with the previ- ously proposed nonlinear transistor-like model. Concerning the learning rules, the original spike-timing dependent plasticity is used for the neural part of the SNAN whereas an ad-hoc rule is proposed for the astrocyte part. SNAN performances are compared with a standard spiking neural network (SNN) and evaluated using the polychronization concept, i.e., number of co-existing groups that spontaneously generate patterns of polychronous activity. The astrocyte-neuron ratio is the biologically inspired value of 1.5. The proposed SNAN shows higher number of polychronous groups than SNN, remarkably achieved for the whole duration of simulation (24 hours).

}, keywords = {Bioengineering}, author = {G. Valenza and L. Tedesco and A Lanata and D. De Rossi and E. P. Scilingo} } @conference {1437, title = {Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2477 - 2484}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630914 }, author = {R. Incaini and L. Sestini and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @article {2139, title = {Point-Process Nonlinear Models with Laguerre and Volterra Expansions: Instantaneous Assessment of Heartbeat Dynamics}, journal = {IEEE Transactions on Signal Processing}, volume = {61}, year = {2013}, pages = {2914{\textendash}2926}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @conference {2140, title = {Quantitative EEG analysis in minimally conscious state patients during postural changes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {6313{\textendash}6316}, publisher = {IEEE}, organization = {IEEE}, author = {A. Greco and Carboncini, MC and Virgillito, A and A Lanata and G. Valenza and E. P. Scilingo} } @article {2255, title = {Regularization techniques on least squares non-uniform fast Fourier transform}, journal = {NTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING }, volume = {29}, year = {2013}, pages = {561-573}, doi = {10.1002/cnm.2540}, author = {Gibiino, F. and V. Positano and L. Landini and M. F. Santarelli} } @conference {1759, title = {Shortest paths for wheeled robots with limited Field-Of-View: introducing the vertical constraint}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {5143 - 5149}, address = {Florence, Italy}, keywords = {Robotics}, author = {P Salaris and A. Cristofaro and L. Pallottino and A. Bicchi} } @conference {1987, title = {Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2013}, address = {Atlanta, Georgia, USA}, keywords = {Robotics}, author = {A. Velasco and G M Gasparri and M. Garabini and L. Malagia and P Salaris and A. Bicchi} } @article {2231, title = {Structured errors in reconstruction methods for Non-Cartesian MR data }, journal = {COMPUTERS IN BIOLOGY AND MEDICINE }, volume = {43}, year = {2013}, month = {12/2013}, pages = {2256-2262}, doi = {10.1016/j.compbiomed.2013.10.013}, author = {Gibiino, F. and V. Positano and Wiesinger, F. and G. Giovannetti and L. Landini and M. F. Santarelli} } @conference {1757, title = {A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {3665 - 3670}, address = {Florence, Italy}, keywords = {Robotics}, author = {A Settimi and L. Pallottino} } @article {1230, title = {Synergy-Based Hand Pose Sensing: Optimal Glove Design}, journal = {International Journal of Robotics Research}, volume = {32}, year = {2013}, pages = {396-406}, abstract = {

In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of maximizing the reconstruction accuracy of the hand pose from partial and noisy data provided by any given pose sensing device (a sensorized "glove") taking into account statistical a priori information. In this paper we consider the dual problem of how to design pose sensing devices, i.e. how and where to place sensors on a glove, to get maximum information about the actual hand posture. We study the continuous case, whereas individual sensing elements in the glove measure a linear combination of joint angles, the discrete case, whereas each measure corresponds to a single joint angle, and the most general hybrid case, whereas both continuous and discrete sensing elements are available. The objective is to provide, for given a priori information and fixed number of measurements, the optimal design minimizing in average the reconstruction error. Solutions relying on the geometrical synergy definition as well as gradient flow-based techniques are provided. Simulations of reconstruction performance show the effectiveness of the proposed optimal design.

}, keywords = {Robotics}, doi = {10.1177/0278364912474079}, author = {M. Bianchi and P Salaris and A. Bicchi} } @article {1231, title = {Synergy-based Hand Pose Sensing: Reconstruction Enhancement}, journal = {International Journal of Robotics Research}, volume = {32}, year = {2013}, pages = { 407-424}, abstract = {

Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of Freedom (DoFs) of the hand. Under these conditions, direct reconstruction of the hand posture is an ill-posed problem, and performance can be very poor. This paper examines the problem of estimating the posture of a human hand using(low-cost) sensing gloves, and how to improve their performance by exploiting the knowledge on how humans most frequently use their hands. To increase the accuracy of pose reconstruction without modifying the glove hardware - hence basically at no extra cost - we propose to collect, organize, and exploit information on the probabilistic distribution of human hand poses in common tasks. We discuss how a database of such an a priori information can be built, represented in a hierarchy of correlation patterns or postural synergies, and fused with glove data in a consistent way, so as to provide a good hand pose reconstruction in spite of insufficient and inaccurate sensing data. Simulations and experiments on a low-cost glove are reported which demonstrate the effectiveness of the proposed techniques.

}, keywords = {Robotics}, doi = {10.1177/0278364912474078}, author = {M. Bianchi and P Salaris and A. Bicchi} } @conference {1446, title = {SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {1088 - 1093}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630708 }, author = {M. Malvezzi and G. Gioioso and G. Salvietti and D Prattichizzo and A. Bicchi} } @conference {1435, title = {Tele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2194 - 2200}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630872}, author = {N. Karavas and A. Ajoudani and N G Tsagarakis and J. Saglia and A. Bicchi and D. G. Caldwell} } @article {2252, title = {Transmit-Only/Receive-Only Radiofrequency System for Hyperpolarized C-13 MRS Cardiac Metabolism Studies in Pigs}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1125-1138}, doi = {10.1007/s00723-013-0477-3}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Menichetti, L. and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {1698, title = {Variable Impedance Actuators: a Review}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, note = {

Available online 6 August 2013

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

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

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

Best Paper Award

}, pages = {7-14}, address = {Osaka, Japan}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and A. Serio and E. Farnioli and C. Piazza and A. Bicchi} } @article {1479, title = {Are socially anxious individuals less empathic? A psychophysiological investigation of facial mimicry for emotional expressions}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {375{\textendash}376}, keywords = {Bioengineering}, author = {Matu, S. and Cristea, I. and Cote{\c t}, C. and G. Valenza and C. Gentili and E. P. Scilingo and David, D.} } @inbook {1237, title = {Artificially Rendered Cutaneous Cues for a New Generation of Haptic Displays}, booktitle = {Springer Series on Touch and Haptic Systems - part 2}, volume = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {171 - 188}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, doi = {10.1007/978-1-4471-2754-3_10}, author = {E. P. Scilingo and M. Bianchi and N. Vanello and V. Hartwig and L. Landini and A. Bicchi} } @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 {1398, title = {Calibration and Test of a Multi-Touch Tactile Object}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, address = {Algrave, Portugal}, keywords = {Robotics}, author = {A. Serio and M Gabiccini and I. Sarakoglou and A. Bicchi} } @article {1480, title = {Cognitive reappraisal and acceptance distinctively impact heart rate variability in socially anxious individuals}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {339}, keywords = {Bioengineering}, author = {Cristea, I. and G. Valenza and C. Gentili and Tatar, A.S. and E. P. Scilingo and David, D.} } @conference {1482, title = {On the deconvolution analysis of electrodermal activity in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {6691{\textendash}6694}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A. Greco and A Lanata and G. Valenza and Rota, G. and N. Vanello and E. P. Scilingo} } @article {1469, title = {Dominant Lyapunov exponent and approximate entropy in heart rate variability during emotional visual elicitation}, journal = {Frontiers in Neuroengineering}, volume = {5}, year = {2012}, keywords = {Bioengineering}, author = {G. Valenza and Allegrini, P. and A Lanata and E. P. Scilingo} } @article {1478, title = {Eye gaze patterns in emotional pictures}, journal = {Journal of Ambient Intelligence and Humanized Computing}, year = {2012}, pages = {1{\textendash}11}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @inbook {2002, title = {Immersive Multimodal Interactive Presence}, booktitle = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {215{\textendash}228}, publisher = {SPRINGER-VERLAG}, organization = {SPRINGER-VERLAG}, chapter = {FMRI Compatible Sensing Glove for Hand Gesture Monitoring}, address = {LONDON {\textendash} GBR}, isbn = {9781447127536}, doi = {10.1007/978-1-4471-2754-3_12}, url = {http://dx.medra.org/10.1007/978-1-4471-2754-3_12}, author = {N. Vanello and V. Hartwig and E. P. Scilingo and D. Bonino and E. Ricciardi and A. Tognetti and P. Pietrini and D. De Rossi and L. Landini 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} } @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} } @article {1476, title = {A novel EDA glove based on textile-integrated electrodes for affective computing}, journal = {Medical and Biological Engineering and Computing}, year = {2012}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @article {1472, title = {Oscillations of Heart Rate and Respiration Synchronize During Affective Visual Stimulation}, journal = {Information Technology in Biomedicine, IEEE Transactions on}, volume = {16}, year = {2012}, pages = {683{\textendash}690}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @conference {1264, title = {Realistic Humanlike Robots for Treatment of ASD, Social Training, and Research; Shown to Appeal to Youths with ASD, Cause Physiological Arousal, and Increase Human-to-Human Social Engagement}, booktitle = {Realistic Humanlike Robots for Treatment of Autism, PETRA 2012}, year = {2012}, pages = {1-7}, keywords = {Bioengineering}, author = {Hanson, D. and D. Mazzei and Garver, C. and D. De Rossi and Stevenson, M.} } @article {1334, title = {Realization of a poro-elastic ultrasound replica of pulmonary tissue}, journal = {Biomatter}, volume = {2}, year = {2012}, pages = {27{\textendash}26}, keywords = {Bioengineering}, url = {http://www.landesbioscience.com/journals/biomatter/article/19835/}, author = {Spinelli, A and Vinci, B. and Tirella, A and Matteucci, M and Gargani, L and A. Ahluwalia and C. Domenici and Picano, E and Chiarelli, P} } @article {1463, title = {The Role of Nonlinear Dynamics in Affective Valence and Arousal Recognition}, journal = {Affective Computing, IEEE Transactions on}, volume = {3}, year = {2012}, pages = {237{\textendash}249}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @article {1236, title = {Shortest Paths for Finned, Winged, Legged and Wheeled Vehicles with Side-Looking Sensors}, journal = {International Journal of Robotics Research}, volume = {31}, year = {2012}, pages = {997-1017}, keywords = {Robotics}, doi = {10.1177/0278364912446005}, author = {P Salaris and L. Pallottino and A. Bicchi} } @conference {1484, title = {Speech analysis for mood state characterization in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {2104{\textendash}2107}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {N. Vanello and Guidi, A. and C. Gentili and Werner, S. and G. Bertschy and G. Valenza and A Lanata and E. P. Scilingo} } @conference {1240, title = {Synergy-based Optimal Desing of Hand Pose Sensing}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012- JTCF Award}, year = {2012}, month = {October 7 - 12}, pages = {3929 - 3935 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {M. Bianchi and P Salaris and A. Bicchi} } @conference {RSGB12, title = {On the Synthesis of Feasible and Prehensile Robotic Grasps}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {p. 550 - 556}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {C. Rosales and R. Suarez and M Gabiccini and A. Bicchi} } @conference {2006, title = {Unobtrusive Physiological and Gesture Wearable Acquisition System: A Preliminary Study on Behavioral and Emotional Correlations}, booktitle = {GLOBAL HEALTH 2012 : The First International Conference on Global Health Challenges}, year = {2012}, month = {21-26 October}, pages = {88{\textendash}92}, author = {N. Carbonaro and A. Greco and G. Anania and G. Dalle Mura and A. Tognetti and E. P. Scilingo and D. De Rossi and A Lanata} } @conference {BSTCB12, title = {On the Use of Postural Synergies to Improve Human Hand Pose Reconstruction}, booktitle = {Haptics Symposium}, year = {2012}, month = {March 4 - 7}, pages = {91 - 98}, address = {Vancouver, Canada}, keywords = {Haptics, Robotics}, author = {M. Bianchi and P Salaris and A. Turco and N. Carbonaro and A. Bicchi} } @conference {1481, title = {Using Laguerre expansion within point-process models of heartbeat dynamics: A comparative study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {29{\textendash}32}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @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 {1245, title = {Variable Impedance Actuators: Moving the Robots of Tomorrow}, year = {2012}, keywords = {Robotics}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and G. Ganesh and M. Garabini and G. Grioli and S. Haddadin and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @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 {PS11, title = {On constrained optimal control problems in robotics}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Pallottino and P Salaris} } @article {1477, title = {Daytime naps improve motor imagery learning}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, year = {2011}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {Debarnot, U. and Castellani, E. and G. Valenza and Sebastiani, L. and Guillot, A.} } @conference {SGSTB11, title = {A decoupled Impedance observer for a Variable Stiffness Robot}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5548 - 5553}, address = {Shangai, China}, keywords = {Robotics}, author = {A. Serio and G. Grioli and I. Sardellitti and N G Tsagarakis and A. Bicchi} } @conference {1474, title = {EEG complexity drug-induced changes in disorders of consciousness: A preliminary report}, booktitle = {Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE}, year = {2011}, pages = {3724{\textendash}3727}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and Carboncini, MC and Virgillito, A. and Creatini, I. and Bonfiglio, L. and Rossi, B. and A Lanata and E. P. Scilingo} } @conference {2012, title = {Electroactive polymer patches for wearable haptic interfaces}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBC{\textquoteright}11}, year = {2011}, pages = {8369{\textendash}8372}, doi = {10.1109/IEMBS.2011.6092064}, url = {http://dx.medra.org/10.1109/IEMBS.2011.6092064}, author = {D. De Rossi and F. Carpi and N. Carbonaro and A. Tognetti and E. P. Scilingo} } @conference {VSB11, title = {Embodying Desired Behavior in Variable Stiffness Actuators}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {9733 - 9738}, address = {Milano, italy}, keywords = {Robotics}, author = {L. C. Visser and S. Stramigioli and A. Bicchi} } @conference {1467, title = {Eye tracking and pupil size variation as response to affective stimuli: A preliminary study}, booktitle = {Pervasive Computing Technologies for Healthcare (PervasiveHealth), 2011 5th International Conference on}, year = {2011}, pages = {78{\textendash}84}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and Armato, A. and G. Valenza and E. P. Scilingo} } @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} } @conference {SPHB11, title = {From Optimal Planning to Visual Servoing with Limited FOV}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {2817-2824}, address = {S. Francisco, USA}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and S. Hutchinson and A. Bicchi} } @mastersthesis {SalarisPhD, title = {From Optimal Synthesis to Optimal Visual Servoing for Autonomous Vehicles}, year = {2011}, note = {

Supervisors: Prof. Antonio Bicchi and Dott.ssa Lucia Pallottino

}, school = {University of Pisa}, type = {phd}, keywords = {Robotics}, author = {P Salaris} } @conference {SCGGB11, title = {The Hand Embodied}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {A. Serio and M. G. Catalano and G. Grioli and M Gabiccini and A. Bicchi} } @conference {BSB11, title = {Haptic interfaces: new strategies to convey tactile information}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and E. P. Scilingo and A. Bicchi} } @conference {1799, title = {How dimension a substrate for the realisation of controlled micro- and bio-inspired environment}, booktitle = {Euromat-FEMS}, year = {2011}, address = {Montpellier, France}, abstract = {

European Congress and Exhibition on Advanced Materials and Processes - Oral

}, keywords = {Bioengineering}, author = {Tirella, A and A. Ahluwalia and C. De Maria and Vozzi, F. and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L} } @article {1510, title = {Melt Extruded PU Hollow Fibers for Nerve Regeneration: In vivo Study}, journal = {VETERINARY RESEARCH}, year = {2011}, keywords = {Bioengineering}, issn = {0928-4249}, author = {G. Vozzi and F. Dini and S. Burchielli and C. Salvadori and C. De Maria and V. Chiono and G. Barsotti and G. Ciardelli and F. Carlucci and R. Roni} } @article {BGS11, title = {Modeling Natural and Artificial Hands with Synergies}, journal = {Philosophical Transactions of the Royal Society B}, volume = {366}, year = {2011}, pages = {3153 - 3161}, keywords = {Haptics, Robotics}, doi = {10.1098/rstb.2011.0152}, author = {A. Bicchi and M Gabiccini and M. Santello} } @article {1466, title = {Motor imagery effectiveness for mirror reversed movements}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, volume = {11}, year = {2011}, pages = {22{\textendash}31}, keywords = {Bioengineering}, author = {Debarnot, U. and G. Valenza and Champely, S. and E. P. Scilingo and D. De Rossi and Guillot, A.} } @inbook {1286, title = {Multi-Compartmental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, booktitle = {Bioreactors: Design, Properties and Applications}, number = {978-1-62100-164-5}, year = {2011}, pages = {159 - 178}, publisher = {Nova Science Publishers, Inc}, organization = {Nova Science Publishers, Inc}, chapter = {Multi-Compartimental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, abstract = {

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

}, keywords = {Bioengineering}, issn = {978-1-62100-164-5}, author = {D. Mazzei and S. Giusti and Sbrana, T. and A. Ahluwalia}, editor = {Antolli, P. G. and Zhiming Liu} } @article {1473, title = {A neuron-astrocyte transistor-like model for neuromorphic dressed neurons}, journal = {Neural Networks}, year = {2011}, keywords = {Bioengineering}, author = {G. Valenza and G. Pioggia and Armato, A. and M. Ferro and E. P. Scilingo and D. De Rossi} } @booklet {11, title = {Optimal synthesis for nonholonomic vehicles with constrained side sensors}, year = {2011}, note = {

Technical Report

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

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {S. Falasca and G. Lorefice and L. Greco and M. Gamba and S. Melani and A. Chaillet and D. Fontanelli and R. Schiavi and C Belsito} } @article {1513, title = {Poly(ester urethane) Guides for Peripheral Nerve Regeneration}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2011}, keywords = {Bioengineering}, issn = {1616-5187}, author = {V. Chiono and Sartori, S and Rechichi, A and Tonda-Turo, C and G. Vozzi and Vozzi, F. and D{\textquoteright}Acunto, M and C. Salvadori and F. Dini and G. Barsotti and F. Carlucci and S. Burchielli and Nicolino, S and Audisio, C and Perroteau, I and P. Giusti and G. Ciardelli} } @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} } @article {1292, title = {RT2: Real Time Ray Tracing for Underwater range Evaluation}, journal = {INTELLIGENT SERVICE ROBOTICS}, volume = {4}, year = {2011}, keywords = {Robotics}, issn = {1861-2776}, doi = {10.1007/s11370-011-0093-8}, url = {http://dx.medra.org/10.1007/s11370-011-0093-8}, author = {G. Casalino and A. Caiti and E. Simetti and A. Turetta} } @conference {SPB11, title = {Shortest Paths With Side Sensor}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {4875 - 4882}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @article {1488, title = {Substrate stiffness influences high resolution printing of living cells with an ink-jet system}, journal = {Journal of bioscience and bioengineering}, volume = {112}, year = {2011}, pages = {79{\textendash}85}, abstract = {

The adaptation of inkjet printing technology for the realisation of controlled micro- and nano-scaled biological structures is of great potential in tissue and biomaterial engineering. In this paper we present the Olivetti BioJet system and its applications in tissue engineering and cell printing. BioJet, which employs a thermal inkjet cartridge, was used to print biomolecules and living cells. It is well known that high stresses and forces are developed during the inkjet printing process. When printing living particles (i.e., cell suspensions) the mechanical loading profile can dramatically damage the processed cells. Therefore computational models were developed to predict the velocity profile and the mechanical load acting on a droplet during the printing process. The model was used to investigate the role of the stiffness of the deposition substrate during droplet impact and compared with experimental investigations on cell viability after printing on different materials. The computational model and the experimental results confirm that impact forces are highly dependent on the deposition substrate and that soft and viscous surfaces can reduce the forces acting on the droplet, preventing cell damage. These results have high relevance for cell bioprinting; substrates should be designed to have a good compromise between substrate stiffness to conserve spatial patterning without droplet coalescence but soft enough to absorb the kinetic energy of droplets in order to maintain cell viability.

}, keywords = {Bioengineering}, issn = {1347-4421}, doi = {10.1016/j.jbiosc.2011.03.019}, url = {http://www.ncbi.nlm.nih.gov/pubmed/21497548}, author = {Tirella, A and Vozzi, F. and C. De Maria and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L and A. Ahluwalia} } @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} } @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} } @inbook {2010, title = {Wearable Monitoring Systems}, year = {2011}, pages = {3{\textendash}25}, chapter = {Sensors for Wearable Systems}, isbn = {9781441973832}, doi = {10.1007/978-1-4419-7384-9_1}, url = {http://dx.medra.org/10.1007/978-1-4419-7384-9_1}, author = {E. P. Scilingo and A Lanata 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 {BSB10, title = {3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs}, booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, year = {2010}, month = {October}, pages = {2539 -2545}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, doi = {10.1109/IROS.2010.5648896}, author = {F. A. W. Belo and P Salaris and A. Bicchi} } @conference {1471, title = {The contribution of the phase spectrum in automatic multiple cardiac arrhythmias recognition in wearable systems}, booktitle = {Applied Sciences in Biomedical and Communication Technologies (ISABEL), 2010 3rd International Symposium on}, year = {2010}, pages = {1{\textendash}5}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @conference {CSB-ICRA10, title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {3285 - 3291}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and R. Schiavi and A. Bicchi} } @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} } @article {1518, title = {Molecularly imprinted nanospheres for applications in a novel model biosensor-scaffold,}, journal = {SENSORS AND ACTUATORS. B, CHEMICAL}, year = {2010}, keywords = {Bioengineering}, issn = {0925-4005}, author = {MORELLI, I and V. Chiono and G. Vozzi and G. Ciardelli and SILVESTRI, D and P. Giusti} } @conference {2021, title = {A MR Compatible Sensing Glove for Brain Studies}, booktitle = {Proceedings of the 16th Annual Meeting of the Organization for Human Brain Mapping}, year = {2010}, month = {6-10 Giugno}, pages = {1262 MT{\textendash}PM{\textendash}}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and G. Zupone and A. Tognetti and D. Bonino and E. P. Scilingo and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @conference {2022, title = {Neural Correlates of Human-Robot Handshaking}, booktitle = {Proc. of the 19th IEEE International Symposium in Robot and Human Interactive Communication}, year = {2010}, note = {

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

}, month = {13-15, Settembre}, pages = {555{\textendash}561}, publisher = {IEEE}, organization = {IEEE}, address = {NEW YORK {\textendash} USA}, doi = {10.1109/ROMAN.2010.5598624}, url = {http://dx.medra.org/10.1109/ROMAN.2010.5598624}, author = {N. Vanello and D. Bonino and E. Ricciardi and M. Tesconi and E. P. Scilingo and V. Hartwig and A. Tognetti and G. Zupone and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @conference {BSSB, title = {A new fabric based softness display}, booktitle = {Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, month = {March 25-16}, pages = {108 - 112}, address = {Waltham,Massachusetts, USA}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {1464, title = {A pervasive activity management and rehabilitation support system for the elderly}, booktitle = {Pervasive Computing and Communications Workshops (PERCOM Workshops), 2010 8th IEEE International Conference on}, year = {2010}, pages = {813{\textendash}816}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Pioggia and Tartarisco, G. and G. Valenza and Ricci, G. and Volpi, L. and Siciliano, G. and Bonfiglio, S.} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @article {SPFB10, title = {Shortest Paths for a Robot with Nonholonomic and Field-of-View Constraints}, journal = {IEEE Trans. on Robotics}, volume = {26}, number = {2}, year = {2010}, pages = {269 - 281}, keywords = {Embedded Control, Robotics}, author = {P Salaris and D. Fontanelli and L. Pallottino and A. Bicchi} } @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 {1465, title = {Towards a smart glove: Arousal recognition based on textile electrodermal response}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE}, year = {2010}, pages = {3598{\textendash}3601}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo and D. De Rossi} } @conference {BGSSB, title = {Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position}, booktitle = {Eurohaptics 2010}, series = {Lecture Notes in Computer Science}, volume = {6192/2010}, year = {2010}, month = {July, 8 - 10}, pages = {136 - 143}, address = {Amsterdam (The Netherlands)}, keywords = {Haptics, Robotics}, author = {M. Bianchi and G. Grioli and E. P. Scilingo and M. Santello and A. Bicchi} } @inbook {FSBB10, title = {Visual Servoing via Advanced Numerical Methods}, volume = {401}, year = {2010}, pages = {335 - 360}, publisher = {Springer}, organization = {Springer}, chapter = {Unicycle{\textendash}like Robots with Eye-In-Hand Monocular Cameras: from PBVS Towards IBVS}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {Graziano Chesi and Koichi Hashimoto} } @conference {CGBSB10, title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation}, booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2010}, month = {October}, pages = {3676 - 3681}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi} } @article {2016, title = {A WEARABLE SYSTEM FOR MONITORING GESTURE, POSTURE AND PHYSIOLOGICAL CORRELATES OF EMOTION}, journal = {PARKINSONISM \& RELATED DISORDERS}, year = {2010}, pages = {{\textendash}}, issn = {1353-8020}, author = {Debarnot, U. and F. Lorussi and E. P. Scilingo and A. Tognetti and D. De Rossi} } @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 {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 {SFB-ICRA09, title = {Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {259 - 264}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {R. Schiavi and F. Flacco and A. Bicchi} } @article {1539, title = {Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)}, journal = {BIOMEDICAL MICRODEVICES}, year = {2009}, pages = {1037-1050}, keywords = {Bioengineering}, issn = {1387-2176}, author = {V. Chiono and G. Vozzi and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and DI SCIPIO, F and GEUNA, S and FORNARO, M and TOS, P and Nicolino, S and Audisio, C and Perroteau, I and CHIARAVALLOTI, A and C. Domenici and P. Giusti and G. Ciardelli} } @conference {BSSB09, title = {A new softness display based on bi-elastic fabric}, booktitle = {World Haptics}, year = {2009}, note = {

poster presentation

}, month = {March, 18 - 20}, pages = {382 - 383}, address = {Salt Lake City, USA}, abstract = {

Haptic perception allows to explore and recognize an object by conveying several physical information to mechano-receptors and thermo-receptors lying into our skin throughout the body. The term

}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {DLFSB-IROS09, title = {Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {5487-5494}, address = {St. Louis MO USA}, abstract = {

Variable Stiffness Actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities is characterized. Moreover, a momentum-based collision detection scheme is introduced, which does not require joint torque sensing nor information on the time-varying stiffness of the device. Based on the residual signal, a collision reaction strategy is proposed that takes advantage of the proposed nonlinear control to rapidly let the arm bounce away after detecting the impact, while limiting contact forces through a sudden reduction of the stiffness. Simulations results are presented to illustrate the performance of the overall approach. Extensions to the multi-dof case of robot manipulators equipped with VSA-II devices are also considered.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. De Luca and F. Flacco and R. Schiavi and A. Bicchi} } @conference {BSSB, title = {Rendering softness: a new fabric yielding display}, booktitle = {Workshop for young researchers on human - friendly robotics - Symposium}, year = {2009}, month = {December 3}, address = {Sestri levante (Ge), Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @article {1298, title = {Robotics techniques for data acquisition in underwater archeology}, journal = {INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, volume = {10}, year = {2009}, pages = {45{\textendash}51}, keywords = {Robotics}, issn = {1590-8844}, author = {G. Conte and S. M. Zanoli and D. Scaradozzi and A. Caiti} } @conference {ACBBGSFB-IROS09, title = {A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {3336-3342}, address = {St. Louis MO USA}, abstract = {

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

}, keywords = {Robotics}, author = {S. Alicino and M. G. Catalano and F. Bonomo and F. A. W. Belo and G. Grioli and R. Schiavi and A. Fagiolini and A. Bicchi} } @conference {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 {PSFB-CDC09, title = {Shortest Paths for Non-holonomic Vehicles with Limited Field of View Camera}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, month = {December, 16 - 1}, pages = {8434 - 8439}, address = {Shangai, China}, abstract = {

This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a pinhole camera rigidly fixed with limited Field-Of-View (FOV). We preliminarily provide an alphabet of optimal control words and then we demonstrate how to obtain the partition induced by shortest path in the vehicle plane. The word univocally associated to a region encodes the shortest path from any starting point in that region to the goal point of the mobile robot without violating the FOV constraints.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and P Salaris and D. Fontanelli and A. Bicchi} } @article {1295, title = {Underwater vehicle technology in the European research project VENUS}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {175{\textendash}185}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.175}, url = {http://dx.medra.org/10.3723/ut.28.175}, author = {G. Conte and L. Gambella and D. Scaradozzi and S. M. Zanoli and A. Caiti and V. Calabr{\`o} and A. Alcocer and J. Alves and B. Cardeira and R. Cunha and F. Curado and P. Oliveira and A. Oliveira and A. Pascoal and M. Rufino and L. Sebasti{\~a}o and C. Silvestre} } @inbook {FSBB09_STAR, title = {Visual appearance mapping for optimal vision based servoing}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {54 - Experimental Robotics}, year = {2009}, month = {March 28}, pages = {353 - 362}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @article {FDSBB09, title = {Visual Servoing in the Large}, journal = {International Journal of Robotics Research}, volume = {28}, number = {6}, year = {2009}, month = {June}, pages = {802 - 814}, abstract = {

In this paper we consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-ofview of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and A. Danesi and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {2030, title = {Wearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation}, booktitle = {Proc. of the IEEE EMBC 2009}, year = {2009}, month = {02/09/ - 06/09/}, pages = {6830{\textendash}6833}, doi = {10.1109/IEMBS.2009.5334481}, url = {http://dx.medra.org/10.1109/IEMBS.2009.5334481}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @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 {BDDLPPSS08, title = {Heterogeneous Wireless Multirobot System}, journal = {Robotics and Automation Magazine, IEEE}, volume = {15}, number = {1}, year = {2008}, pages = {62{\textendash}70}, keywords = {Robotics}, doi = {10.1109/M-RA.2007.914925}, url = {http://dx.doi.org/10.1109/M-RA.2007.914925}, author = {A. Bicchi and A. Danesi and G. Dini and La Porta, S. and L. Pallottino and I. M. Savino and R. Schiavi} } @conference {1643, title = {Nanotechnology in Tissue Engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Ciardelli and V. Chiono and Rechici, A and Sartori, S and G. Vozzi and Bignardi, C and Georgiev, G and P. Giusti} } @article {1551, title = {Nerve regeneration using novel biomaterial supports}, journal = { Biomedicine and Pharmacotherapy }, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0753-3322}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {1635, title = {Nerve regeneration using novel biomaterial supports}, booktitle = {Biomedicine \& Pharmacotherapy}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

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

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @article {1557, title = {PAM-microfabricated polyurethane scaffolds: in vivo and in vitro preliminary studies}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2008}, keywords = {Bioengineering}, issn = {1616-5187}, author = {G. Vozzi and Rechichi, A and F. Dini and C. Salvadori and Vozzi, F. and S. Burchielli and F. Carlucci and ARISPICI, M and G. Ciardelli and P. Giusti and A. Ahluwalia} } @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 {AMC08, title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance}, booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control}, year = {2008}, pages = {9-14}, abstract = {

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

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti} } @article {1554, title = {Poly(3-hydroxybutyrate-co-3-hydroxyvalerate)/poly(epsilon-caprolactone) blends for tissue engineering applications in the form of hollow fibers}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {V. Chiono and G. Ciardelli and G. Vozzi and SOTGIU, MG and Vinci, B. and C. Domenici and P. Giusti} } @conference {1461, title = {Real-time discrimination of multiple cardiac arrhythmias for wearable systems based on neural networks}, booktitle = {Computers in Cardiology, 2008}, year = {2008}, pages = {1053{\textendash}1056}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and M. Ferro and E. P. Scilingo} } @inbook {HB08-1, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {39 - 60}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {The Role of Tactile Flow in Processing Dynamic Haptic Stimuli}, address = {Berlin, Heidelberg}, abstract = {

Dynamic stimuli in visual and tactile sensory modalities share fundamental psychophysical features that can be explained by similar computational models. In vision, information about relative motion between objects and the observer are mainly processed by optic flow, which is a 2D field of velocities associated with variation of brightness patterns in the image plane. It provides important information about cues for region and boundary segmentation, shape recovery, and so on. For instance, radial patterns of optic flow are often used to estimate time before contact with an approaching object. We put forward the hypothesis that a similar behavior can be present in the tactile domain, in which an analogous paradigm to optic flow might exist. Moreover, as optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect and Ouchi

}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @inbook {HB08-2, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {155-178}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {Rheological Device}, address = {Berlin, Heidelberg}, abstract = {

In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.

}, keywords = {Haptics, Robotics}, author = {N. Sgambelluri and E. P. Scilingo and R. Rizzo and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

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

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @article {1628, title = {Surface modification of a synthetic polyurethane by plasma glow discharge: preparation and characterisation of bioactive monolayers}, journal = {REACTIVE \& FUNCTIONAL POLYMERS}, volume = {68}, year = {2008}, pages = {809{\textendash}821}, keywords = {Bioengineering}, issn = {1381-5148}, author = {Sartori, S and Rechichi, A and G. Vozzi and D{\textquoteright}Acunto, M and HEINE, E and P. Giusti and G. Ciardelli} } @article {BRB07, title = {Tactile flow explains haptic counterparts of common visual illusions}, journal = {Brain Res Bull.}, volume = {75}, number = {6}, year = {2008}, month = {April 15}, pages = {737-741}, abstract = {

Interaction with the external world requires the ability to perceive dynamic changes in complex sensorial input and react promptly. Here we show that perception of dynamic stimuli in the visual and tactile sensory modalities share fundamental psychophysical aspects that can be explained by similar computational models. In vision, optic flow provides information on relative motion between the individual and the content of percept. For instance, radial patterns of optic flow are used to estimate time before contact with an approaching object4. Similarly, in the tactile modality, radial patterns of stimuli provide information on softness of probed objects3. Optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect10. Here we introduce a computational model of tactile flow, which is intimately related to existing models for the visual counterpart. The model accounts for psychophysical aspects of dynamic tactile perception and predicts illusory phenomena in the tactile domain, analogous to the barber-pole effect. When subjects touched translating pads with differently oriented gratings, they perceived a direction of motion that was significantly biased towards the orientation of the gratings. Therefore, these findings indicate that visual and tactile flow share similarities at the psychophysical and computational level and may be intended for similar perceptive goals. Results of this analysis have impact on the engineering of better haptic and multimodal interfaces for human-computer interaction.

}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and E. Ricciardi and P. Pietrini} } @conference {BFDS08, title = {Tolerating Malicious Monitors in Detecting Misbehaving Robots}, booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics}, year = {2008}, pages = {108 - 114}, address = {Tohoku University Aobayama Campus, Sendai, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and A. Bicchi and G. Dini and I. M. Savino} } @article {FSB08, title = {Toward Soft Robot you can Depend on}, journal = {IEEE Robotics and Automation Magazine}, volume = {15}, number = {3}, year = {2008}, pages = {31 - 41}, keywords = {Embedded Control, Robotics}, author = {R. Filippini and S. Sen and A. Bicchi} } @article {1400, title = {Underwater cartography for archaeology in the VENUS project}, journal = {GEOMATICA}, volume = {62}, year = {2008}, pages = {419{\textendash}427}, keywords = {Bioengineering}, issn = {1195-1036}, author = {P. Drap and J. SEINTURIER and G. Conte and A. Caiti and D. Scaradozzi and S. M. Zanoli and P. GAMBOGI} } @conference {iser08, title = {Visual SLAM for Servoing for Appearance Based Topological Maps}, booktitle = {Proc. Ints. Symp. Experimental Robotics}, series = {Experimental Robotics}, volume = {39/2008}, year = {2008}, pages = {277-286}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and A. Bicchi}, editor = {Springer-Verlag} } @conference {schiavi2008icra, title = {VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {2171 - 2176}, abstract = {

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

}, keywords = {Robotics}, author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi} } @article {1655, title = {Acute retinal ganglion cell injury caused by intraocular pressure spikes is mediated by endogenous extracellular ATP}, journal = {EUROPEAN JOURNAL OF NEUROSCIENCE}, volume = {25}, year = {2007}, pages = {2741{\textendash}2754}, keywords = {Bioengineering}, issn = {0953-816X}, author = {RESTA, V. and NOVELLI, E. and G. Vozzi and SCARPA, C. and CALEO, M. and A. Ahluwalia and SOLINI, A. and SANTINI, E. and PARISI, V. and DI VIRGILIO, F. and GALLI-RESTA, L.} } @conference {1470, title = {An Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery}, booktitle = {Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on}, year = {2007}, pages = {25{\textendash}30}, publisher = {IEEE}, organization = {IEEE}, keywords = {Haptics}, author = {N. Sgambelluri and G. Valenza and M. Ferro and G. Pioggia and E. P. Scilingo and D. De Rossi and A. Bicchi} } @article {DSSDLB07, title = {An atlas of physical human-robot interaction}, journal = {Mechanism and Machine Theory}, volume = {43}, number = {3}, year = {2007}, pages = {253-270}, abstract = {

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human-Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also {\textquoteleft}{\textquoteleft}cognitive

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {De Santis, A and B. Siciliano and A.De Luca and A. Bicchi} } @conference {1662, title = {Bioactive polyurethanes trough new functionalisation stretegies}, booktitle = {Biotechnical functionalisation of renewable polymeric materials}, year = {2007}, month = {16-17 April}, keywords = {Bioengineering}, author = {G. Ciardelli and Sartori, S and Rechichi, A and CAPORALE, A and S. BRONCO and G. Vozzi and P. Giusti} } @conference {filippini2007cda, title = {A Comparative Dependability Analysis of Antagonistic Actuation Arrangements for Enhanced Robotic Safety}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2007}, pages = {4349{\textendash}4354}, abstract = {In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e. the joint-level actuation system. We consider robot joints that implement the Variable Impedance Actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to achieve high performance while constantly keeping injury risks to humans by accidental impacts below a given threshold. The paper describe possible implementations of the VIA concept which use the Antagonistic Actuation (AA) in three different arrangements. This study follows a previously reported paper dealing with safety. Here a detailed comparative dependability and performability analysis in front of possible specific failure modes is conducted, whose results provide additional and useful guidelines for design of safe and dependable actuation systems for physical human-robot interaction. }, keywords = {Robotics}, author = {R. Filippini and S. Sen and G. Tonietti and A. Bicchi} } @conference {BDSP:ECC07, title = {A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems}, booktitle = {Proc. European Control Conference (ECC)}, year = {2007}, month = {July}, pages = {4285-4292}, abstract = {

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

}, keywords = {Embedded Control, Robotics}, author = {P. Alriksson and J. Nordh and K -E Arz{\'e}n and A. Bicchi and A. Danesi and R. Schiavi and L. Pallottino} } @article {PSFB06-TRO, title = {Decentralized cooperative policy for conflict resolution in multi-vehicle systems}, journal = {IEEE Trans. on Robotics}, volume = {23}, number = {6}, year = {2007}, pages = {1170-1183}, abstract = {

In this paper we propose a novel policy for steering multiple vehicles between assigned independent start and goal configurations and ensuring collision avoidance. The policy rests on the assumption that agents are all cooperating by implementing the same traffic rules. However, the policy is completely decentralized, as each agent decides its own motion by applying those rules only on locally available information, and totally scalable, in the sense that the amount of information processed by each agent and the computational complexity of the algorithms are not increasing with the number of agents in the scenario. The proposed policy applies to systems in which new vehicle may enter the scene and start interacting with existing ones at any time, while others may leave. Under mild conditions on the initial configurations, the policy is shown to be safe, i.e. to guarantee collision avoidance throughout the system evolution. In the paper, conditions are discussed on the desired configurations of agents under which the ultimate convergence of all vehicles to their goals can also be guaranteed. To show that such conditions are actually necessary and sufficient, which turns out to be a challenging liveness verification problem for a complex hybrid automaton, we employ a probabilistic verification method. The paper finally reports on simulations for systems of several tens of vehicles, and with some experimental implementation showing the practicality of the approach.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @article {BHM07, title = {The Effect of Visual Experience on the Development of Functional Architecture in hMT+}, journal = {Cerebral Cortex}, volume = {17}, number = {12}, year = {2007}, note = {

[Epub ahead of print]

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

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

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and L. Sani and C. Gentili and E. P. Scilingo and L. Landini and M. Guazzelli and A. Bicchi and J. V. Haxby and P. Pietrini} } @inbook {HCVRSGSPPLB07, title = {Electrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging}, booktitle = {Encyclopedia of Healthcare Information Systems}, year = {2007}, pages = {497 - 503}, publisher = {Medical Information Science}, organization = {Medical Information Science}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and A. Bicchi and P. Pietrini and L. Landini} } @article {RSSRB07, title = {Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids}, journal = {IEEE Transactions on Magnetics}, volume = {43}, number = {9-1}, year = {2007}, pages = {3586-3600}, abstract = {

This paper deals with design and implementation of innovative haptic interfaces based on Magnetorheological fluids (MRFs). This pioneering research work consists in developing 2D and quasi-3D MRF-based devices capable of suitably energizing the fluid with a magnetic field in order to build figures which can be directly squeezed by hands. These devices are able to properly create a distribution of magnetic field over time and space inducing the fluid to assume desired shape and compliance. We implemented different prototypes whose synthesis and design phase, here described in detail, was prepared by preliminary simulations obtained by means of software based on a 3D Finite Element code. In this way, both magnetic field and shear stress profiles inside the fluid can be carefully predicted. Finally, performance of these devices was evaluated and assessed.

}, keywords = {Haptics}, author = {R. Rizzo and N. Sgambelluri and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {FontanelliRS07, title = {A Fast RANSAC{\textendash}Based Registration Algorithm for Accurate Localization in Unknown Environments using LIDAR Measurements}, booktitle = {Proc. IEEE Int. Conf. on Automation Science and Engineering}, year = {2007}, month = {September}, address = {Scottsdale, AZ, USA}, abstract = {

The problem of accurate localization using only measurements from a LIDAR sensor is analyzed in this paper. The sensor is rigidly fixed on a generic moving platform, which moves on a plane. Practical on{\textendash}line applications of localization algorithms impose constraints on the execution time, problem that is addressed in this paper and compared with other existing solutions. Due to the nature of the sensor adopted, the localization algorithm is based on a fast and accurate {\em registration} algorithm, which is able to deal with noisy measurements, outliers and dynamic environments. The proposed solution relies on the RANSAC algorithm in combination with a Huber kernel in order to cope with typical nuisances in LIDAR measurements. The robust registration is successively used in combination with an Extended Kalman Filter to track the trajectory of the LIDAR over time, hence to solve the localization problem. Simulations and experimental results are reported to show the feasibility of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Ricciato and S. Soatto} } @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 {SSTB-WH07, title = {Integrating Two Haptic devices for Performance Enhancement}, booktitle = {World Haptics Conference 2007}, year = {2007}, pages = {139-144}, abstract = {

This paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and G. Tonietti and A. Bicchi} } @conference {VHTZSTRSBPDRL07, title = {An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration}, booktitle = {The 10th Annual International Workshop on Presence}, year = {2007}, pages = {79-83}, keywords = {Haptics}, author = {N. Vanello and V. Hartwig and M. Tesconi and G. Zupone and N. Sgambelluri and A. Tognetti and E. Ricciardi and E. P. Scilingo and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini}, editor = {Laura Moreno, Starlab Barcelona, S.L.} } @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} } @booklet {CHCHLOSIcdc07, title = {Towards uniform linear time-invariant stabilization of systems with persistency of excitation}, howpublished = {Submitted to CDC 2007}, year = {2007}, month = {December}, address = {New Orleans, USA}, abstract = {

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizableand $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally exponentially stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

}, keywords = {Robotics}, author = {A. Chaillet and Y. Chitour and A. Lor and M. Sigalotti} } @booklet {CHCHLOSI07, title = {Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases}, howpublished = {Submitted to Mathematics of Control, Signals and Systems}, year = {2007}, abstract = {

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally asymptotically stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

}, keywords = {Robotics}, author = {A. Chaillet and Y. Chitour and A. Lor and M. Sigalotti} } @conference {FSB07, title = {Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability}, booktitle = {Proc. IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments.}, year = {2007}, month = {April}, abstract = {

An antagonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are analysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.

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

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

}, keywords = {Haptics}, author = {R. Gassert and N. Vanello and D. Chapuis and V. Hartwig and E. P. Scilingo and A. Bicchi and L. Landini and E. Burdet and H. Bleuler} } @conference {SSBRR, title = {Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06}, year = {2006}, month = {October}, pages = {1558-1563}, abstract = {

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

}, keywords = {Haptics}, author = {N. Sgambelluri and E. P. Scilingo and A. Bicchi and R. Rizzo and M. Raugi} } @conference {LSFD-06, title = {Bi-modal Transducer-based Wearable System for Cardiac Monitoring}, booktitle = {Fourth IASTED International Conference on Biomedical Engineering}, year = {2006}, month = {February}, pages = {92-97}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A Lanata and E. P. Scilingo and R. Francesconi and D. De Rossi} } @conference {ricciardi05:_brain, title = {Brain response to visual, tactile and auditory flow in sighted and blind individuals supports a supramodal functional organization in hMT complex}, booktitle = {Proc. 12th International Conference on Functional Mapping of Human Brain Mapping}, volume = {31}, number = {1}, year = {2006}, note = {

Florence

}, pages = {512 TH-P}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and D. Bonino and N. Vanello and J. V. Haxby and E. Seifritz and M. Guazzelli and L. Landini and A. Bicchi and Di Salle, F and P. Pietrini} } @conference {HCV06, title = {A Compatible Electrocutaneous Display for functional Magnetic Resonance Imaging application}, booktitle = {Proc. 28th IEEE Engineering in Medicine and Biology Conference}, year = {2006}, note = {(poster presentation)}, pages = {100-102}, abstract = {In this paper we propose an MR (Magnetic Resonance) compatible electrocutaneous stimulator able to inject an electric current, variable in amplitude and frequency, into the fingertips in order to elicit tactile skin receptors (mechanoreceptors). The desired goal is to evoke specific tactile sensations selectively stimulating skin receptors by means of an electric current in place of mechanical stimuli. The field of application ranges from functional Magnetic Resonance Imaging (fMRI) tactile studies to augmented reality technology. The device here proposed is designed using safety criteria in order to comply with the threshold of voltage and current permitted by regulations. Moreover, MR safety and compatibility criteria were considered in order to perform experiments inside the MR scanner during an fMRI acquisition for functional brain activation analysis. Psychophysical laboratory tests are performed in order to define the different evoked tactile sensation. After verifying the device MR safety and compatibility on a phantom, a test on a human subject during fMRI acquisition is performed to visualize the brain areas activated by the simulated tactile sensation.}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and L. Landini and A. Bicchi} } @conference {PSFB-MTNS06, title = {Decentralized and scalable conflict resolution strategy for multi-agents systems}, booktitle = {Int. Symp. on Mathematical Theory of Networks and Systems}, year = {2006}, abstract = {

A decentralized cooperative collision avoidance control policy for planar vehicle recently proposed is herein considered. Given some simple conditions on initial configurations of agents, the policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. First a 3D workspace extension is proposed. Furthermore, based on a condition on target configuration previously proposed, some general results on the liveness property are reported. Finally, qualitative evaluations on the strategy and on the proposed target sparsity condition are pointed out.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {SRSRB06, title = {Free Hand Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2006}, note = {

Poster presentation

}, month = {March}, pages = {367-371}, abstract = {

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @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} } @inbook {SSB06, title = {Minimally Invasive Therapies \& Novel Embedded Technology Systems}, booktitle = {ARISER 2006 Augmented Reality in Surgery}, year = {2006}, pages = {133-142}, abstract = {

Recent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {S. Casciaro and A. Distante} } @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} } @inbook {BSSTB06, title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI}, booktitle = {European Robotics Symposium 2006}, series = {Springer Tracts in Advanced Robotics}, volume = {22}, year = {2006}, pages = {109 - 118}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi}, editor = {H. Christensen} } @conference {PSFB06, title = {Probabilistic verification of a decentralized policy for conflict resolution in multi-agent systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, note = {

Correct version

}, pages = {2448-2453}, abstract = {

In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple non-holonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. In this paper, we introduce a condition on the final vehicle configurations, which we conjecture to be sufficient for guaranteeing liveness. Because of the overwhelming complexity of proving the sufficiency of such condition, we assess the correctness of the conjecture in probability through the analysis of the results of a large number of randomized experiments.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {PHRI06, title = {Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges}, booktitle = {Proc. IROS{\textquoteright}06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains}, year = {2006}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, author = {R. Alami and A Albu-Schaeffer and A. Bicchi and R. Bischoff and R. Chatila and A. De Luca and De Santis, A and G. Giralt and J. Guiochet and G. Hirzinger and F. Ingrand and V. Lippiello and R. Mattone and D. Powell and S. Sen and B. Siciliano and G. Tonietti and L. Villani}, editor = {A. Bicchi and A. De Luca} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {DSSBG06, title = {Security and Advanced Control Issues in a Robotic Platform for Monitoring and Relief}, booktitle = {Proc. of EWSN 2006 February 13-15, ETH Zurich}, year = {2006}, abstract = {

This paper provides an architectural overview and a first implementation of an heterogeneous agent network composed by mobile robots of di

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and I. M. Savino and R. Schiavi and A. Bicchi and G. Dini} } @inbook {DS06, title = {Skin-like sensor arrays}, booktitle = {Encyclopedia of Sensors}, year = {2006}, pages = {535-556}, publisher = {American Scientific Publishers}, organization = {American Scientific Publishers}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and E. P. Scilingo} } @inbook {DLMS01, title = {Wearable Mechanosensing and Emerging Technologies in Fabric-based Actuation}, booktitle = {Intelligent Textiles for Personal Protection and Safety}, volume = {3}, year = {2006}, pages = {55-64}, publisher = {IOS Press}, organization = {IOS Press}, edition = { }, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @article {BRRS-TM, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, journal = {IEEE Transactions on Magnetics}, volume = {41}, number = {5}, year = {2005}, pages = {1876 - 1879}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @conference {PSFB05, title = {Decentralized Cooperative Conflict Resolution for Multiple Nonholonomic Vehicles}, booktitle = {Proc. AIAA COnf. on Guidance, Navigation and Control}, year = {2005}, abstract = {

In this paper, we consider the problem of collision-free motion planning for multiple nonholonomic planar vehicles. Each vehicle is capable of moving at constant speed along paths with bounded curvature, and is aware of the position and heading of other vehicles within a certain sensing radius. No other information exchange is required between vehicles. We propose a spatially decentralized, cooperative hybrid control policy that ensures safety for arbitrary numbers of vehicles. Furthermore, we show that under certain conditions, the policy avoids dead- and livelock, and eventually all vehicles reach their intended targets. Simulations and experimental results are presented and discussed.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {TSB05, title = {Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2005}, pages = {528-533}, abstract = {

This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.

}, keywords = {Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi} } @conference {DSSB-WH05, title = {Does Active Exploration Suppress Tactile Flow Perception?}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {660-661}, abstract = {

In this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.

}, keywords = {Haptics}, author = {D. Dente and E. P. Scilingo and N. Sgambelluri and A. Bicchi} } @inbook {DCLPST05, title = {Electroactive fabrics and wearable man-machine interfaces}, booktitle = {Wearable Electronics and Photonics}, year = {2005}, pages = {59-80}, publisher = {Woodhead Publishing Ltd}, organization = {Woodhead Publishing Ltd}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {LSFD-06, title = {Flusso tattile ed illusione sensoriale}, booktitle = {SINC, Congresso nazionale della Societ}, year = {2005}, month = {May}, pages = {245-249}, address = {Roma, Italy}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo} } @article {PPBSV03, title = {Maximizing the stability radius of a set of systems under real-time scheduling constraints}, journal = {IEEE Trans. on Automatic Control}, volume = {50}, number = {11}, year = {2005}, month = {November 2005}, pages = {1790{\textendash}1795}, abstract = {

We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1- deciding whether a performance specification can be met on a given platform, 2- optimising performance on a platform. Decision variables of the design problems are the activation periods of the tasks , while the considered performance metric is the minimum stability radius attained over the different feedback loops, which is related to the technological feasibility of the controller and to the robustness of the controlled systems. The analytical formulation of the design problems enables efficient numerical solutions. The resulting control policies are directly implementable without performance degradation that may otherwise arise due to scheduling and execution delays.

}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and C. Pinello and A. Bicchi and A. L. Sangiovanni-Vincentelli} } @article {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @conference {SRPB-05, title = {Optic and tactile flow: does a supramodal response exist?}, booktitle = {International multisensory research forum, 6th Annual meeting}, year = {2005}, month = {June}, address = {Rovereto, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and E. Ricciardi and P. Pietrini and A. Bicchi} } @article {BSB04, title = {Path-Following with a Bounded-Curvature Vehicle: a Hybrid Control Approach}, journal = {International Journal of Control}, volume = {78}, number = {15}, year = {2005}, month = {October}, pages = {1228-1247}, abstract = {

In this paper, we consider the problem of stabilizing the kinematic model of a car to a path in the plane under rather general conditions. The path is subject to very mild restrictions, while the car model, although rather simplified, contains the most relevant limitations inherent in wheeled robots kinematics. Namely, the car can only move forward, its steering radius is lower bounded and a limited sensory information only provides a partial knowledge of some state parameters. In particular, we consider the case that the current distance and the heading angle error with respect to the closest point on the reference path can be measured but only the sign of the path curvature is detected. These constraints are such to make classical control techniques inefficient. As the feedback information is both continuous and discrete, the hybrid systems formalism turns out to be well appropriate to model the problem. The proposed approach is based on optimal control techniques successfully applied in a previous work for following rectilinear path. We propose here an extension to the tracking of more general paths with moderate curvature. The stability of the closed-loop system is proved by means of the hybrid system formalism and hybrid formal verification techniques. Finally, the practicality of the proposed approach, in spite of non{\textendash}idealities in real-world applications, is discussed by reporting experimental results.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and P. Sou{\`e}res} } @conference {BDSS-WH05, title = {Perceptual Bias in Tactile Flow}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {17-20}, abstract = {

In this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo and N. Sgambelluri} } @article {SGPTGD05, title = {Performance evaluation of Sensing Fabrics for Monitoring Physiological and Biomechanical Variables}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {345-352}, keywords = {Bioengineering}, author = {E. P. Scilingo and A. Gemignani and R. Paradiso and N. Taccini and B. Ghelarducci and D. De Rossi} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

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

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @article {DCS05, title = {Polymers based interfaces as bioninspired {\textquoteright}smart skins{\textquoteright}}, journal = {Advances in Colloids and Interface Science}, volume = {116}, year = {2005}, month = {August}, pages = {165-178}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and E. P. Scilingo} } @conference {ABBPSZ05, title = {Randomized Algorithms for Platform{\textendash}based Design}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2005}, pages = {6638 - 6643}, abstract = {

The design of automotive control systems is becoming increasingly complex as the level of performance required by car manufactures grows continuously and the constraints on cost and development time imposed by the market become tighter. A successful design, without costly and time consuming re-design cycles, can be achieved only by using an efficient design methodology that allows for component re-use and evaluation of platform requirements at the early stages of the design flow. In this paper, we illustrate a control-implementation design methodology for the development of embedded controllers by composition of algorithms picked up from libraries. Randomized algorithms and hybrid system theory are used to develop techniques for functional and architecture evaluations, which are implemented in a prototype tool.

}, keywords = {Embedded Control, Robotics}, author = {A. Agostini and A. Balluchi and A. Bicchi and B. Piccoli and Sangiovanni Vincentelli, A. and K. Zadarnowska} } @article {LSTTD05, title = {Strain sensing fabric for hand posture and gesture monitoring}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {372-381}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti and D. De Rossi} } @conference {ricciardi05:_supram_mt, title = {Supramodal response of human MT+ complex to visual and tactile perception of flow as demonstrated by fMRI studies in sighted and congenitally blind individuals}, booktitle = {11th annual meeting of the organization for Human Brain Mapping}, volume = {1}, year = {2005}, note = {

Toronto

}, pages = {129-129}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and N. Vanello and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @inbook {BSDDS05, title = {Tactile Flow and Haptic Discrimination of Softness}, booktitle = {Multi-point Interaction with Real and Virtual Objects}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {18}, year = {2005}, pages = {165-176}, publisher = {Springer Verlag}, organization = {Springer Verlag}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri}, editor = {F. Barbagli and D Prattichizzo and K. Salisbury} } @conference {SRSRB04, title = {Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids}, booktitle = {Proc. Int. Conf. Eurohaptics 2004}, year = {2004}, month = {June}, pages = {442-445}, address = {Munich, Germany}, abstract = {

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {BRRS, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, booktitle = {Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004).}, year = {2004}, month = {June}, address = {Seoul, Korea}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @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} } @inbook {DLSCTT04, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {Wearable eHealth Systems for Personalised Health Management}, year = {2004}, pages = {209-213}, publisher = {IOS Press}, organization = {IOS Press}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and Carpi, F and A. Tognetti and Tesconi, M} } @conference {DPSB04, title = {A compatibility test for tactile displays designed for fMRI studies.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {456-458}, abstract = {

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

}, keywords = {Haptics}, author = {V. Hartwig and N. Vanello and R. Gassert and D. Chapuis and M. F. Santarelli and V. Positano and E. Ricciardi and P. Pietrini and L. Landini and A. Bicchi} } @conference {PSB04, title = {Decentralized Cooperative Conflict Resolution Among Multiple Autonomous Mobile Agents}, booktitle = {cdc}, year = {2004}, pages = {4758-4763}, abstract = {

In this paper we consider policies for cooperative, decentralized traffic management among a number of autonomous mobile agents. The conflict resolution problem is addressed considering realistic restrictions on possible maneuvers. We formulate this problem as one in Mixed Integer Linear Programming (MILP). The method, which proves successful in a centralized implementation with a large number of cooperating agents, is also extended to a decentralized setting. Conditions for the existence of conflict avoidance maneuvers for a system of 5 autonomous agents with a transitive information structure are provided, along with the explicit policy to be applied by each agent.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and A. Bicchi} } @conference {RS04, title = {Design of a System for the Energization of MagnetoRheological Fluids}, booktitle = {Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004)}, year = {2004}, month = {March}, pages = {921-924}, address = {Pisa, Italy}, abstract = {

In a previous paper, a device for the characterization of MagnetoRheological Fluids (MRF) has been described. The MRF consist of micro-sized, magnetically active particles dispersed in a carrier medium. When exposed to a magnetic field, MRF change their own consistency turning from fluid to near-solid state responding to the applied field within milliseconds. This interesting property, suggests the possibility to use magnetorheological fluids to mimic the compliance of biological tissues in order to realize a haptic display, such as in surgical training for minimally invasive surgery and/or open surgery simulations [2]. In this scenario the operator could interact with a virtual object which simulate several biological tissues by magnetically tuning the rheological properties of the fluid. In this paper an accurate analysis of an immersive device for the magnetic excitation of the fluid is presented. In particular such analysis is focused on a system of ferromagnetic "pistons", that, properly positioned in the device, can address the magnetic flux in the MRF.

}, keywords = {Haptics}, author = {R. Rizzo and N. Sgambelluri} } @conference {CPTSLDGGBVG-04, title = {Development of a Wearable System Based on Smart Textiles and GPRS Transmission for Remote Multiparametric Monitoring of Cardiac Patients: Preliminary Results of the WEALTHY Project}, booktitle = {THE 5th International Heart Health Conference}, year = {2004}, month = {June}, address = {Milan, Italy}, keywords = {Bioengineering}, author = {S. Coli and R. Paradiso and N. Taccini and E. P. Scilingo and G. Loriga and D. De Rossi and A. Gemignani and B. Ghelarducci and L. Bourdon and A. Ditmar and T. Vavouras and B. Gros and J. Luprano and M. Jaenecke and C. Coucke and G. Delhomme and D. Cianflone} } @inbook {S04, title = {I Sensori fisici}, booktitle = {Sensori per Misure Biomediche}, year = {2004}, pages = {59-107}, publisher = {Patron}, organization = {Patron}, keywords = {Bioengineering}, author = {E. P. Scilingo} } @conference {DPSB04, title = {Integration of Tactile Flow from Multi-Finger and Multi-Dimensional Information}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {282-289}, abstract = {

In this paper we pursue an investigation on the role of perceptual flow in the tactile domain, which appears to be a primary source for information such as shape, motion and softness. In this paper, we report on a set of psychophysical experiments involving how humans integrate incoherent tactile flow stimuli. Two experiments are reported, whereby discordant stimuli are conveyed to the subject by two different fingertips, or by two different families of mechanoreceptors in the same finger. Results from the first experiment show that, in these conditions, the tactile and the optic perceptive systems act in a very similar way. In the second experiment the interaction between tactile flow and friction generate an illusory phenomenon peculiar of the tactile system.

}, keywords = {Haptics}, author = {D. Dente and A. Pisani and E. P. Scilingo and A. Bicchi} } @conference {PPSB04, title = {Motion Planning through Symbols and Lattices}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2004}, pages = {3914-3919}, abstract = {

In this paper we propose a new approach to motion planning, based on the introduction of a lattice structure in the workspace of the robot, leading to efficient computations of plans for rather complex vehicles, and allowing for the implementation of optimization procedures in a rather straightforward way. The basic idea is the purposeful restriction of the set of possible inputfunctions to the vehicle to a finite set of symbols, or {\em control quanta},which, under suitable conditions, generate a regular lattice of reachable points. Once the lattice is generated and a convenient description computed, standard techniques in integer linear programming can be used to find a plan very efficiently. We also provide a correct and complete algorithm to the problem of finding an optimized plan (with respect e.g. to length minimization) consisting in a sequence of graph searches.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Pallottino and D. Salvadorini and A. Bicchi} } @conference {HBM04, title = {Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain}, booktitle = {10th Annual Meeting of the Organization for Human Brain Mapping}, year = {2004}, abstract = {

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

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

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

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

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

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and T. Cecchini and L. Pallottino and A. Pisani and G. Tonietti}, editor = {P. Borza and L. Gomes and G. Scutaru} } @conference {BTS04, title = {Safe and Fast Actuators for Machines Interacting with Humans}, booktitle = {Proc. of the 1st Technical Exhibition Based Conference on Robotics and Automation, TExCRA2004, November 18-19, TEPIA, Tokyo, Japan -}, year = {2004}, pages = {(in press)}, abstract = {

This paper describes a new generation of actuators for robotic applications, and more generally for machines that are designed to interact with humans. Such actuators, called Variable Impedance Actuators, are designed to achieve fast motion control while guaranteeing safety of human operators in worst-case impact situation. The fundamental innovation is to implement safety by purely mechanical, passive means, to guarantee intrinsic safety, while active control is used to recover performance. The design concept, which is the subject of a patent application, has led to the experimental implementation of a Variable Stiffness Actuator. The effectiveness of the VSA has been recently validated theoretically and experimentally by authors.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and R. Schiavi} } @conference {GSLTPD-04, title = {A sensing shirt for monitoring behavioral and autonomic parameters}, booktitle = {55}, year = {2004}, month = {February}, pages = {83}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A. Gemignani and E. P. Scilingo and G. Loriga and N. Taccini and R. Paradiso and D. De Rossi and B. Ghelarducci} } @conference {DLSCTTO-04, title = {An Upper Limb Kinesthetic-Like System For Tele-Rehabilitation}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and F. Carpi and M. Tesconi and A. Tognetti and P. Orsini} } @article {LRSTD04, title = {Wearable, Redundant Fabric-Based Sensor Arrays for Reconstruction of Body Segment Posture}, journal = {IEEE Sensors Journal}, volume = {4}, number = {6}, year = {2004}, month = {December}, pages = {807-818}, keywords = {Bioengineering}, author = {F. Lorussi and W. Rocchia and E. P. Scilingo and A. Tognetti and D. De Rossi} } @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 {DLS-03, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {International Workshop in New generation of wearable systems for e-Health: towards a revolution of citizen{\textquoteright} health and life style management?}, year = {2003}, month = {December}, pages = {129-133}, address = {Lucca, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi 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 {SSDRB03, title = {Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation}, booktitle = {Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2003}, pages = {10{\textendash}15}, abstract = {

In this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {BDS03, title = {Haptic Illusions Induced by Tactile Flow}, booktitle = {EuroHaptics Conference}, year = {2003}, pages = {2412-2417}, abstract = {

In this paper we report on a set of experiments involving perceptual illusions elicited by dynamic tactile stimulation of fingertips. These misperceptions are akin to some well studied optical illusions, which have been given an explanation in terms of the mechanisms of optic flow perception. We hypothesize that a similar perceptual mechanism exists for tactile flow, which is related to how humans perceive relative motion and pressure between the fingertips and objects in contact. We present a computational model of tactile flow, and discuss how it relates to accepted models of the neurophyisiology of touch. A particularly interesting phenomenon observed under some experimental circumstances, consisting of an incoherent tactile perception generating what we call a tactile vertigo, can be explained in terms of this model. The proposed tactile flow model also explains other phenomena observed in the past (namely, the Contact Area Spread Rate effect), and is of importance in designing simpler, more effective devices for artificial haptic sensing and displays.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo} } @conference {PGSD-03, title = {Knitted Bioclothes for Cardiopulmonary Monitoring}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3720-3723}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {R. Paradiso and A. Gemignani and E. P. Scilingo and D. De Rossi} } @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 {SSDRB03, title = {Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {2412-2417}, address = {Taipei, Taiwan}, abstract = {

In this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator{\textquoteright}s hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @inbook {BTBP03, title = {Variable Stiffness Actuators for Fast and Safe Motion Control}, booktitle = {Proceedings of the International Symposium on Robotics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, year = {2003}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

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

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @conference {LSTTD-03, title = {Wearable Sensing Garment For Posture Detection, Rehabilitation And Tele-Medicine}, booktitle = {4th International IEEE EMBS Special Topic Conference on Information Technology Applications in Biomedicine}, year = {2003}, month = {April}, pages = {287-290}, address = {Birmingham,UK}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti 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 {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 {BSSDR02, title = {Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc.2th Int. Conf. Eurohaptics 2002}, year = {2002}, month = {July}, pages = {6-11}, abstract = {

In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and N. Sgambelluri and D. De Rossi} } @conference {PBSV02, title = {Numerically efficient control of systems with communication constraints}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {1626-1631}, abstract = {

The problem of stabilization to the trivial equilibrium of a system with communication constraints is addressed. The communication constraints are related to the fact that commands are issued to different groups of actuators through a shared resource. We tackle the problem by using a Model Predictive Control scheme, which,at every step, decides the allocation of the bus {\em and} he control command values. After discussing two different alternatives for dealing with the scheduling constraints, we develop a formulation based on the generalized linear complementarity problem, which enables the application of efficient numerical solutions. Finally, we give some preliminary result on the parametric dependence of the problem{\textquoteright}s solution from the system{\textquoteright}s state.

}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and A. Bicchi and A. L. Sangiovanni-Vincentelli} } @conference {SLDPGPAGG-02, title = {A Sensing Shirt for Monitoring Body Kinematic and Vital Signs}, booktitle = {Symposium on Telemedicine In Care Delivery, Technology and Application}, year = {2002}, month = {June}, pages = {57-67}, address = {Pisa, Italy}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and D. De Rossi and R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and A. Gemignani and B. Ghelarducci} } @article {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 {PPSEB02, title = {Synthesis of robust control systems under resource constraints}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {337-350}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and C. Pinello and A. L. Sangiovanni-Vincentelli and L. El-Ghaoui and A. Bicchi}, editor = {M. Greenstreet and C. Tomlin} } @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 {PGPALSDO-02, title = {A wearable motion capture system for multimedia applications}, booktitle = {Avantex Symposium - International Forum for Textiles and Technology in the Future}, year = {2002}, month = {May}, address = {Frankfurt, Germany}, keywords = {Bioengineering}, author = {R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and F. Lorussi and E. P. Scilingo and D. De Rossi and P. Orsini} } @conference {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 {SBDR-01, title = {Haptic devices for minimally invasive surgery}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {194-198}, address = {Lucca, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi} } @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} } @inbook {BSB01, title = {Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {2034}, year = {2001}, pages = {133-146}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and P. Sou{\`e}res and A. Bicchi}, editor = {Di Benedetto, M. D. and A. L. Sangiovanni-Vincentelli} } @unpublished {B02, title = {Machine hand design for dexterity, robustness of grasp, and interaction with humans}, year = {2001}, note = {

to appear (?) in Human and Machine Haptics

}, keywords = {Haptics, Robot Hands}, author = {A. Bicchi}, editor = {M. Cutkosky and R. Howe and J. K. Salisbury and M. Srinivasan} } @article {SBB01, title = {Optimal feedback control for line tracking with a bounded-curvature vehicle}, journal = {Int. Journal of Control}, volume = {74}, number = {10}, year = {2001}, month = {July}, pages = {1009-1019}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {P. Sou{\`e}res and A. Balluchi 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} } @book {NSBV01, title = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Autonomous Vehicles, Robot Arms}, url = {http://www.springer.com/?SGWID=6-102-0-0-0}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @inbook {BK01, title = {Robotic Grasping and Manipulation}, booktitle = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, pages = {55-74}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {4}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @conference {PPACGLSDGB-01, title = {Sensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs}, booktitle = {Fibres and Textiles for the Future}, year = {2001}, month = {August}, pages = {55-63}, address = {Tampere, Finland}, keywords = {Smart Textiles, Vital Signs}, author = {M. Pacelli and R. Paradiso and G. Anerdi and S. Ceccarini and M. Ghignoli and F. Lorussi and E. P. Scilingo and D. De Rossi and A. Gemignani and B. Ghelarducci} } @conference {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 {SB-01, title = {Tactile Flow: Does it exist, is it useful and how?}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {142}, address = {Lucca, Italy}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi} } @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} } @inbook {BSDR00, title = {Experimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel}, booktitle = {Robotics Research IX}, year = {2000}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and D. De Rossi} } @article {BDS00, title = {Haptic discrimination of softness in teleoperation: the role of the contact area spread rate}, journal = {IEEE Trans. on Robotics and Automation}, volume = {16}, number = {5}, year = {2000}, month = {October}, pages = {496-504}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen as the contact force increases. Devices for implementing such a perceptual channel are described, and a pratical application to a mini-invasive surgery tool is presented. Psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Haptic Sensing, Haptics, Tactile Flow}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {BBCRS00, title = {Hybrid Tracking Control for Spark-Ignition Engines}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {4}, year = {2000}, month = {December}, pages = {3126-31}, address = {Sydney, NSW, Australia}, keywords = {Automotive, Autonomous Vehicles, Hybrid and Embedded Control Systems}, author = {A. Balluchi and A. Bicchi and C. Caterini and C. Rossi and A. L. Sangiovanni-Vincentelli} } @conference {SBDRS-00, title = {A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues}, booktitle = {Proc. IEEE-EMBS Conference on Microtechnologies in Medicine and Biology}, year = {2000}, month = {October}, pages = {229-233}, address = {Lyon, France}, keywords = {Haptic Displays, Haptics, Tools for Minimally Invasive Surgery}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and A. Scotto} } @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} } @conference {SBB00, title = {Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {April}, pages = {2473-2478}, address = {San Francisco, CA, USA}, keywords = {Robotics}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @conference {BBPS00, title = {Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins{\textquoteright} Vehicles}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {1}, year = {2000}, note = {

(invited paper)

}, month = {December}, pages = {581-6}, address = {Sydney, Australia}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and B. Piccoli and P. Sou{\`e}res} } @conference {BDRS99, title = {Psychophysical Evaluation of Simplified Haptic Perception Media}, booktitle = {Proc. Int. Workshop on Robot and Human Interaction}, year = {1999}, month = {September}, address = {Pisa}, abstract = {

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficlt and costly. In this paper we discuss a simplified model of haptic detection of softness (whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted). We provide a thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {ABDRS99, title = {The Role of Contact Area Spread Rate in Haptic Discrimination of Softness}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {305-310}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen. Devices for implementing this new perceptual channel are described, and some preliminary psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {G. Ambrosi and A. Bicchi and D. De Rossi and E. P. Scilingo} } @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 {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 {SBDRI-98, title = {Haptic display able to replicate the rheological behaviour of surgical tissues}, booktitle = {Proc. 20th International Conference IEEE/EMBS}, year = {1998}, pages = {1738-1741}, address = {Hong Kong}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and P. Iacconi} } @conference {BBPRS98, title = {Hybrid Optimization Problems in Automotive Applications}, booktitle = {Proc. IFAC International Workshop on Motion Control}, year = {1998}, note = {(invited paper)}, month = {September}, pages = {273-278}, address = {Grenoble, France}, keywords = {Automotive, Hybrid and Embedded Control Systems}, author = {A. Balluchi and A. Bicchi and G. Padroni and C. Rossi and A. L. Sangiovanni-Vincentelli} } @conference {SDRBI97-ASME, title = {Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments}, booktitle = {Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {1997}, address = {Dallas}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @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} } @conference {SDRBI97-EMB, title = {Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons{\textquoteright} haptic percetion of manipulated tissues}, booktitle = {Proc. IEEE Int. Conf. Engineering in Medicine and Biology}, year = {1997}, address = {Chicago}, keywords = {Haptics, Sensors}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @inbook {PSB96, title = {Contact and Grasp Robustness Measures: Analysis and Experiments}, booktitle = {Experimental Robotics-IV}, series = {LNCIS 223}, year = {1996}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, abstract = {

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so\–called {\textquoteleft}{\textquoteleft}Instrumented Talon\&$\#$39;\&$\#$39;, are reported as an illustration.

}, keywords = {Grasping, Haptics, Robot Hands}, author = {D Prattichizzo and J. K. Salisbury and A. Bicchi}, editor = {O. Khatib and K. Salisbury} } @article {BCS96, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among Obstacles}, journal = {Journal of Intelligent and Robotic Systems}, volume = {16}, year = {1996}, pages = {387-405}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @conference {BCDRIS96, title = { A sensor-based minimally invasive surgery tool for detecting tissue elastic properties }, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, pages = {884-888}, keywords = {Haptics, Tools for Minimally Invasive Surgery}, author = {A. Bicchi and G. Canepa and D. De Rossi and P. Iacconi and E. P. Scilingo} } @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} } @conference {BS95, title = {Dexterous Manipulation Through Rolling}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {452-457}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and R. Sorrentino} } @conference {SBCB95, title = {Nonholonomic, Bounded Curvature Path Planning In Cluttered Environments}, booktitle = {IEEE/INRIA Conf. on Emerging Technologies and Factory Automation}, year = {1995}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {C. Santilli and A. Bicchi and G. Casalino and A. Balestrino} } @conference {BPS95, title = {Planning Motions of Rolling Surfaces}, booktitle = {Proc. IEEE Conf. on Decision and Control}, year = {1995}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and D Prattichizzo and S. S. Sastry} } @conference {BCS95, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among obstacles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {1349-1354}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @article {1419, title = {ESTIMATION OF SHEAR-WAVE VELOCITY IN SHALLOW MARINE-SEDIMENTS}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {19}, year = {1994}, pages = {58{\textendash}72}, issn = {0364-9059}, doi = {10.1109/48.289451}, url = {http://dx.medra.org/10.1109/48.289451}, author = {A. Caiti and T. Akal and R. D. Stoll} } @article {BSB93-IJRR, title = {Contact Sensing from Force and Torque Measurements}, journal = {The Int. J. of Robotics Research}, volume = {12}, number = {3}, year = {1993}, pages = {249-262}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock} } @inbook {BSB93, title = {Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors}, booktitle = {Experimental Robotics-III}, series = {LNCIS 190}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock}, editor = {R. Chatila and G. Hirzinger} } @inbook {VB93, title = {Whole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity}, booktitle = {Robots and Biological Systems}, series = {NATO-ASI Series F: Computer and Systems Sciences, vol. 102}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Vassura and A. Bicchi}, editor = {P. Dario and P. Aebischer and G. Sandini} } @conference {1879, title = {Adaptive neural state observer for unknown non linear plants}, booktitle = {IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems}, year = {1992}, address = {Kobe, Japan, Sep 16-20 1992}, keywords = {Robotics}, author = {Bini Verona, F and A. Bicchi and De Gasperis, G. and A. Landi and G. Silvestri} } @conference {BSD89, title = {Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing}, booktitle = {Proc. IEEE Conf. on Robotics and Automation}, year = {1989}, address = {Scottsdale, AZ, USA}, keywords = {Grasping, Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and P. Dario} } @conference {DBSBB88, title = {Advanced Rehabilitative Robots}, booktitle = {Proc. ISIR Int. Symposium and Exposition on Robots}, year = {1988}, address = {Sydney, Australia}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {P. Dario and M. Bergamasco and A. Sabatini and A. Bicchi and G. Buttazzo} } @inbook {BDP86, title = {On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects}, booktitle = {Robot Control}, series = {IFAC Proceedings Series, vol.9}, year = {1986}, pages = {251-256}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U. K.}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and P. Dario and P. C. Pinotti}, editor = {L. Basanez and G. Ferrate and G. N. Saridis} } @article {1762, title = {Indwelling acoustic sensors for early detection of total artificial heart failure}, journal = {LIFE SUPPORT SYSTEMS}, volume = {4}, year = {1986}, pages = {239{\textendash}248}, keywords = {Bioengineering}, issn = {0261-989X}, author = {Y. L. Sheng and D. De Rossi and P. Dario and P.M. Galletti} } @article {3654, title = {Combined Sensing, Cognition, Learning and Control to Developing Future Neuro-Robotics Systems: A Survey}, journal = {IEEE Transactions on Cognitive and Developmental Systems ( Early Access )}, author = {J. Li and Z. Li and F. Chen and A. Bicchi and Y. Sun and T. Fukuda} }