@article {4299, title = {Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion}, journal = {IEEE Robotics and Automation Letters}, volume = {6}, year = {2021}, pages = {4488{\textendash}4495}, author = {Xin, Guiyang and Xin, Songyan and Cebe, Oguzhan and Pollayil, Mathew Jose and Angelini, Franco and Garabini, Manolo and Vijayakumar, Sethu and Mistry, Michael} } @article {4300, title = {A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances}, journal = {IEEE Access}, volume = {9}, year = {2021}, pages = {147471-147480}, doi = {10.1109/ACCESS.2021.3124014}, author = {Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo} } @conference {3150, title = {A real-time identification and tracking method for the musculoskeletal model of human arm}, booktitle = {2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) }, year = {2019}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @article {3642, title = {Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Fani and K. Di Blasio and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {3718, title = {On the role of postural synergies for grasp force generation and upper limb motion control}, booktitle = {International Conference on NeuroRehabilitation}, year = {2018}, url = {https://link.springer.com/chapter/10.1007/978-3-030-01845-0_69}, author = {G. Averta and F. Angelini and A. Bicchi and G. Valenza and M. Bianchi} } @article {3152, title = {Reduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation}, journal = {International Journal of Robotics Research}, volume = {37}, year = {2017}, month = {11/2017}, chapter = {155}, doi = {https://doi.org/10.1177\%2F0278364917744035}, url = {https://journals.sagepub.com/doi/full/10.1177/0278364917744035}, author = {A. Ajoudani and C. Fang and N. G. Tsagarakis and A. Bicchi} } @conference {3121, title = {The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand }, booktitle = {IEEE World Haptics Conference}, year = {2017}, note = {

The authors gratefully acknowledge Matteo Rossi for his valuable advice and Mikaela Juzswik for her unique contribution in the physical realization of some of the equipment used in the experiments. This work was partially supported by the European Community funded project WEARHAP (contract 601165), by the European Commission project (Horizon 2020 research program) SOFTPRO (no. 688857), by the ERC Advanced Grant no. 291166 SoftHands and by the NSF grant IIS-1065497.

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

Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin stretch using the Rice Haptic Rocker. This device was integrated with the myo-controlled version of Pisa/IIT SoftHand and a size discrimination test with 18 able bodied subjects was performed to evaluate the effectiveness of the proposed approach. Results show that the Rice Haptic Rocker can be successfully used to convey proprioceptive information. A Likert survey was also presented to the experiment participants, who evaluated the integrated setup as easy to use and effective in conveying proprioception.

}, keywords = {Haptics}, author = {E. Battaglia and J. P. Clark and M. Bianchi and M. G. Catalano and A. Bicchi and M. K. O{\textquoteright}Malley} } @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 {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.} } @conference {2655, title = {Reflex Control of the Pisa/IIT SoftHand during Object Slippage}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, pages = {1972 - 1979}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden}, abstract = {

In this work, to guarantee the Pisa/IIT SoftHand{\textquoteright}s

grasp robustness against slippage, three reflex control modes,

namely Current, Pose and Impedance, are implemented and

experimentally evaluated. Towards this objective, ThimbleSense

fingertip sensors are designed and integrated into the thumb

and middle fingers of the SoftHand for real-time detection and

control of the slippage. Current reflex regulates the restoring

grasp forces of the hand by modulating the motor{\textquoteright}s current

profile according to an update law. Pose and Impedance reflex

modes instead replicate this behaviour by implementing an

impedance control scheme. The difference between the two

latter is that the stiffness gain in Impedance reflex mode is

being varied in addition to the hand pose, as a function of

the slippage on the fingertips. Experimental setup also includes

a seven degrees-of-freedom robotic arm to realize consistent

trajectories (e.g. lifting) among three control modes for the sake

of comparison. Different test objects are considered to evaluate

the efficacy of the proposed reflex modes in our experimental

setup. Results suggest that task-appropriate restoring forces

can be achieved using Impedance reflex due to its capability

in demonstrating instantaneous and rather smooth reflexive

behaviour during slippage. Preliminary experiments on five

healthy human subjects provide evidence on the similarity of the

control concepts exploited by the humans and the one realized

by the Impedance reflex, highlighting its potential in prosthetic

applications.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487344}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487344}, author = {A. Ajoudani and E. Hocaoglu and Altobelli, A and M. Rossi and E. Battaglia and N G Tsagarakis and A. Bicchi} } @article {3241, title = {Relationship between cardiac vagal activity and mood congruent memory bias in major depression}, journal = {Journal of Affective Disorders}, volume = {190}, year = {2016}, pages = {19{\textendash}25}, keywords = {Bioengineering}, author = {R. G. Garcia and G. Valenza and C. A. Tomaz and R. Barbieri} } @article {2712, title = {riphasic scaffolds for the regeneration of the bone-ligament interface}, journal = {Biofabrication}, volume = {8}, year = {2016}, chapter = {015009}, doi = {10.1088/1758-5090/8/1/015009}, author = {G. Criscenti and A. Longoni and A. Di Luca and C. De Maria and Van Blitterswijk, C. and G. Vozzi and Moroni, L.} } @conference {2889, title = {Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, note = {
This work was supported by the European Commission projects (FP7 framework) Walk-Man and the European Commission Grant no. H2020- ICT-645599 {\textquotedblleft}SOMA{\textquotedblright}: SOft MAnipulation
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

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

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = { 10.1109/HUMANOIDS.2016.7803381}, url = {http://ieeexplore.ieee.org/document/7803381/}, author = {Gasparri, G. M. and F. Fabiani and M. Garabini and L. Pallottino and M. G. Catalano and G. Grioli and R. Persichini and A. Bicchi} } @article {2514, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research - Part B Applied Biomaterials}, volume = {103}, year = {2015}, pages = {1107-1119}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @article {2417, title = {Recognizing Emotions Induced by Affective Sounds through Heart Rate Variability}, journal = {IEEE Transactions on Affective Computing}, year = {2015}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @conference {2559, title = {A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, note = {

softhands, wearhap

}, pages = {1017 - 1023}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Effective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.

}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2015.7353495}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7353495}, author = {A. Ajoudani and C. Fang and N G Tsagarakis and A. Bicchi} } @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 {2335, title = {On the Role of Robot Configuration in Cartesian Stiffness Control}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {1010 - 1016}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139300}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} } @article {2202, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research Part B: Applied Biomaterials}, year = {2014}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @conference {2222, title = {Realization of a soft-MI electrospun scaffold for tissue engineering applications}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {255{\textendash}256}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, author = {G. Criscenti and Cerulli, G. and Saris, D. and Van Blitterswijk, C. and G. Vozzi and Fernandes, H. and Moroni, L.} } @conference {2187, title = {Recognition and Expression of Emotions by a Symbiotic Android Head}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {134 - 139 }, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, keywords = {Bioengineering, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041349}, author = {D. Mazzei and A. Zaraki and Lazzeri, N. and D. De Rossi} } @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 {2188, title = {An RGB-D Based Social Behavior Interpretation System for a Humanoid Social Robot}, booktitle = {IEEE-RSI International Conference on Robotics and Mechatronics 2014 }, year = {2014}, pages = {185 - 190}, publisher = {IEEE}, organization = {IEEE}, address = {Tehran, Iran, October 15-17}, keywords = {Bioengineering, Robotics}, doi = {10.1109/ICRoM.2014.6990898}, author = {A. Zaraki and Giuliani, M. and Dehkordi, M. B. and D. Mazzei and D{\textquoteright}Ursi, A. and D. De Rossi} } @article {2219, title = {Role of IGF1 and IGF1/VEGF on Human Mesenchymal Stromal Cells in Bone Healing: Two Sources and Two Fates}, journal = {Tissue Engineering Part A}, year = {2014}, author = {Ferretti, C. and G. Vozzi and Falconi, M. and Orciani, M. and Gesi, M. and Di Primio, R. and Mattioli-Belmonte, M.} } @conference {1436, title = {A real time robust observer for an agonist antagonist variable stiffness actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, note = {

Best Paper Award Finalist

}, pages = {3988 - 3993}, address = {Karlsruhe, Germany, May 6-10, 2013 }, keywords = {Robotics}, url = {10.1109/ICRA.2013.6631139 }, author = {T. Menard and G. Grioli and A. Bicchi} } @article {2255, title = {Regularization techniques on least squares non-uniform fast Fourier transform}, journal = {NTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING }, volume = {29}, year = {2013}, pages = {561-573}, doi = {10.1002/cnm.2540}, author = {Gibiino, F. and V. Positano and L. Landini and M. F. Santarelli} } @article {1563, title = {On the Robust Synthesis of Logical Consensus Algorithms for Distributed Intrusion Detection}, journal = {Automatica}, volume = {49}, year = {2013}, pages = {2339 - 2350}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.automatica.2013.04.033}, author = {A. Fagiolini and A. Bicchi} } @article {1333, title = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, journal = {Methods in Molecular Biology}, volume = {868}, year = {2012}, pages = {57{\textendash}69}, keywords = {Bioengineering}, author = {G. Vozzi and Tirella, A and A. Ahluwalia} } @conference {2282, title = {Real Time and In-Situ control of environmental parameters in a modular bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {331}, address = {Vien, Austria}, abstract = {

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

}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and D. Mazzei and A. Ahluwalia} } @conference {1264, title = {Realistic Humanlike Robots for Treatment of ASD, Social Training, and Research; Shown to Appeal to Youths with ASD, Cause Physiological Arousal, and Increase Human-to-Human Social Engagement}, booktitle = {Realistic Humanlike Robots for Treatment of Autism, PETRA 2012}, year = {2012}, pages = {1-7}, keywords = {Bioengineering}, author = {Hanson, D. and D. Mazzei and Garver, C. and D. De Rossi and Stevenson, M.} } @conference {1507, title = {Realization and characterization of bilayer scaffold with molecularly imprinted hydrogel layer,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {65 - 66}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Morelli, L and G. Vozzi} } @article {1334, title = {Realization of a poro-elastic ultrasound replica of pulmonary tissue}, journal = {Biomatter}, volume = {2}, year = {2012}, pages = {27{\textendash}26}, keywords = {Bioengineering}, url = {http://www.landesbioscience.com/journals/biomatter/article/19835/}, author = {Spinelli, A and Vinci, B. and Tirella, A and Matteucci, M and Gargani, L and A. Ahluwalia and C. Domenici and Picano, E and Chiarelli, P} } @conference {2283, title = {Replicating the 3D cardiomyocyte environment in the squeeze pressure bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {341}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1792, title = {Replicating the cardiac environment in the Squeeze Pressure Bioreactor}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, keywords = {Bioengineering}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1496, title = {Rheological characterization of vitreous humoranalogous}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {207 - 208}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Fogli, G and G. Orsi and G. Vozzi} } @article {1327, title = {Riboflavin and collagen: New crosslinking methods to tailor the stiffness of hydrogels}, journal = {Materials Letters}, volume = {74}, year = {2012}, pages = {58{\textendash}61}, abstract = {

Fabricating materials with tailored mechanical properties is a challenge and crucial for their successful application in a variety of fields such as tissue engineering. Here collagen and riboflavin were used to create hydrogels with controlled mechanical properties mimicking those of soft tissues (e.g. liver). Collagen-based hydrogels were obtained using a two-step gelation method. Firstly a physical gelation step (i.e. modulation of temperature and pH) was used to fix a specific shape; then photo-initiated cross-links were formed to increase the stiffness. Specifically the chemical cross-linking step was initiated with UV (ultra-violet) radiation to obtain riboflavin derivatised radical polymerization of collagen chains. Cylindrical shaped samples with controlled dimensions were fabricated, and then tested using compressive loading. We show that the compressive elastic modulus of collagen-based hydrogels can be tuned between 0.9 and 3.6 kPa by changing collagen concentration, irradiation with UV in the presence of riboflavin and freeze-drying.

}, keywords = {Bioengineering}, issn = {0167577X}, doi = {10.1016/j.matlet.2012.01.036}, url = {http://dx.doi.org/10.1016/j.matlet.2012.01.036}, author = {Tirella, A and Liberto, T and A. Ahluwalia} } @mastersthesis {1429, title = {On the Role of Haptic Synergies in Modelling the Sense of Touch and in Designing Artificial Haptic Systems}, year = {2012}, keywords = {Haptics, Robotics}, author = {M. Bianchi} } @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} } @conference {GB11, title = {A Real-time Parametric Stiffness Observer for VSA devices}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5535 - 5540}, address = {Shangai, China}, keywords = {Robotics}, author = {G. Grioli and A. Bicchi} } @conference {GFP11, title = {Resource aware control}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Greco and D. Fontanelli and L. Palopoli} } @article {1460, title = {Robust multiple cardiac arrhythmia detection through bispectrum analysis}, journal = {Expert Systems with Applications}, volume = {38}, year = {2011}, pages = {6798{\textendash}6804}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo} } @conference {MDBGB11, title = {Robust Network Agreement on Logical Information}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {13905 - 13911}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and D. Di Baccio and A. Fagiolini and A. Bicchi} } @article {GBPM11, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, journal = {Autonomous Robots [special issue on RSS2010]}, volume = {31}, number = {2 - 3}, year = {2011}, pages = {235 - 252}, keywords = {Haptics, Robotics}, doi = {10.1007/s10514-011-9244-1}, author = {M Gabiccini and A. Bicchi and D Prattichizzo and M. Malvezzi} } @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} } @inbook {1522, title = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, booktitle = {Computer-Aided Tissue Engineering}, volume = {868}, number = {Methods in Molecular Biology}, year = {2010}, pages = {57-69}, chapter = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, keywords = {Bioengineering}, author = {G. Vozzi and Tirella, A and A. Ahluwalia} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @conference {1528, title = {Resident cardiac stem cells on PAM scaffold for Heart tissue engineering application}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {M. Nardi and C. De Maria and G. Forte and P. Di Nardo and A. Ahluwalia and G. Vozzi} } @conference {BG10, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, booktitle = {Robotics Science and Systems}, year = {2010}, month = {June, 27}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {M Gabiccini and A. Bicchi} } @conference {1859, title = {R-composition of Lyapunov functions}, booktitle = {2009 17th Mediterranean Conference on Control and Automation}, year = {2009}, pages = {126{\textendash}131}, keywords = {Robotics}, doi = {10.1109/MED.2009.5164527}, url = {http://dx.medra.org/10.1109/MED.2009.5164527}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {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} } @article {1555, title = {Rapid-prototyped and salt-leached PLGA scaffolds condition cell morpho-functional behaviour}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Mattioli-Belmonte, M. and G. Vozzi and K KYRIAKIDOU and PULIERI, E and LUCARINI, G and Vinci, B. and PUGNALONI, A and BIAGINI, G and A. Ahluwalia} } @conference {1641, title = {Realizzazione di strutture micro fabbricate tramite tecnica di micro Laser Sintering per applicazione alla Tissue Engineering}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Criscenti and Tirella, A and A. Ahluwalia and P. Giusti and G. Vozzi} } @conference {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} } @conference {MED08-GFB, title = {Robust Almost Sure Stability for Uncertain Stochastically Scheduled Anytime Controllers}, booktitle = {Control and Automation, 16 th Mediterranean Conference on Control and Automation}, year = {2008}, pages = {249 - 254}, abstract = {

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

}, keywords = {Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi} } @article {SHH, title = {Robust sliding mode control of a robot manipulator based on variable structure-model reference adaptive control approach}, journal = {IET Control Theory Appl.}, volume = {1}, number = {5}, year = {2007}, month = {September 2007}, pages = {-1363}, abstract = {

A model reference adaptive-sliding mode control is presented and applied for a variable stiffness actuated (VSA) system. The VSA is a flexible stiffness machine with two coupled actuators in each link, and its safety during the movement can be guaranteed by varying both stiffness and the angular variables. Realisation of precise control of two coupled actuators poses a considerable challenge, however, because of uncertain time-varying parameters and unknown variation bounds. In this paper a neuro-sliding mode approach based on model reference adaptive control (MRAC) is proposed. The proposed MRAC control structure induces the VSA to follow its nominal dynamics with help of sliding mode control efforts. The sliding gain, implemented by a simple neural network (NN), is adaptively updated based on the Lyapunov criterion. A control law and adaptive laws for the sliding mode control as well as the weights in the NN are established so that the closed-loop system is stable in the sense of Lyapunov. The tracking errors of both the angular variables and stiffness are managed to guarantee the system to be asymptotically stable rather than uniformly ultimately bounded. And, the feasibility of the proposed control approach is demonstrated by means of experimental results as well as computer simulations.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {S. Huh and Z. Bien} } @conference {CHLOKEcdc06, title = {Robustness of PID controlled manipulators with respect to external disturbances}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We present a robustness analysis for PID-controlled robot manipulators. For robot manipulators under the influence of external disturbances we provide a proof, and a tuning procedure, to establish uniform semiglobal practical asymptotic stability. In particular, in contrasts to other works on robust stability of PIDs, we do not use La Salle{\textquoteright}s principle but provide a strict Lyapunov function. The perturbations that we consider include discontinuous functions of the state, such as Coulomb friction. As corollaries of our main results, one may conclude the same stability property for the case of motion control using linear PID.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor and R. Kelly} } @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} } @conference {1267, title = {Realisation of a concentration gradients cell chamber to study their effect of biomolecules on the cell activity}, booktitle = {Proceedings of: 4Th Annual Meeting of the European Tissue Engineering Society (ETES)}, year = {2005}, keywords = {Bioengineering}, author = {D. Mazzei and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @article {1406, title = {Risk assessment of seafloor waste: acoustical imaging of buried waste}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {13}, year = {2005}, pages = {385{\textendash}401}, keywords = {Robotics}, issn = {0218-396X}, doi = {10.1142/S0218396X05002694}, url = {http://dx.medra.org/10.1142/S0218396X05002694}, author = {A. Caiti and M. Palmese and A. Trucco} } @article {MCB04, title = {Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy}, journal = {IEEE Trans. on Automatic Control}, volume = {49}, number = {5}, year = {2004}, month = {May}, pages = {710-726}, abstract = {

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

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and Y. Chitour and A. Marigo} } @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} } @inbook {PB03-ADHS, title = {Receding-Horizon Control of LTI Systems with Quantized Inputs}, booktitle = {Analysis and Design of Hybrid Systems 2003}, year = {2003}, pages = {259-264}, publisher = {Elsevier}, organization = {Elsevier}, abstract = {

This paper deals with the stabilization problem for a particular class of hybrid systems, namely discrete-time linear systems subject to a uniform (a priori fixed) quantization of the control set. Results of our previous work on the subject provided a description of minimal (in a specific sense) invariant sets that could be rendered maximally attractive under any quantized feedback strategy. In this paper, we consider the design of stabilizing laws that optimize a given cost index on the state and input evolution on a finite, receding horizon. Application of Model Predictive Control techniques for the solution of similar hybrid control problems through Mixed Logical Dynamical reformulations can provide a stabilizing control law, provided that the feasibility hypotheses are met. In this paper, we discuss precisely what are the shortest horizon length and the minimal invariant terminal set for which it can be guaranteed a stabilizing MPC scheme. The final paper will provide an example and simulations of the application of the control scheme to a practical quantized control problem.

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

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

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {PBENEA02, title = {Risoluzione ottima dei conflitti tra agenti autonomi: applicazione al controllo del traffico aereo}, booktitle = {Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics}, year = {2002}, month = {October}, pages = {193-197}, address = {ENEA, Frascati}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi} } @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} } @conference {BPBP01, title = {Randomized parallel simulation of constrained multibody systems for VR/haptic applications}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, volume = {3}, year = {2001}, pages = {2319-2324}, abstract = {

In this paper, we consider the problem of efficiently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to afford accurate performance in real-time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of differential equation with algebraic constraints (DAE\&$\#$39;s), that are often too heavy and stiff to be computed in real-time by present-day single-processor machines. On the other hand, the structure of most state-of-the-art algorithms does not easily lend itself to parallelization. In this paper, we propose and experimentally verify a technique for DAE simulation that profitably uses a degree of randomization to achieve efficient parallelization.

}, keywords = {Dynamics and Simulation for Virtual Reality, Haptics}, author = {A. Bicchi and L. Pallottino and M. Bray and P. Perdomi} } @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 {MPB00-cdc, title = {Reachability Analysis for a Class of Quantized Control Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2000}, month = {December}, pages = {3963-3968}, address = {Sydney, AU}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and B. Piccoli and A. Bicchi} } @conference {BK00, title = {Robotic Grasping and Contact: A Review}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {348-353}, address = {San Francisco, CA}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar} } @article {MB00, title = {Rolling Bodies with Regular Surface: Controllability Theory and Applications}, journal = {IEEE Trans. on Automatic Control}, volume = {45}, number = {9}, year = {2000}, month = {September}, pages = {1586-1599}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Marigo and A. Bicchi} } @conference {BM00, title = {Rolling Contacts and Dextrous Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {May}, pages = {282-287}, address = {San Francisco, CA}, keywords = {Nonholonomic Systems, Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo} } @conference {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} } @inbook {BMP99-CPRA, title = {Robotic Dexterity via Nonholonomy}, booktitle = {Control Problems in Robotics and Automation}, series = {LNCIS 230}, year = {1997}, pages = {35-49}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and A. Marigo and D Prattichizzo}, editor = {B. Siciliano and K. Valavanis} } @inbook {CMPB97, title = {Rolling Polyhedra on a Plane: Analysis of the Reachable Set}, booktitle = {Algorithms for Robotic Motion and Manipulation}, year = {1997}, pages = {277-286}, publisher = {A. K. Peters}, organization = {A. K. Peters}, address = {Wellesley, MA, U.S.A.}, keywords = {Embedded Control, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {J.P. Laumond and M. Overmars} } @inbook {CMPB96, title = {Reachability of Rolling Parts}, booktitle = {Advances in Robotics: The ERNET Perspective}, year = {1996}, pages = {51-60}, publisher = {World Scientific Publisher Corp.}, organization = {World Scientific Publisher Corp.}, address = {Singapore}, keywords = {Haptics, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {C. Bonivento and C. Melchiorri and H. Tolle} } @conference {BBCP96, title = {Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy}, booktitle = {Proc. IFAC World Congress}, year = {1996}, keywords = {Autonomous Vehicles, Legged Vehicles}, author = {A. Balluchi and A. Bicchi and G. Casalino and D Prattichizzo} } @inbook {BBD92, title = {Robot Tactile Perception}, booktitle = {Sensor Based Robots: Algorithms and Architectures}, year = {1992}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Buttazzo and A. Bicchi and P. Dario}, editor = {C. S. G. Lee} } @inbook {BB91, title = {Robotic Tactile Sensing: Skin-like and Intrinsic Approach}, booktitle = {Intelligent Robotic Systems: Analysis, Design and Programming}, year = {1991}, publisher = {Marcel Dekker}, organization = {Marcel Dekker}, address = {New York, NY, USA}, keywords = {Haptics, Robotics}, author = {A. Bicchi and G. Buttazzo}, editor = {S. Tzafestas} } @conference {BBBD89, title = {A Robot Workstation for Autonomous Assembling}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1989}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Stuttgard, Germany}, keywords = {Robot Hands}, author = {G. Buttazzo and M. Bergamasco and A. Bicchi and P. Dario} } @article {1735, title = {Recent developments in biomedical signal transduction techniques}, journal = {ELETTROMEDICALI}, volume = {2}, year = {1982}, pages = {76{\textendash}91}, keywords = {Bioengineering}, issn = {0393-7070}, author = {P. Dario and D. De Rossi} }