01772nas a2200193 4500008004100000245008200041210006900123260001200192520105400204653003501258653003601293653002001329653001801349100001701367700002001384700002101404700002301425856013001448 2022 eng d00aForce/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots0 aForceTorqueSensorless Joint Stiffness Estimation in Articulated c05/20223 a
Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree-of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its internal control signals. The validity of the approach is proven analytically for single and multiple degree-offreedom robots. The obtained estimators are first evaluated via simulations on articulated soft robots with different actuations and then tested in experiments with real robotic setups using antagonistic variable stiffness actuators.
10aCalibration and Identification10aCompliant Joints and Mechanisms10aFlexible Robots10aSafety in HRI1 aTrumic, Maja1 aGrioli, Giorgio1 aJovanovic, Kosta1 aFagiolini, Adriano uhttp://www.centropiaggio.unipi.it/publications/forcetorque-sensorless-joint-stiffness-estimation-articulated-soft-robots.html00639nas a2200145 4500008004100000245013600041210007100177300000800248490000700256100002500263700001900288700002900307700002100336856013600357 2019 eng d00aFunctional linear and nonlinear brain–heart interplay during emotional video elicitation: a maximum information coefficient study0 aFunctional linear and nonlinear brain–heart interplay during emo a8920 v211 aCatrambone, Vincenzo1 aGreco, Alberto1 aScilingo, Enzo, Pasquale1 aValenza, Gaetano uhttp://www.centropiaggio.unipi.it/publications/functional-linear-and-nonlinear-brain%E2%80%93heart-interplay-during-emotional-video01695nas a2200193 4500008003900000245014500039210006900184260001700253300001400270520097300284100001501257700001801272700001801290700001501308700001401323700001301337700001601350856013501366 2017 d00aFrom humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands0 aFrom humans to robots The role of cutaneous impairment in human aMunichbIEEE a179–1843 aHuman hands are capable of a variety of movements, thanks to their extraordinary biomechanical structure and rely- ing on the richness of human tactile information. Recently, soft robotic hands have opened exciting possibilities and, at the same time, new issues related to planning and control. In this work, we propose to study human strategies in environmental constraint exploitation to grasp objects from a table. We have considered both the case where participants’ fingertips were free and with a rigid shell worn on them to understand the role of cutaneous touch. Main kinematic strategies were quantified and classified in an unsupervised manner. The principal strategies appear to be consistent in both experimental conditions, although cluster cardinality differs. Furthermore, as expected, tactile feedback improves both grasp precision and quality performance. Results opens interesting perspective for sensing and control of soft manipulators.
1 aAverta, G.1 aDella Santina1 aBattaglia, E.1 aCiotti, S.1 aArapi, V.1 aFani, S.1 aBianchi, M. uhttp://www.centropiaggio.unipi.it/publications/humans-robots-role-cutaneous-impairment-human-environmental-constraint-exploitation00902nas a2200253 4500008004100000245017700041210006900218260001000287490000600297653001900303100001700322700001700339700001500356700001300371700002900384700001600413700001500429700001500444700001300459700001700472700001500489700001400504856013000518 2016 eng d00afabrication and perivascular implantation of bioactive scaffolds engineered with human adventitial progenitor cells for stimulation of arteriogenesis in peripheral ischemia0 afabrication and perivascular implantation of bioactive scaffolds c03/240 v810aBioengineering1 aCarrabba, M.1 aDe Maria, C.1 aOikawa, A.1 aReni, C.1 aRodriguez-Arabaolaza, I.1 aSpencer, H.1 aSlater, S.1 aAvolio, E.1 aDang, Z.1 aSpinetti, G.1 aMADEDDU, P1 aVozzi, G. uhttp://www.centropiaggio.unipi.it/publications/fabrication-and-perivascular-implantation-bioactive-scaffolds-engineered-human00351nas a2200097 4500008004100000245004900041210004600090490000600136100001600142856009500158 2016 eng d00aA Fabric-based Approach for Wearable Haptics0 aFabricbased Approach for Wearable Haptics0 v51 aBianchi, M. uhttp://www.centropiaggio.unipi.it/publications/fabric-based-approach-wearable-haptics.html02325nas a2200229 4500008004100000022002200041245005900063210005700122260001300179490004800192520161500240100002001855700001501875700001601890700001401906700001501920700001701935700001401952700001701966700001501983856009701998 2016 eng d a978-3-319-26705-000aFrom Soft to Adaptive Synergies: The Pisa/IIT SoftHand0 aFrom Soft to Adaptive Synergies The PisaIIT SoftHand bSpringer0 vSpringer Series on Touch and Haptic Systems3 aTaking 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.
1 aCatalano, M. G.1 aGrioli, G.1 aFarnioli, E1 aSerio, A.1 aBonilla, M1 aGarabini, M.1 aPiazza, C1 aGabiccini, M1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/soft-adaptive-synergies-pisaiit-softhand.html01066nas a2200337 4500008004100000020002200041245008400063210006900147260003800216300001400254653001900268100001700287700002400304700002400328700001300352700002100365700001400386700001500400700001600415700001700431700001600448700001600464700001300480700002000493700001700513700002200530700001900552700001600571700001600587856012500603 2016 eng d a978-3-319-26128-700aA Full Body Sensing System for Monitoring Stroke Patients in a Home Environment0 aFull Body Sensing System for Monitoring Stroke Patients in a Hom bSpringer International Publishing a378 - 39310aBioengineering1 aKlaassen, B.1 avan Beijnum, B.J.F.1 aWeusthof, M., H. H.1 aHofs, D.1 avan Meulen, F.B.1 aDroog, E.1 aLuinge, H.1 aLaurens, S.1 aTognetti, A.1 aLorussi, F.1 aParadiso, R1 aHeld, J.1 aLuft, A., R. L.1 aReenalda, J.1 aNikamp, C., D. M.1 aBuurke, J., H.1 aHermens, HJ1 aVeltink, P. uhttp://www.centropiaggio.unipi.it/publications/full-body-sensing-system-monitoring-stroke-patients-home-environment.html00659nas a2200205 4500008003900000245006700039210006500106260004800171300001600219653001200235653001300247100001800260700001600278700002100294700001800315700001700333700002000350700001500370856006800385 2015 d00aA Finite Element Model of Tactile Flow for Softness Perception0 aFinite Element Model of Tactile Flow for Softness Perception aMilano, Italy, August 25th-29th, 2015bIEEE a2430 - 243310aHaptics10aRobotics1 aBattaglia, E.1 aBianchi, M.1 aD'Angelo, M., L.1 aD'Imperio, M.1 aCannella, F.1 aScilingo, E. P.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=731888401675nas a2200205 4500008004100000022002200041245005100063210004800114260002000162300001400182490004800196520106700244653001201311653001301323100001601336700001401352700002001366700001501386856006801401 2014 eng d a978-1-4471-6532-300aA Fabric-based Approach for Softness Rendering0 aFabricbased Approach for Softness Rendering bSpringer-Verlag a219 - 2400 vSpringer Series on Touch and Haptic Systems3 aIn 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.
10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_1101244nas a2200169 4500008003900000245010200039210006900141260002200210520060000232653001900832100001600851700001400867700001800881700001800899700001800917856013900935 2014 d00aFluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor0 aFluid dynamics in porous scaffolds stimulated with cyclic squeez aPavia, 25-27 June3 aIn 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.
10aBioengineering1 aFerroni, M.1 aGiusti, S1 aSpatafora, G.1 aBoschetti, F.1 aAhluwalia, A. uhttp://www.centropiaggio.unipi.it/publications/fluid-dynamics-porous-scaffolds-stimulated-cyclic-squeeze-pressure-s2pr-bioreactor.html00545nas a2200157 4500008003900000245010200039210006900141300001300210653001900223100001600242700001400258700001800272700001800290700001800308856006100326 2014 d00aFluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor0 aFluid dynamics in porous scaffolds stimulated with cyclic squeez a363–6810aBioengineering1 aFerroni, M.1 aGiusti, S1 aSpatafora, G.1 aBoschetti, F.1 aAhluwalia, A. uhttp://amsacta.unibo.it/4085/1/ProceedingsİCMMB2014.pdf01069nas a2200133 4500008004100000245011500041210006900156490000600225520057600231653001900807100001700826700001500843856007700858 2014 eng d00aFor every thing there is a season and a time ? the construction of a humanoid. A tribute to Vincenzo Tagliasco0 aFor every thing there is a season and a time the construction of0 v23 a"There is a time to be born, and a time to die; a time to break down, and a time to build up; a time to weep, and a time to laugh; a time to keep silence, and a time to speak" (Ecclesiastes 3, 2?7). There was a time when automata were designed like clocks. Androids will have the time of their creators, the state of the art in technology, a wealth of experience to draw from, as well as the capacity to carry out actions as being endowed with meaning. The machine will undergo a long period of nurturing, from which it will learn to shape some sort of identity.
10aBioengineering1 aDe Rossi, D.1 aD'Ursi, A. uhttp://journal.frontiersin.org/Journal/10.3389/fbioe.2014.00019/abstract00748nas a2200205 4500008004100000245012000041210006900161300001600230490000700246100002000253700001500273700001600288700001500304700001600319700002200335700001700357700001500374700001900389856013400408 2013 eng d00aFDTD Analysis of a Radiofrequency Knee Coil for Low-Field MRI: Sample-Induced Resistance and Decoupling Evaluation 0 aFDTD Analysis of a Radiofrequency Knee Coil for LowField MRI Sam a1393 - 14030 v441 aMorelli, M., S.1 aHartwig, V1 aTassano, S.1 aVanello, N1 aPositano, V1 aSantarelli, M. F.1 aCarrozzi, A.1 aLandini, L1 aGiovannetti, G uhttp://www.centropiaggio.unipi.it/publications/fdtd-analysis-radiofrequency-knee-coil-low-field-mri-sample-induced-resistance-and00429nas a2200133 4500008004100000245004300041210004300084260001600127300001200143653001900155100001600174700001400190856009100204 2012 eng d00aFinite element model for PAM scaffolds0 aFinite element model for PAM scaffolds aRoma, Italy a74 - 7510aBioengineering1 aPimentel, R1 aVozzi, G. uhttp://www.centropiaggio.unipi.it/publications/finite-element-model-pam-scaffolds.html00533nas a2200133 4500008004100000245008300041210006900124260001600193300001400209653001900223100001300242700001400255856013000269 2012 eng d00aFluid dynamics characterization of a microfluidic concentration gradient maker0 aFluid dynamics characterization of a microfluidic concentration aRoma, Italy a152 - 15310aBioengineering1 aOrsi, G.1 aVozzi, G. uhttp://www.centropiaggio.unipi.it/publications/fluid-dynamics-characterization-microfluidic-concentration-gradient-maker.html00587nas a2200133 4500008004100000245013200041210006900173300001300242653001900255100001500274700001500289700001800304856013100322 2012 eng d00aFunctionally Graded Materials (FGMs) with predictable and controlled gradient profiles: computational modelling and realisation0 aFunctionally Graded Materials FGMs with predictable and controll aaccepted10aBioengineering1 aMattei, G.1 aTirella, A1 aAhluwalia, A. uhttp://www.centropiaggio.unipi.it/publications/functionally-graded-materials-fgms-predictable-and-controlled-gradient-profiles00658nas a2200229 4500008004100000020001800041245004900059210004900108260001600157300001400173653001300187100001400200700001300214700001600227700001600243700001400259700001500273700001600288700001100304700001500315856009800330 2012 eng d a978184919479200aFurther Advances in Unmanned Marine Vehicles0 aFurther Advances in Unmanned Marine Vehicles aLondrabIET a309–33010aRobotics1 aCaffaz, A1 aCaiti, A1 aCalabrò, V1 aCasalino, G1 aMaguer, A1 aMunafò, A1 aPotter, J R1 aTay, H1 aTuretta, A uhttp://www.centropiaggio.unipi.it/publications/further-advances-unmanned-marine-vehicles.html01567nas a2200229 4500008004100000245008400041210006900125260000800194300001600202490000800218520084800226653001901074100001301093700001501106700001301121700001401134700001401148700001501162700001601177700001801193856012601211 2011 eng d00aA flexible bioreactor system for constructing in vitro tissue and organ models.0 aflexible bioreactor system for constructing in vitro tissue and cSep a2129–21400 v1083 aTo 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.
10aBioengineering1 aVozzi, F1 aMazzei, D.1 aVinci, B1 aVozzi, G.1 aSbrana, T1 aRicotti, L1 aForgione, N1 aAhluwalia, A. uhttp://www.centropiaggio.unipi.it/publications/flexible-bioreactor-system-constructing-vitro-tissue-and-organ-models.html00591nas a2200169 4500008004100000245006200041210006200103260004000165300001400205653002100219653001300240100001500253700001900268700001800287700001500305856010100320 2011 eng d00aFrom Optimal Planning to Visual Servoing with Limited FOV0 aFrom Optimal Planning to Visual Servoing with Limited FOV aS. Francisco, USAcSeptember 25 - 3 a2817-282410aEmbedded Control10aRobotics1 aSalaris, P1 aPallottino, L.1 aHutchinson, S1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/optimal-planning-visual-servoing-limited-fov.html00467nas a2200109 4500008004100000245007800041210006900119260002300188653001300211100001500224856011800239 2011 eng d00aFrom Optimal Synthesis to Optimal Visual Servoing for Autonomous Vehicles0 aFrom Optimal Synthesis to Optimal Visual Servoing for Autonomous bUniversity of Pisa10aRobotics1 aSalaris, P uhttp://www.centropiaggio.unipi.it/publications/optimal-synthesis-optimal-visual-servoing-autonomous-vehicles.html00561nas a2200217 4500008004100000245002300041210001900064300001400083653001900097100001500116700001500131700001400146700001500160700001800175700001500193700001600208700001600224700001800240700001700258856006800275 2010 eng d00aThe FACE of autism0 aFACE of autism a791–79610aBioengineering1 aMazzei, D.1 aBilleci, L1 aArmato, A1 aLazzeri, N1 aCisternino, A1 aPioggia, G1 aIgliozzi, R1 aMuratori, F1 aAhluwalia, A.1 aDe Rossi, D. uhttp://www.centropiaggio.unipi.it/publications/face-autism.html02003nas a2200193 4500008004100000022001400041245015000055210006900205300001600274490000700290520137000297653001901667100001401686700001501700700001501715700001301730700001801743856004801761 2010 eng d a1879-317700aFinite element modelling and design of a concentration gradient generating bioreactor: Application to biological pattern formation and toxicology0 aFinite element modelling and design of a concentration gradient a1828–18370 v243 aThis paper describes the use of a microfluidic gradient maker for the toxicological analysis of some conventional biomolecules such as hydrogen peroxide and a local anaesthetic, lidocaine on different cell cultures, human endothelial cells and myoblasts, respectively. The microfluidic device was designed and simulated using COMSOL Multiphysics(R) and the concentration gradient in the microfluidic network was analysed through a fluid-dynamic and mass-transport study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250mum deep. Hydrogen peroxide was tested on human endothelial cells, while lidocaine was tested on C2C12 myoblasts and an analysis was performed using propidium iodide staining followed by an imaging processing routine to obtain quantitative dose-response profiles in the gradient maker. The results show that the Gradient Maker (GM) bioreactor is a more sensitive method for detection of cell toxicity, and compared with testing of drug toxicity using microwells with individual cell cultures, allows one shot testing with a single cell culture exposed to a large number of concentrations. Moreover, the Gradient Maker was also modelled in order to realise biological pattern formation using two morphogenes acting as activator and inhibitor with varying diffusion rates.
10aBioengineering1 aVozzi, G.1 aMazzei, D.1 aTirella, A1 aVozzi, F1 aAhluwalia, A. uhttp://www.ncbi.nlm.nih.gov/pubmed/2058081400566nas a2200145 4500008004100000245008500041210006900126260002300195300001400218653001300232100001800245700001300263700001300276856013100289 2009 eng d00aA Flexible Linear Control Algorithm for Wireless Sensor Networks Synchronization0 aFlexible Linear Control Algorithm for Wireless Sensor Networks S aSingaporecMay 5-7 a384–38910aRobotics1 aFontanelli, D1 aMacii, D1 aPetri, D uhttp://www.centropiaggio.unipi.it/publications/flexible-linear-control-algorithm-wireless-sensor-networks-synchronization.html00612nas a2200205 4500008004100000022001400041245009100055210006900146300001200215490000700227653001300234100001500247700001400262700001300276700001600289700001600305700001500321700001500336856005500351 2009 eng d a0029-801800aFolaga: a low cost autonomous underwater vehicle combining glider and auv capabilities0 aFolaga a low cost autonomous underwater vehicle combining glider a24–380 v3610aRobotics1 aAlvarez, A1 aCaffaz, A1 aCaiti, A1 aCasalino, G1 aGualdesi, L1 aTuretta, A1 aViviani, R uhttp://dx.medra.org/10.1016/j.oceaneng.2008.08.01400525nas a2200181 4500008004100000022001400041245007000055210006800125300001400193490000700207653001300214100001400227700001300241700001600254700001600270700001500286856004200301 2009 eng d a1756-054300aFòlaga: A low cost AUV/glider for coastal environmental sampling0 aFòlaga A low cost AUVglider for coastal environmental sampling a151–1570 v2810aRobotics1 aCaffaz, A1 aCaiti, A1 aCasalino, G1 aGualdesi, L1 aTuretta, A uhttp://dx.medra.org/10.3723/ut.28.15100650nas a2200193 4500008004100000245007400041210006900115260000900184300001400193653001900207100001400226700001500240700001400255700001600269700001500285700002000300700001700320856011900337 2009 eng d00aAn FPGA based arrhythmia recognition system for wearable applications0 aFPGA based arrhythmia recognition system for wearable applicatio bIEEE a660–66410aBioengineering1 aArmato, A1 aNardini, E1 aLanata, A1 aValenza, G.1 aMancuso, C1 aScilingo, E. P.1 aDe Rossi, D. uhttp://www.centropiaggio.unipi.it/publications/fpga-based-arrhythmia-recognition-system-wearable-applications.html00622nas a2200157 4500008004100000022001400041245012000055210006900175300001600244490000700260653001300267100001800280700001300298700001800311856013500329 2009 eng d a0278-004600aFrom remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems0 aFrom remote experiments to webbased learning objects an advanced a4817–48250 v5610aRobotics1 aBalestrino, A1 aCaiti, A1 aCrisostomi, E uhttp://www.centropiaggio.unipi.it/publications/remote-experiments-web-based-learning-objects-advanced-tele-laboratory-robotics-and01686nas a2200157 4500008004100000245012400041210007100165260003500236520103200271653002101303653001301324100001801337700001601355700001401371856014301385 2007 eng d00aA Fast RANSAC–Based Registration Algorithm for Accurate Localization in Unknown Environments using LIDAR Measurements0 aFast RANSAC–Based Registration Algorithm for Accurate Localizati aScottsdale, AZ, USAcSeptember3 aThe 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–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.
10aEmbedded Control10aRobotics1 aFontanelli, D1 aRicciato, L1 aSoatto, S uhttp://www.centropiaggio.unipi.it/publications/fast-ransac%E2%80%93based-registration-algorithm-accurate-localization-unknown-environments01455nas a2200169 4500008004100000245007400041210006900115300000900184490000700193520088800200653002101088653001301109100001501122700001401137700001501151856011901166 2006 eng d00aFeedback Encoding for Efficient Symbolic Control of Dynamical Systems0 aFeedback Encoding for Efficient Symbolic Control of Dynamical Sy a1-160 v513 aThe problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite–length words constructed on a finite alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.
10aEmbedded Control10aRobotics1 aBicchi, A.1 aMarigo, A1 aPiccoli, B uhttp://www.centropiaggio.unipi.it/publications/feedback-encoding-efficient-symbolic-control-dynamical-systems.html01284nas a2200181 4500008004100000245006700041210006700108260001000175300001200185520069700197653001200894100001900906700001300925700002000938700001300958700001500971856011600986 2006 eng d00aFree Hand Haptic Interfaces Based on Magnetorheological Fluids0 aFree Hand Haptic Interfaces Based on Magnetorheological Fluids cMarch a367-3713 aThis 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
10aHaptics1 aSgambelluri, N1 aRizzo, R1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/free-hand-haptic-interfaces-based-magnetorheological-fluids.html00461nas a2200145 4500008004100000245004300041210004300084260002100127300001200148653001200160653001300172100001500185700002000200856009500220 2005 eng d00aFlusso tattile ed illusione sensoriale0 aFlusso tattile ed illusione sensoriale aRoma, ItalycMay a245-24910aHaptics10aRobotics1 aBicchi, A.1 aScilingo, E. P. uhttp://www.centropiaggio.unipi.it/publications/flusso-tattile-ed-illusione-sensoriale.html01218nas a2200193 4500008004100000245008900041210006900130520056300199653001300762100001800775700001500793700001300808700001600821700001600837700001600853700001900869700001600888856012000904 2005 eng d00aFrom tele-laboratory to e-learning in automation curricula at the university of Pisa0 aFrom telelaboratory to elearning in automation curricula at the 3 aThe design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.
10aRobotics1 aBalestrino, A1 aBicchi, A.1 aCaiti, A1 aCalabrò, V1 aCecchini, T1 aCoppelli, A1 aPallottino, L.1 aTonietti, G uhttp://www.centropiaggio.unipi.it/publications/tele-laboratory-e-learning-automation-curricula-university-pisa.html00632nas a2200169 4500008004100000245009500041210006900136300001000205653001900215100001300234700001500247700001500262700001400277700001700291700001800308856013600326 2005 eng d00aFunctional and Pharmacological testing of endothelial cells cultured in dynamic conditions0 aFunctional and Pharmacological testing of endothelial cells cult a82-9610aBioengineering1 aVozzi, F1 aGentile, C1 aMazzei, D.1 aVozzi, G.1 aDomenici, C.1 aAhluwalia, A. uhttp://www.centropiaggio.unipi.it/publications/functional-and-pharmacological-testing-endothelial-cells-cultured-dynamic-conditions01523nas a2200145 4500008004100000245011000041210006900151300001200220490000700232520096200239653001301201100001501214700001601229856013201245 2004 eng d00aFast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control0 aFast and Soft Arm Tactics Dealing with the SafetyPerformance Tra a22–330 v113 aIn 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. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis 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 our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.
10aRobotics1 aBicchi, A.1 aTonietti, G uhttp://www.centropiaggio.unipi.it/publications/fast-and-soft-arm-tactics-dealing-safety-performance-trade-robot-arms-design-and01453nas a2200181 4500008004100000245007200041210006900113260002400182300001400206520084400220653002101064653001301085100001401098700001901112700001401131700001501145856011101160 2003 eng d00aFrom nominal to robust planning: The plate-ball manipulation system0 aFrom nominal to robust planning The plateball manipulation syste aTaipei, TaiwancMay a3175-31803 aRobotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.
10aEmbedded Control10aRobotics1 aOriolo, G1 aVendittelli, M1 aMarigo, A1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/nominal-robust-planning-plate-ball-manipulation-system.html00532nas a2200145 4500008004100000245006700041210006700108653001200175653001500187653001600202100001500218700002000233700001800253856011500271 1997 eng d00aForce and Dynamic Manipulability for Cooperating Robot Systems0 aForce and Dynamic Manipulability for Cooperating Robot Systems10aHaptics10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D1 aMelchiorri, C uhttp://www.centropiaggio.unipi.it/publications/force-and-dynamic-manipulability-cooperating-robot-systems.html00443nas a2200121 4500008004100000245005400041210004600095260004000141653001300181653001600194100001500210856009600225 1994 eng d00aOn the Force-Closure Property of Robotic Grasping0 aForceClosure Property of Robotic Grasping aCapribElsevier Science, Oxford, UK10aGrasping10aRobot Hands1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/force-closure-property-robotic-grasping.html00492nas a2200145 4500008004100000245005900041210005800100260001200158300001200170653001300182653001200195653001600207100001500223856010800238 1993 eng d00aForce Distribution in Multiple Whole-Limb Manipulation0 aForce Distribution in Multiple WholeLimb Manipulation aAtlanta a196-20110aGrasping10aHaptics10aRobot Hands1 aBicchi, A. uhttp://www.centropiaggio.unipi.it/publications/force-distribution-multiple-whole-limb-manipulation.html00575nas a2200181 4500008004100000022001400041245005700055210005700112300001400169490000700183653001900190100001300209700001700222700001700239700001500256700001700271856010500288 1984 eng d a0015-019300aFerroelectric polymer tactile sensors for prostheses0 aFerroelectric polymer tactile sensors for prostheses a199–2140 v6010aBioengineering1 aDario, P1 aDe Rossi, D.1 aGiannotti, C1 aVivaldi, F1 aPinotti, P C uhttp://www.centropiaggio.unipi.it/publications/ferroelectric-polymer-tactile-sensors-prostheses.html