TY - JOUR T1 - Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands JF - Physics of Life Reviews Y1 - 2016 A1 - M. Santello A1 - M. Bianchi A1 - M Gabiccini A1 - E. Ricciardi A1 - G. Salvietti A1 - D Prattichizzo A1 - M. Ernst A1 - A. Moscatelli A1 - H. Jorntell A1 - A. Kappers A1 - K. Kyriakopulos A1 - A Albu-Schaeffer A1 - C. Castellini A1 - A. Bicchi KW - Haptics KW - Robotics VL - 17 UR - http://www.sciencedirect.com/science/article/pii/S1571064516000269 ER - TY - CHAP T1 - HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS T2 - Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project Y1 - 2014 A1 - G. Salvietti A1 - G. Gioioso A1 - M. Malvezzi A1 - D Prattichizzo A1 - A. Serio A1 - E. Farnioli A1 - M Gabiccini A1 - A. Bicchi A1 - I. Sarakoglou A1 - N G Tsagarakis A1 - D. G. Caldwell KW - Haptics KW - Robotics AB -

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.

JF - Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project VL - 94 ER - TY - JOUR T1 - On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies JF - IEEE Transactions on Robotics Y1 - 2013 A1 - D Prattichizzo A1 - M. Malvezzi A1 - M Gabiccini A1 - A. Bicchi KW - Haptics KW - Robotics AB -

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

VL - 29 IS - 6 ER - TY - CONF T1 - Neural correlates of haptic pop-out of shape discrimination in the human brain T2 - 19th Annual Meeting of the Organization for Human Brain Mapping Y1 - 2013 A1 - A. Leo A1 - M. Feurra A1 - S. Rossi A1 - A. Kappers A1 - A. Bicchi A1 - D Prattichizzo A1 - Cristea, I. A1 - David, D. A1 - P. Pietrini A1 - E. Ricciardi JF - 19th Annual Meeting of the Organization for Human Brain Mapping CY - Seattle, USA, June2013 ER - TY - CONF T1 - SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands T2 - IEEE International Conference on Robotics and Automation (ICRA2013) Y1 - 2013 A1 - M. Malvezzi A1 - G. Gioioso A1 - G. Salvietti A1 - D Prattichizzo A1 - A. Bicchi KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA2013) UR - 10.1109/ICRA.2013.6630708 ER - TY - JOUR T1 - On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems JF - Robotics and Autonomous Systems, special issue on Autonomous Grasping Y1 - 2012 A1 - D Prattichizzo A1 - M. Malvezzi A1 - M Gabiccini A1 - A. Bicchi KW - Haptics KW - Robotics VL - 60 IS - 3 N1 -

in press, Available online 17 August 2011

ER - TY - JOUR T1 - On the Role of Hand Synergies in the Optimal Choice of Grasping Forces JF - Autonomous Robots [special issue on RSS2010] Y1 - 2011 A1 - M Gabiccini A1 - A. Bicchi A1 - D Prattichizzo A1 - M. Malvezzi KW - Haptics KW - Robotics VL - 31 ER - TY - CONF T1 - On motion and force controllability of grasping hands with postural synergies T2 - Proceedings of Robotics: Science and Systems Y1 - 2010 A1 - D Prattichizzo A1 - M. Malvezzi A1 - A. Bicchi KW - Haptics KW - Robotics JF - Proceedings of Robotics: Science and Systems CY - Zaragoza, Spain ER - TY - JOUR T1 - Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach JF - IEEE JOURNAL OF OCEANIC ENGINEERING Y1 - 2005 A1 - A. Caiti A1 - A. Garulli A1 - F. Livide A1 - D Prattichizzo KW - Robotics VL - 30 ER - TY - CHAP T1 - Tactile Flow and Haptic Discrimination of Softness T2 - Multi-point Interaction with Real and Virtual Objects Y1 - 2005 A1 - A. Bicchi A1 - E. P. Scilingo A1 - D. Dente A1 - N. Sgambelluri ED - F. Barbagli ED - D Prattichizzo ED - K. Salisbury KW - Haptics JF - Multi-point Interaction with Real and Virtual Objects T3 - STAR - Springer Tracts in Advanced Robotics PB - Springer Verlag ER - TY - BOOK T1 - Control Problems in Robotics Y1 - 2002 ED - A. Bicchi ED - H. Christensen ED - D Prattichizzo KW - Robotics T3 - STAR, Springer Tracts in Advanced Robotics PB - Springer Verlag CY - Berlin Heidelberg VL - 4 ER - TY - CONF T1 - Grasp Control: a General Manipulation System Approach T2 - Proc. Int. Works. Towards Intelligent Robotic Manipulation Y1 - 2002 A1 - D Prattichizzo A1 - A. Bicchi ED - C. Melchiorri ED - P. J. Sanz ED - R. Molfino KW - Haptics KW - Robotics JF - Proc. Int. Works. Towards Intelligent Robotic Manipulation PB - IEEE/RSJ IROS CY - Lausanne ER - TY - JOUR T1 - Set-membership acoustic tracking of autonomous underwater vehicles JF - ACTA ACUSTICA UNITED WITH ACUSTICA Y1 - 2002 A1 - A. Caiti A1 - A. Garulli A1 - F. Livide A1 - D Prattichizzo KW - Robotics VL - 88 ER - TY - JOUR T1 - Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems JF - Robotica Y1 - 2000 A1 - A. Bicchi A1 - D Prattichizzo KW - Haptics KW - Physical Human-Robot Interaction (pHRI) KW - Robot Arms KW - Robot Hands VL - 18 ER - TY - CONF T1 - Localization Of Vehicles By Sensory Information T2 - Proc. WAC Int. Symp. on Robotics and Applications Y1 - 2000 A1 - A. Bicchi A1 - F. Conticelli A1 - D Prattichizzo KW - Autonomous Vehicles KW - Localization and Mapping KW - Nonlinear Control Systems KW - Sensors JF - Proc. WAC Int. Symp. on Robotics and Applications ER - TY - JOUR T1 - Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms JF - IEEE Trans. Robotics and Automation Y1 - 2000 A1 - A. Bicchi A1 - D Prattichizzo KW - Grasping KW - Manipulability KW - Robot Arms KW - Robot Hands VL - 16 ER - TY - CONF T1 - Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 2000 A1 - F. Conticelli A1 - D Prattichizzo A1 - F. Guidi A1 - A. Bicchi KW - Autonomous Vehicles KW - Nonlinear Control Systems KW - Sensors and Observers KW - visual servoing JF - Proc. IEEE Int. Conf. on Robotics and Automation CY - San Francisco, CA, USA ER - TY - CONF T1 - Dexterity through rolling: Manipulation of unknown objects T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1999 A1 - A. Bicchi A1 - A. Marigo A1 - D Prattichizzo KW - Nonlinear Control Systems KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Optimal Design of Dynamic Multiaxis Force/Torque Sensors T2 - Proc. IEEE Int. Conference on Decision and Control Y1 - 1999 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Sensors AB - The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part JF - Proc. IEEE Int. Conference on Decision and Control ER - TY - CONF T1 - Active Suspensions Decoupling by Algebraic Output Feedback T2 - Proc. IEEE Mediterranean Conf. On Control And Systems Y1 - 1998 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Embedded Control KW - Robotics JF - Proc. IEEE Mediterranean Conf. On Control And Systems ER - TY - JOUR T1 - Dynamic Analysis of Mobility and Graspability of General Manipulation Systems JF - IEEE Trans. on Robotics and Automation Y1 - 1998 A1 - D Prattichizzo A1 - A. Bicchi KW - Grasping KW - Robot Arms KW - Robot Hands VL - 14 ER - TY - CONF T1 - Geometric Disturbance Decoupling Control of Vehicles with Active Suspensions T2 - Proc. IEEE Conf. on Control Applications Y1 - 1998 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Automotive KW - Autonomous Vehicles JF - Proc. IEEE Conf. on Control Applications ER - TY - CONF T1 - Manipulability of Cooperating Robots with Passive Joints T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1998 A1 - A. Bicchi A1 - D Prattichizzo KW - Grasping KW - Robot Arms KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - On the observability of mobile vehicles localization T2 - Proc. IEEE Mediterranean Conf. On Control And Systems Y1 - 1998 A1 - A. Bicchi A1 - D Prattichizzo A1 - A. Marigo A1 - A. Balestrino KW - Autonomous Vehicles KW - Localization and Mapping KW - Sensors and Observers AB -

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

JF - Proc. IEEE Mediterranean Conf. On Control And Systems ER - TY - CONF T1 - Optimization of Internal Forces in Force-Closure Grasps T2 - Proc. IEEE Mediterranean Conf. On Control And Systems Y1 - 1998 A1 - A. Bicchi A1 - D Prattichizzo A1 - G. Antognetti KW - Haptics KW - Robotics JF - Proc. IEEE Mediterranean Conf. On Control And Systems ER - TY - JOUR T1 - Consistent Specification of Manipulation Tasks for Defective Mechanical Systems JF - ASME Jour. Dynam. Systems, Measurement, and Control Y1 - 1997 A1 - D Prattichizzo A1 - A. Bicchi KW - Grasping KW - Robot Arms KW - Robot Hands VL - 119 ER - TY - CONF T1 - On the Decoupling and Output Functional Controllability of Robotic Manipulation T2 - Proc. IFAC Int. Symp. on Robot Control Y1 - 1997 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Grasping KW - Robot Arms KW - Robot Hands JF - Proc. IFAC Int. Symp. on Robot Control ER - TY - CONF T1 - Dynamic force/torque sensors: theory and experiments T2 - Proc. Int. Conference on Advanced Robotics Y1 - 1997 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Sensors AB -

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

JF - Proc. Int. Conference on Advanced Robotics CY - Monterey, CA, USA ER - TY - CONF T1 - Force and Dynamic Manipulability for Cooperating Robot Systems T2 - Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems Y1 - 1997 A1 - A. Bicchi A1 - D Prattichizzo A1 - C. Melchiorri KW - Haptics KW - Robot Arms KW - Robot Hands JF - Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems ER - TY - CONF T1 - On the Geometric Control of Internal Forces in Power Grasp T2 - Proc. Conf. on Decision and Control Y1 - 1997 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Grasping KW - Robot Arms KW - Robot Hands JF - Proc. Conf. on Decision and Control ER - TY - CONF T1 - Geometric Control Techniques for Manipulation Systems T2 - Proceeding Int. Conf. Computer Integrated Systems Y1 - 1997 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Haptics KW - Robotics JF - Proceeding Int. Conf. Computer Integrated Systems CY - Belfort, France ER - TY - CONF T1 - Geometric Control Techniques for Mechanical Systems T2 - Int. Conf. Italian Association for Theretical and Applied Mechanics Y1 - 1997 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Haptics KW - Robotics JF - Int. Conf. Italian Association for Theretical and Applied Mechanics CY - Siena, Italia, september 29 - October 3 1997 ER - TY - CONF T1 - Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1997 A1 - A. Bicchi A1 - A. Balluchi A1 - D Prattichizzo A1 - A. Gorelli KW - Autonomous Vehicles KW - Nonlinear Control Systems JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Optimal Design of Dynamic Force/Torque Sensors T2 - Proceeding Int. Conf. Computer Integrated Systems Y1 - 1997 A1 - A. Bicchi A1 - A. Caiti A1 - D Prattichizzo KW - Robotics JF - Proceeding Int. Conf. Computer Integrated Systems CY - Belfort, France ER - TY - CHAP T1 - Robotic Dexterity via Nonholonomy T2 - Control Problems in Robotics and Automation Y1 - 1997 A1 - A. Bicchi A1 - A. Marigo A1 - D Prattichizzo ED - B. Siciliano ED - K. Valavanis KW - Haptics KW - Robotics JF - Control Problems in Robotics and Automation T3 - LNCIS 230 PB - Springer Verlag CY - Berlin Heidelberg, Germany ER - TY - CHAP T1 - Rolling Polyhedra on a Plane: Analysis of the Reachable Set T2 - Algorithms for Robotic Motion and Manipulation Y1 - 1997 A1 - Y. Chitour A1 - A. Marigo A1 - D Prattichizzo A1 - A. Bicchi ED - J.P. Laumond ED - M. Overmars KW - Embedded Control KW - Robotics JF - Algorithms for Robotic Motion and Manipulation PB - A. K. Peters CY - Wellesley, MA, U.S.A. ER - TY - CHAP T1 - On some structural properties of general manipulation systems T2 - Modelling and Control of Mechanichal Systems Y1 - 1997 A1 - A. Bicchi A1 - D Prattichizzo ED - A. Astolfi ED - D. J. N. Limebeer ED - C. Melchiorri ED - A. Tornambèe ED - R.B. Vinter KW - Haptics KW - Robotics JF - Modelling and Control of Mechanichal Systems PB - Imperial College Press CY - London, U.K. ER - TY - CHAP T1 - Contact and Grasp Robustness Measures: Analysis and Experiments T2 - Experimental Robotics-IV Y1 - 1996 A1 - D Prattichizzo A1 - J. K. Salisbury A1 - A. Bicchi ED - O. Khatib ED - K. Salisbury KW - Grasping KW - Haptics KW - Robot Hands AB -

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 ``Instrumented Talon'', are reported as an illustration.

JF - Experimental Robotics-IV T3 - LNCIS 223 PB - Springer Verlag CY - Berlin Heidelberg, Germany ER - TY - CONF T1 - Dexterity through Rolling: Towards Manipulation of Unknown Objects T2 - Proc. Third Int. Symp. on Methods and Models for Automation and Robotics Y1 - 1996 A1 - A. Bicchi A1 - Y. Chitour A1 - A. Marigo A1 - D Prattichizzo KW - Nonlinear Control Systems KW - Robot Hands JF - Proc. Third Int. Symp. on Methods and Models for Automation and Robotics CY - Miedzyzdroje, Poland ER - TY - CONF T1 - Noninteracting force/motion control of defective manipulation systems T2 - Proc. Conf. on Decision and Control Y1 - 1996 A1 - D Prattichizzo A1 - P. Mercorelli A1 - A. Bicchi A1 - A. Vicino KW - Robot Arms KW - Robot Hands JF - Proc. Conf. on Decision and Control ER - TY - CHAP T1 - Reachability of Rolling Parts T2 - Advances in Robotics: The ERNET Perspective Y1 - 1996 A1 - Y. Chitour A1 - A. Marigo A1 - D Prattichizzo A1 - A. Bicchi ED - C. Bonivento ED - C. Melchiorri ED - H. Tolle KW - Haptics KW - Robotics JF - Advances in Robotics: The ERNET Perspective PB - World Scientific Publisher Corp. CY - Singapore ER - TY - CONF T1 - Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy T2 - Proc. IFAC World Congress Y1 - 1996 A1 - A. Balluchi A1 - A. Bicchi A1 - G. Casalino A1 - D Prattichizzo KW - Autonomous Vehicles KW - Legged Vehicles JF - Proc. IFAC World Congress ER - TY - CONF T1 - Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1996 A1 - D Prattichizzo A1 - A. Bicchi KW - Robot Arms KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Planning Motions of Rolling Surfaces T2 - Proc. IEEE Conf. on Decision and Control Y1 - 1995 A1 - A. Bicchi A1 - D Prattichizzo A1 - S. S. Sastry KW - Nonlinear Control Systems KW - Robot Hands JF - Proc. IEEE Conf. on Decision and Control ER - TY - CONF T1 - A Standard Form for the Dynamics of General Manipulation Systems T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1995 A1 - A. Bicchi A1 - D Prattichizzo KW - Haptics KW - Robot Arms KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Articulated Structures with Tendon Actuation for Whole-Limb Manipulation T2 - Proc. IEEE Int. Conf. on Robotics and Automation Y1 - 1994 A1 - P. Petreschi A1 - D Prattichizzo A1 - A. Bicchi KW - Haptics KW - Robot Arms KW - Robot Hands JF - Proc. IEEE Int. Conf. on Robotics and Automation ER - TY - CONF T1 - Control of manipulation with dextrous hands T2 - Proc. IFAC Int. Symposium on Robot Control Y1 - 1994 A1 - A. Bicchi A1 - P. Petreschi A1 - D Prattichizzo KW - Grasping KW - Haptics KW - Robot Hands JF - Proc. IFAC Int. Symposium on Robot Control PB - Elsevier Science, Oxford, UK CY - Capri ER - TY - CONF T1 - Controllability of whole-arm manipulation T2 - Proc. Int. Conf. Decision and Control Y1 - 1994 A1 - A. Bicchi A1 - D Prattichizzo KW - Haptics KW - Robotics JF - Proc. Int. Conf. Decision and Control UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=410900 ER - TY - CHAP T1 - New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation T2 - Robotics, Mechatronics and Manufacturing Systems Y1 - 1993 A1 - A. Bicchi A1 - D Prattichizzo ED - T. Takamori ED - K. Tsuchiya KW - Haptics KW - Robotics JF - Robotics, Mechatronics and Manufacturing Systems PB - North Holland CY - Amsterdam ER - TY - CONF T1 - Statically Stable Legged Locomotion with Leg Redundancy T2 - Proc. IASTED Int. Conf. on Robotics and Manufacturing Y1 - 1993 A1 - D Prattichizzo A1 - A. Bicchi A1 - G. Casalino KW - Embedded Control KW - Robotics JF - Proc. IASTED Int. Conf. on Robotics and Manufacturing PB - IASTED CY - Oxford, UK, september 23-25 1993 ER - TY - CONF T1 - A variable structure approach to force/motion control of robot manipulators T2 - Proc. Int. Conf. FAST - BIAS Y1 - 1993 A1 - A. Balestrino A1 - A. Bicchi A1 - A. Landi A1 - D Prattichizzo KW - Robotics JF - Proc. Int. Conf. FAST - BIAS CY - Milan, Italy, November 23-25 1993 ER -