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 - CONF T1 - The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps T2 - Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014) Y1 - 2014 A1 - A. Serio A1 - E. Riccomini A1 - V. Tartaglia A1 - I. Sarakoglou A1 - M Gabiccini A1 - N G Tsagarakis A1 - A. Bicchi KW - Haptics KW - Robotics AB -

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

JF - Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014) CY - Chicago, USA ER - TY - CONF T1 - Calibration and Test of a Multi-Touch Tactile Object T2 - International Conference of Intelligent Robots and Systems - IROS 2012 Y1 - 2012 A1 - A. Serio A1 - M Gabiccini A1 - I. Sarakoglou A1 - A. Bicchi KW - Robotics JF - International Conference of Intelligent Robots and Systems - IROS 2012 CY - Algrave, Portugal ER -