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2015
A. Altobelli, Bianchi, M., Catalano, M. G., Serio, A., Baud-Bovy, G., and Bicchi, A., “An instrumented manipulandum for human grasping studies”, in 14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015, Singapore, 11-14 Aug. 2015, 2015, pp. 169-174 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7281194PDF icon [PDF] (1.09 MB)
G. Mathijssen, Terryn, S., Funemont, R., Garabini, M., Catalano, M. G., Grioli, G., Lefeber, D., Bicchi, A., and Vanderborght, B., “Potential merits for space robotics from novel concepts of actuation for soft robotics”, in Advanced Space Technologies for Robotics and Automation (ASTRA) , Noordwijk, The Netherlands May 11-13, 2015, 2015. PDF icon [PDF] (826.03 KB)
A. Velasco, Garabini, M., Catalano, M. G., and Bicchi, A., “Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency”, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2015, pp. 107 - 113 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363522PDF icon [PDF] (1.15 MB)
G. Grioli, Wolf, S., Garabini, M., Catalano, M. G., Burdet, E., Caldwell, D. G., Carloni, R., Friedl, W., Grebenstein, M., Laffranchi, M., Lefeber, D., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Vanderborght, B., Albu-Schaeffer, A., and Bicchi, A., “Variable Stiffness Actuators: the user’s point of view”, Int. J. Robotics Research, vol. 34, no. 6, pp. 727-743, 2015 [Online]. Available: http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finitePDF icon [PDF] (2.09 MB)
G. M. Gasparri, Garabini, M., Pallottino, L., Malagia, L., Catalano, M. G., Grioli, G., and Bicchi, A., “Variable Stiffness Control for Oscillation Damping”, in IEEE International Conference of Intelligent Robots and Systems (IROS2015), Hamburg, Germany, September 28 - October 02, 2015, 2015, pp. 6543 - 6550 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7354312PDF icon [PDF] (531.93 KB)
2014
M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., “Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand”, International Journal of Robotics Research, vol. 33, no. 5, pp. 768–782, 2014. PDF icon [PDF] (1.03 MB)
S. B. Godfrey, A. Ajoudani, Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., “Exploring haptic feedback for the Pisa/IIT SoftHand”, in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014. PDF icon HS_poster_SBG.pdf (695.8 KB)
A. Ajoudani, Godfrey, S. B., Catalano, M. G., Bianchi, M., Grioli, G., Tsagarakis, N. G., and Bicchi, A., “Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand”, IEEE Transactions on Haptics, vol. 7, no. 2, pp. 203 - 215, 2014 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6755554PDF icon 2014_AGBCGTB_TOH.pdf (1.67 MB)
M. Bonilla, Farnioli, E., Piazza, C., Catalano, M. G., Grioli, G., Garabini, M., Gabiccini, M., and Bicchi, A., “Grasping with Soft Hands”, in IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014), Madrid, Spain, November 18 - 20, 2014, pp. 581 - 587 [Online]. Available: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7041421&queryText%3DGrasping+with+Soft+HandsPDF icon [PDF] (4.39 MB)
K. Melo, Garabini, M., Grioli, G., Catalano, M. G., Malagia, L., and Bicchi, A., “Open Source VSA-CubeBots for Rapid Soft Robot Prototyping ”, in Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems, July 12, 2014, Berkeley, California , 2014. PDF icon [PDF] (1.15 MB)
E. Battaglia, Grioli, G., Catalano, M. G., Bianchi, M., Serio, A., Santello, M., and Bicchi, A., “ThimbleSense: A new wearable tactile device for human and robotic fingers ”, in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014. PDF icon [PDF] (5.1 MB)
E. Battaglia, Grioli, G., Catalano, M. G., Santello, M., and Bicchi, A., “ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies”, in IEEE International Conference on Robotics and Automation - ICRA 2014, Hong Kong, May 31 - June 7, 2014, 2014, pp. 2728 - 2735 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907250PDF icon [PDF] (2.83 MB)
2013
V. Tincani, Grioli, G., Catalano, M. G., Bonilla, M., Garabini, M., Fantoni, G., and Bicchi, A., “Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 5494 - 5499 [Online]. Available: http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152PDF icon [PDF] (1.76 MB)
V. Tincani, Grioli, G., Catalano, M. G., Garabini, M., Grechi, S., Fantoni, G., and Bicchi, A., “Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces”, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2744 - 2750 [Online]. Available: 10.1109/ICRA.2013.6630955 PDF icon [PDF] (1.32 MB)
R. Incaini, Sestini, L., Garabini, M., Catalano, M. G., Grioli, G., and Bicchi, A., “Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison”, in IEEE International Conference on Robotics and Automation (ICRA2013), 2013, pp. 2477 - 2484 [Online]. Available: 10.1109/ICRA.2013.6630914 PDF icon [PDF] (1.13 MB)
S. B. Godfrey, A. Ajoudani, Catalano, M. G., Grioli, G., and Bicchi, A., “A synergy-driven approach to a myoelectric hand”, in 13TH International Conference on Rehabilitation Robotics, June 24-26, 2013, Seattle, WA., 2013, pp. 1 - 6 [Online]. Available: 10.1109/ICORR.2013.6650377 PDF icon 2013_ICORR.pdf (614.74 KB)
A. Ajoudani, Godfrey, S. B., Catalano, M. G., Grioli, G., Tsagarakis, N. G., and Bicchi, A., “Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 1985 - 1991. PDF icon [PDF] (1.63 MB)
B. Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Eiberger, O., Friedl, W., Ganesh, G., Garabini, M., Grebenstein, M., Grioli, G., Haddadin, S., Hoppner, H., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., “Variable Impedance Actuators: a Review”, Robotics and Autonomous Systems, vol. 61, no. 12, pp. 1601–1614, 2013 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0921889013001188PDF icon [PDF] (1.28 MB)
2012
G. Grioli, Catalano, M. G., Silvestro, E., Tono, S., and Bicchi, A., “Adaptive Synergies: an approach to the design of under-actuated robotic hands”, in International Conference of Intelligent Robots and Systems - IROS 2012, Vilamoura, Algarve, Portugal, 2012, pp. 1251 - 1256 . PDF icon 2012_GCSTB_IROS.pdf (1.08 MB)
M. G. Catalano, Grioli, G., Serio, A., Farnioli, E., Piazza, C., and Bicchi, A., “Adaptive Synergies for a Humanoid Robot Hand”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012, pp. 7-14. PDF icon Unipi-IIT_hand.pdf (1.55 MB)
M. Mancini, Grioli, G., Catalano, M. G., Garabini, M., Bonomo, F., and Bicchi, A., “Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator”, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 3335 - 3340 . PDF icon [PDF] (1.08 MB)
L. Balletti, Rocchi, A., Belo, F. A. W., Catalano, M. G., Garabini, M., Grioli, G., and Bicchi, A., “Towards variable impedance assembly: the VSA peg-in-hole”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012. PDF icon [PDF] (900.28 KB)
M. G. Catalano, Grioli, G., Garabini, M., Belo, F. A. W., Di Basco, A., Tsagarakis, N. G., and Bicchi, A., “A Variable Damping module for Variable Impedance Actuation”, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 2666 - 2672. PDF icon [PDF] (785.17 KB)
B. Vanderborght, Albu-Schaeffer, A., Bicchi, A., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Ganesh, G., Garabini, M., Grioli, G., Haddadin, S., Jafari, A., Laffranchi, M., Lefeber, D., Petit, F., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Visser, L. C., and Wolf, S., “Variable Impedance Actuators: Moving the Robots of Tomorrow”, International Conference of Intelligent Robots and Systems - IROS 2012- Best Jubilee Video Award. 2012.
V. Tincani, Catalano, M. G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., and Bicchi, A., “ Velvet fingers: A dexterous gripper with active surfaces”, in International Conference of Intelligent Robots and Systems - IROS 2012, Vilamoura, Algarve, Portugal, 2012, pp. 1257 - 1263 . PDF icon [PDF] (1.85 MB)
2011
A. Serio, Catalano, M. G., Grioli, G., Gabiccini, M., and Bicchi, A., “The Hand Embodied”, in Automatica.it 2011, Pisa, Italy, 2011. PDF icon [PDF] (485.18 KB)
G. Grioli, Catalano, M. G., Garabini, M., Bonomo, F., Serio, A., Salaris, P., Belo, F. A. W., Mancini, M., Bicchi, A., and Passaglia, A., “Variable stiffness actuators: muscles for the next generation of robots”, in Automatica.it 2011, Pisa, Italy, 2011. PDF icon [PDF] (7.79 MB)
M. G. Catalano, Grioli, G., Garabini, M., Bonomo, F., Mancini, M., Tsagarakis, N. G., and Bicchi, A., “VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems”, in 2011 IEEE International Conference on Robotics and Automation, Shangai, China, 2011, pp. 5090 - 5095. PDF icon [PDF] (1.39 MB)
2010
A. Fagiolini, Belo, F. A. W., Catalano, M. G., Alicino, S., Bonomo, F., and Bicchi, A., “Design and Control of a Novel 3D Casting Manipulator”, in IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, 2010, pp. 4169 - 4174. PDF icon [PDF] (5.98 MB)
M. G. Catalano, Schiavi, R., and Bicchi, A., “Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance”, in IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, 2010, pp. 3285 - 3291. PDF icon [PDF] (860.53 KB)

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