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2019
A. Bicchi, Catalano, M. G., Piazza, C., Grioli, G., C. Della Santina,, and Garabini, M., “Artificial hand”, 16/3022272019 [Online]. Available: https://patentimages.storage.googleapis.com/4f/2c/07/915e9723cfe164/US20190269528A1.pdf
M. Maimeri, C. Della Santina,, Piazza, C., Rossi, M., Catalano, M. G., and Grioli, G., “Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs”, Frontiers in neurorobotics, vol. 13, 2019. PDF icon fnbot-13-00026_.pdf (1.12 MB)
M. Maimeri, C. Della Santina,, Piazza, C., Rossi, M., Catalano, M. G., and Grioli, G., “Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs”, Frontiers in neurorobotics, vol. 13, 2019 [Online]. Available: https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/fullPDF icon fnbot-13-00026_.pdf (1.12 MB)
A. Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., “Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots”, Frontiers in Robotics and AI, 2019. PDF icon frobt-06-00023.pdf (4.57 MB)
C. Della Santina, Pallottino, L., Rus, D., and Bicchi, A., “Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach”, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 3 , July 2019, 2019. PDF icon 00_main.pdf (3.33 MB)
D. Mura, C. Della Santina,, Piazza, C., Frizza, I., Morandi, C., Garabini, M., Grioli, G., and Catalano, M. G., “Exploiting Adaptability in Soft Feet for Sensing Contact Forces”, IEEE Robotics and Automation Letters, vol. 5, no. 2, 2019 [Online]. Available: https://ieeexplore.ieee.org/document/8894422
C. D. Santina, Arapi, V., Averta, G., Damiani, F., Fiore, G., Settimi, A., Catalano, M. G., Bacciu, D., Bicchi, A., and Bianchi, M., “Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands”, IEEE Robotics and Automation Letters, vol. 4, pp. 1533-1540, 2019. PDF icon 08629968.pdf (4.01 MB)
S. Fani, Di Blasio, K., Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., “Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation”, IEEE Robotics and Automation Letters, vol. Volume: 4 , Issue: 2 , April 2019, 2019. PDF icon 08620535.pdf (2.27 MB)
A. Giannini, Bianchi, M., Doria, D., Fani, S., Caretto, M., Bicchi, A., and Simoncini, T., “Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.”, Journal of Robotic Surgery , 2019. PDF icon giannini2019_article_wearablehapticinterfacesforapp.pdf (584.04 KB)
2018
M. Bonilla, C. Della Santina,, Rocchi, A., Luberto, E., Santaera, G., Farnioli, E., Piazza, C., Bonomo, F., Brando, A., Raugi, A., Catalano, M. G., Bianchi, M., Garabini, M., Grioli, G., and Bicchi, A., “Advanced grasping with the Pisa/IIT softHand”, in Robotic Grasping and Manipulation Challenge , 2018, pp. pp. 19-38. PDF icon bonilla2018_chapter_advancedgraspingwiththepisaiit.pdf (2.81 MB)
T. Marcucci, Deits, R., Gabiccini, M., Bicchi, A., and Tedrake, R., “Approximate hybrid model predictive control for multi-contact push recovery in complex environments”, in IEEE RAS International Conference on Humanoid Robots, 2018. PDF icon humanoids2017_preprint.pdf (966.31 KB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., “Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment”, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. PDF icon [PDF] (1.37 MB)
A. Visar, C. Della Santina,, Bacciu, D., Bianchi, M., and Bicchi, A., “DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information”, Frontiers in Neurorobotics, 2018. PDF icon arapi_et_al_2018.pdf (2.8 MB)
A. De Acutis, Calabrese, L., Bau, A., Tincani, V., Pugno, N. M., Bicchi, A., and De Rossi, D., “Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling”, Smart Materials and Structures, 2018. PDF icon de_acutis_2018_smart_mater._struct._27_074005.pdf (1.78 MB)
A. De Acutis, Calabrese, L., Bau, A., Tincani, V., Pugno, N. M., Bicchi, A., and De Rossi, D., “Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling”, Smart Materials and Structures, 2018. PDF icon de_acutis_2018_smart_mater._struct._27_074005.pdf (1.78 MB)
C. Della Santina, Katzschmann, R. K., Bicchi, A., and Rus, D., “Dynamic Control of Soft Robots Interacting with the Environment”, in IEEE International Conference on Soft Robotics, 24 - 28 April 2018, Livorno, Italy, 2018 [Online]. Available: https://ieeexplore.ieee.org/abstract/document/8404895PDF icon [PDF] (1.34 MB)
A. Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., “A Novel Approach to Under-Actuated Control of Fluidic Systems”, in 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8460859&isnumber=8460178PDF icon a_novel_approach_to_under-actuated_control_of_fluidic_systems.pdf (1.75 MB)
D. Caporale, Fagiolini, A., Pallottino, L., Settimi, A., Biondo, A., Amerotti, F., Massa, F., De Caro, S., Corti, A., and Venturini, L., “A Planning and Control System for Self-Driving Racing Vehicles”, in 2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI), Palermo, Italy, 2018, pp. 1-6. PDF icon roboracertsi_2018.pdf (2.63 MB)
C. Piazza, Catalano, M. G., Bianchi, M., Ricciardi, E., Pratichizzo, D., Haddadin, S., Luft, A. R. L., Lambercy, O., Gassert, R., Jakubowitz, E., Van Der Kooij, H., Tonis, F., Bonomo, F., de Jonge, B., Ward, T., Zhao, K., Santello, M., and Bicchi, A., “The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation”, in International Symposium on Wearable Robotics, 2018. PDF icon werob2018_softpro_.pdf (2.51 MB)
C. Della Santina, Piazza, C., Grioli, G., Catalano, M. G., and Bicchi, A., “Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2”, IEEE Transactions on Robotics, vol. Early Access, 2018. PDF icon softhand2_tro-ilovepdf-compressed.pdf (2.04 MB)
A. Bicchi, C. Della Santina,, Catalano, M. G., Piazza, C., Grioli, G., and Brando, A., “Underactuated robotic hand”, 15/7723682018 [Online]. Available: https://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf
N. G. Tsagarakis, Negrello, F., Garabini, M., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Catalano, M. G., Ferrati, M., Muratore, L., Kryczka, P., E. Hoffman, M., Settimi, A., Rocchi, A., Margan, A., Cordasco, S., Kanoulas, D., Cardellino, A., Natale, L., Dallali, H., Malzahn, J., Kashiri, N., Varricchio, V., Pallottino, L., Pavan, C., Lee, J., A. Ajoudani, Caldwell, D. G., and Bicchi, A., “WALK-MAN Humanoid Platform”, in The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, vol. 121, Springer, 2018, pp. 495–548. PDF icon walk-manhumanoidplatform_springer.pdf (3.5 MB)
2017
I. Herreros, Arsiwalla, X. D., C. Della Santina,, Puigbo, J. - Y., Bicchi, A., and Verschure, P. F. M. J., “Cerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers”, in IEEE Mediterranean Conference on Control and Automation, 3-6 July 2017 in Valletta, Malta, 2017. PDF icon [PDF] (1.03 MB)
L. Santos, Carbonaro, N., Tognetti, A., Gonzales, R., Fraile, J. C., Turiel, J. P., and De La Fuente, E., “Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery”, in Proceedings of the second International Conference on Medical Information and Bioengineering, 2017.
C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., “Controlling Soft Robots: Balancing Feedback and Feedforward Elements”, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438PDF icon [PDF] (1.22 MB)
S. Mghames, Laghi, M., C. Della Santina,, Garabini, M., Catalano, M. G., Grioli, G., and Bicchi, A., “Design, control and validation of the variable stiffness exoskeleton FLExo”, in International Conference on Rehabilitation Robotics (ICORR), London, UK, 17-20 July 2017, 2017, pp. 539 - 546 [Online]. Available: http://ieeexplore.ieee.org/document/8009304/PDF icon [PDF] (1.9 MB)
S. Casini, Tincani, V., Averta, G., Poggiani, M., C. Della Santina,, Battaglia, E., Catalano, M. G., Bianchi, M., Grioli, G., and Bicchi, A., “Design of an under-actuated wrist based on adaptive synergies”, in Robotics and Automation (ICRA), 2017 IEEE International Conference on, 2017, pp. 6679–6686. PDF icon 07989789.pdf (1.08 MB)
S. Casini, Tincani, V., Averta, G., Poggiani, M., C. Della Santina,, Battaglia, E., Catalano, M. G., Bianchi, M., Grioli, G., and Bicchi, A., “Design of an Under-Actuated Wrist Based on Adaptive Synergies”, in IEEE International Conference of Robotics and Automation, ICRA2017, Singapore, 29 May-3 June 2017, 2017 [Online]. Available: http://ieeexplore.ieee.org/document/7989789/PDF icon [PDF] (5.71 MB)
C. Della Santina, Piazza, C., Santaera, G., Grioli, G., Catalano, M. G., and Bicchi, A., “Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands”, in IEEE International Conference of Intelligent Robots and Systems (IROS2017), Vancouver, Canada, September 24–28, 2017, 2017. PDF icon [PDF] (4.13 MB)
G. Averta, C. Della Santina,, Battaglia, E., Ciotti, S., Arapi, V., Fani, S., and Bianchi, M., “From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands”, in Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on, Munich, 2017, pp. 179–184. PDF icon averta_et_al_2017.pdf (16.66 MB)

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