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In Press
Z. Li, Chen, Z., Ajoudani, A., Yang, C., Su, C., and Bicchi, A., Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations , IEEE Transactions on Robotics (T-RO) , In Press.
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, In Press.
T. Stoyanov, Vaskeviciusz, N., Mueller, C. A., Fromm, T., Krug, R., Tincani, V., Mojtahedzadeh, R., Kunaschk, S., Ernits, R. M., Canelhas, D. R., Bonilla, M., Schwertfeger, S., Bonini, M., Halfar, H., Pathak, K., Rohde, M., Fantoni, G., Bicchi, A., Birk, A., Lilienthal, A., and Echelmeyer, W., No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem, IEEE Robotics and Automation Magazine, In Press.
M. Bonilla, Pallottino, L., and Bicchi, A., Noninteracting Constrained Motion Planning and Control for Robot Manipulators, in IEEE International Conference of Robotics and Automation, ICRA2017, In Press. PDF icon [PDF] (3.05 MB)
T. Marcucci, C. Della Santina,, Gabiccini, M., and Bicchi, A., Towards Minimum-Information Adaptive Controllers for Robot Manipulators, American Control Conference, AMC2017. May 24–26 2017, Seattle USA, In Press. PDF icon 2017_amc.pdf (924.22 KB)
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, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438PDF icon [PDF] (1.22 MB)
B. Huang, Li, Z., Wu, X., Ajoudani, A., Bicchi, A., and Liu, J., Coordination Control of a Dual-arm Exoskeleton Robot Using Human Impedance Transfer Skills, IEEE Trans. Systems Man and Cybernetics: Systems, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7944582
M. L. D'Angelo, Cannella, F., Bianchi, M., D'Imperio, M., Battaglia, E., Poggiani, M., Rossi, G., Bicchi, A., and Caldwell, D. G., An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window, IEEE Transactions on Haptics, vol. 10, no. 1, pp. 123-129, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7579582
A. Cristofaro, Salaris, P., Pallottino, L., Giannoni, F., and Bicchi, A., On the Minimum-Time Control Problem for Differential Drive Robots with Bearing Constraints, Journal of Optimization Theory and Applications, pp. 1-27, 2017 [Online]. Available: http://download.springer.com/static/pdf/641/art%253A10.1007%252Fs10957-017-1110-7.pdf?originUrl=http%3A%2F%2Flink.springer.com%2Farticle%2F10.1007%2Fs10957-017-1110-7&token2=exp=1492507070~acl=%2Fstatic%2Fpdf%2F641%2Fart%25253A10.1007%25252Fs10957-017-111
C. Della Santina, Piazza, C., Gasparri, G. M., Bonilla, M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots, IEEE Robotics and Automation Magazine , vol. 24, no. 1, pp. 48 - 56, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7857692
E. Battaglia, Clark, J. P., Bianchi, M., Catalano, M. G., Bicchi, A., and O'Malley, M. K., The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand , in IEEE World Haptics Conference, Fürstenfeldbruck (Munich), Germany, June 6-9, 2017, 2017. PDF icon [PDF] (1.92 MB)
M. Bianchi, Valenza, G., Lanatà, A., Greco, A., Nardelli, M., Bicchi, A., and Scilingo, E. P., On the Role of Affective Properties in Hedonic and Discriminant Haptic Systems, International Journal of Social Robotics, vol. 9, no. 1, pp. 87–95, 2017 [Online]. Available: https://link.springer.com/article/10.1007/s12369-016-0371-xPDF icon [PDF] (17.23 MB)
M. Bianchi, Moscatelli, A., Ciotti, S., Bettelani, G. C., Fioretti, F., Lacquaniti, F., and Bicchi, A., Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions, in IEEE World Haptic Conference, Fürstenfeldbruck (Munich), Germany, June 6-9, 2017, 2017. PDF icon [PDF] (1 MB)
2016
A. Albu-Schaeffer and Bicchi, A., Actuators for Soft Robotics, in Springer Handbook of Robotics, vol. B, Springer, 2016, pp. 499-530 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-32552-1_21
S. Fani, Bianchi, M., Jain, S., J. Neto, P., Boege, S., Grioli, G., Bicchi, A., and Santello, M., Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications, Frontiers in Neurorobotics, vol. 10, no. 11, 2016 [Online]. Available: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/PDF icon [PDF] (2.92 MB)
A. Moscatelli, Bianchi, M., Serio, A., Terekhov, A., Hayward, V., Ernst, M., and Bicchi, A., The Change in Fingertip Contact Area as a Novel Proprioceptive Cue, Current Biology, vol. 26, no. 9, pp. 1159–1163, 2016 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S0960982216301348PDF icon [PDF] (877.01 KB)
A. Fagiolini, Dubbini, N., Martini, S., and Bicchi, A., Convergence Analysis of Distributed Set-Valued Information Systems, IEEE Transactions on Automatic Control, vol. 61, no. 6, pp. 1477 - 1491, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7272075PDF icon [PDF] (2.33 MB)
M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Bonilla, M., Garabini, M., Piazza, C., Gabiccini, M., and Bicchi, A., From Soft to Adaptive Synergies: The Pisa/IIT SoftHand, in Human and Robot Hands, vol. Springer Series on Touch and Haptic Systems, Springer, 2016. PDF icon [PDF] (10.22 MB)
M. Santello, Bianchi, M., Gabiccini, M., Ricciardi, E., Salvietti, G., Prattichizzo, D., Ernst, M., Moscatelli, A., Jorntell, H., Kappers, A., Kyriakopulos, K., Albu-Schaeffer, A., Castellini, C., and Bicchi, A., Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands, Physics of Life Reviews, vol. 17, pp. 1-23, 2016 [Online]. Available: http://www.sciencedirect.com/science/article/pii/S1571064516000269
S. B. Godfrey, Bianchi, M., Bicchi, A., and Santello, M., Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study, in Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference , Orlando, USA, August 16-20, 2016, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957
F. Negrello, Garabini, M., Catalano, M. G., Malzahn, J., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., A Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7363567PDF icon [PDF] (4.33 MB)
C. Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies, in International Workshop on Human-Friendly Robotics, 2016. PDF icon [PDF] (5.04 MB)
E. Farnioli, Gabiccini, M., and Bicchi, A., Quasi-Static Analysis of Synergistically Underactuated Robotic Hands in Grasping and Manipulation Tasks, in Human and Robot Hands, vol. Springer Series on Touch and Haptic Systems, Springer, 2016, pp. 211-233. PDF icon [PDF] (582.21 KB)
A. Ajoudani, Hocaoglu, E., Altobelli, A., Rossi, M., Battaglia, E., Tsagarakis, N. G., and Bicchi, A., Reflex Control of the Pisa/IIT SoftHand during Object Slippage, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, 2016, pp. 1972 - 1979 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487344PDF icon [PDF] (896.73 KB)
G. M. Gasparri, Fabiani, F., Garabini, M., Pallottino, L., Catalano, M. G., Grioli, G., Persichini, R., and Bicchi, A., Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios, in IEEE International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, 15-17 Nov. 2016 , 2016 [Online]. Available: http://ieeexplore.ieee.org/document/7803381/PDF icon [PDF] (3.28 MB)
M. Garabini, C. Della Santina,, Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., Soft Robots that Mimic the Neuromusculoskeletal System, in 3rd International Conference on NeuroRehabilitation (ICNR2016), 2016, vol. Converging Clinical and Engineering Research on Neurorehabilitation, pp. 259-263 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45PDF icon [PDF] (832.21 KB)
S. B. Godfrey, Bianchi, M., Zhao, K., Catalano, M. G., Breighner, R., Theuer, A., Andrews, K., Grioli, G., Santello, M., and Bicchi, A., The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype, in Converging Clinical and Engineering Research on Neurorehabilitation II, vol. 15, Springer International Publishing, 2016, pp. 469-473 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78
C. Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, May 16-21, 2016, pp. 3516 - 3523 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487532PDF icon [PDF] (5.66 MB)
A. Leo, Handjaras, G., Bianchi, M., Marino, H., Gabiccini, M., Guidi, A., Scilingo, E. P., Pietrini, P., Bicchi, A., Santello, M., and Ricciardi, E., A synergy-based hand control is encoded in human motor cortical areas, eLIFE, 2016 [Online]. Available: http://elifesciences.org/content/5/e13420v2PDF icon [PDF] (4.99 MB)
M. Bianchi, Salaris, P., and Bicchi, A., Synergy-Based Optimal Sensing Techniques for Hand Pose Reconstruction, in Human and Robot Hands, vol. Springer Series on Touch and Haptic Systems, Springer, 2016, pp. 259-283. PDF icon [PDF] (17.37 MB)

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