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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)
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)
N. G. Tsagarakis, Caldwell, D. G., Negrello, F., Choi, W., Baccelliere, L., Loc, V. G., Noorden, J., Muratore, L., Margan, A., Cardellino, A., Natale, L., E. Hoffman, M., Dallali, H., Kashiri, N., Malzahn, J., Lee, J., Kryczka, P., Kanoulas, D., Garabini, M., Catalano, M. G., Ferrati, M., Varricchio, V., Pallottino, L., Pavan, C., Bicchi, A., Settimi, A., Rocchi, A., and A. Ajoudani, WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments, Journal of Field Robotics, vol. 34, no. 4, pp. 1 - 34, 2017 [Online]. Available: http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf
2016
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)
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)
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)
E. Battaglia, Bianchi, M., Altobelli, A., Grioli, G., Catalano, M. G., Serio, A., Santello, M., and Bicchi, A., ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis, IEEE Transactions on Haptics, vol. 9, no. 1, pp. 121-133, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7294702PDF icon [PDF] (2.05 MB)
C. Piazza, C. Della Santina,, Gasparri, G. M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., Toward an Adaptive Foot for Natural Walking, in International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, November 15-17, 2016, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7803423PDF icon [PDF] (4.37 MB)
S. Wolf, Grioli, G., Eiberger, O., Friedl, W., Grebenstein, M., Hoppner, H., Burdet, E., Caldwell, D. G., Carloni, R., Catalano, M. G., Lefeber, D., Stramigioli, S., Tsagarakis, N. G., Damme, V. M., Ham, V. R., Vanderborght, B., Visser, L. C., Bicchi, A., and Albu-Schaeffer, A., Variable Stiffness Actuators: Review on Design and Components, IEEE/ASME Transactions on Mechatronics , vol. 21, no. 5, pp. 2418 - 2430, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7330025
F. Negrello, Garabini, M., Catalano, M. G., Kryczka, P., Choi, W., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., WALK-MAN humanoid lower body design optimization for enhanced physical performance, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, May 16-21, 2016 , 2016, pp. 1817 - 1824 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487327
2015
S. Casini, Morvidoni, M., Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., Design and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces, in IEEE International Conference of Intelligent Robots and Systems - IROS2015, Hamburg, Germany, 28 Sept - 2 Oct 2015, 2015, pp. 1186 - 1193 [Online]. Available: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353520&newsearch=true&queryText=Design%20and%20Realization%20of%20the%20CUFF%20-%20Clenching%20Upper-Limb%20Force%20Feedback%20Wearable%20Device%20for%20Distributed%20Mechano-Tactile%20StimulatioPDF icon [PDF] (3.44 MB)
C. Della Santina, Grioli, G., Catalano, M. G., Brando, A., and Bicchi, A., Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), Seoul, Korea, November 3 - 5, 2015, 2015, pp. 497 - 503 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595PDF icon 2015_dsgcbb_humanoids.pdf (3.98 MB)
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)

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