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Maximal-Radius Multiscale Entropy of Cardiovascular Variability: A Promising Biomarker of Pathological Mood States in Bipolar Disorders

TitleMaximal-Radius Multiscale Entropy of Cardiovascular Variability: A Promising Biomarker of Pathological Mood States in Bipolar Disorders
Publication TypeConference Paper
Year of Publication2014
Conference Name36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
AuthorsValenza, G, Nardelli, M, Bertschy, G, Lanata, A, Barbieri, R, Scilingo, EP
KeywordsBioengineering

Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains

TitleSample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference on Robotics and Automation (ICRA2015)
Pagination2522 - 2527
AuthorsBonilla, M, Farnioli, E, Pallottino, L, Bicchi, A
PublisherIEEE
Conference LocationSeattle, USA, 25 - 30 May
KeywordsRobotics
Notes

softhands pacman walkman

DOI10.1109/ICRA.2015.7139537
Refereed DesignationRefereed

Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks

TitleOptimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference on Robotics and Automation (ICRA2015)
Pagination5675 - 5681
AuthorsFarnioli, E, Gabiccini, M, Bicchi, A
Conference LocationSeattle, USA, 25 - 30 May
KeywordsHaptics, Robotics
DOI10.1109/ICRA.2015.7139994
Custom 1

softhands walkman

Refereed DesignationRefereed

Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders

TitleKinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference on Robotics and Automation (ICRA2015)
Pagination2710 - 2715
AuthorsBagheri, M, A. Ajoudani, Lee, J, Caldwell, DG, Tsagarakis, NG
Conference LocationSeattle, USA, 25 - 30 May
KeywordsRobotics
DOI10.1109/ICRA.2015.7139566
Custom 1

walkman

Refereed DesignationRefereed

Neighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study

TitleNeighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study
Publication TypeConference Paper
Year of Publication2011
Conference NameIEEE Symposium on Computers and Communications
AuthorsDini, G, Giurlanda, F, Pallottino, L
KeywordsEmbedded Control, Robotics
Abstract

Decentralized coordination of multi-agents requires that every agent reliably and efficiently disseminates its state to neighbours
through a wireless network. If dissemination is unreliable, safety issues may ensue. Unfortunately, the broadcast service of
wireless network is efficient but unreliable (e. g., IEEE 802.11). The Neighbourhood Monitoring Protocol (NMP) [1] is an efficient
and scalable protocol that assures a reliable state dissemination between mobile agents, under some conditions of channel
utilization. NMP runs on top of IEEE 802.11. In this paper we evaluate NMP with a specific decentralized collision avoidance
algorithm based on the GRP policy [2]. The algorithm is particularly challenging because it accommodates an arbitrary number
non-holonomic agents. We show that NMP allows the system to scale well and provides a very high state delivery ratio even if it
operates on the unreliable broadcast service like 802.11. Doing so, NMP assures the correct state information to the collision
avoidance algorithm.

Refereed DesignationRefereed

Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies

Title Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies
Publication TypeConference Paper
Year of Publication2014
Conference Name22nd Mediterranean Conference of Control and Automation (MED) 2014
Pagination346 - 350
AuthorsAltobelli, A, Bianchi, M, Serio, A, Baud-Bovy, G, Gabiccini, M, Bicchi, A
PublisherIEEE
Conference LocationPalermo, Italy, 16-19 June 2014
KeywordsHaptics, Robotics
Abstract

This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation and human grasping studies. We report and discuss preliminary results on device validation as well as some illustrative measurement examples.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6961395
DOI10.1109/MED.2014.6961395
Refereed DesignationRefereed

Replicating the 3D cardiomyocyte environment in the squeeze pressure bioreactor

TitleReplicating the 3D cardiomyocyte environment in the squeeze pressure bioreactor
Publication TypeConference Paper
Year of Publication2012
Conference NameJournal of tissue engineering and regenerative medicine
Edited Volume6 Suppl 1
Pagination341
AuthorsGiusti, S, Tirella, A, Galli, E, Vozzi, F, Cabiati, M, Ahluwalia, A
KeywordsBioengineering
URLhttp://www.ncbi.nlm.nih.gov/pubmed/22941753
DOI10.1002/term.1586
PubMed ID22941753

Real Time and In-Situ control of environmental parameters in a modular bioreactor

TitleReal Time and In-Situ control of environmental parameters in a modular bioreactor
Publication TypeConference Paper
Year of Publication2012
Conference NameJournal of tissue engineering and regenerative medicine
Edited Volume6 Suppl 1
Pagination331
AuthorsGiusti, S, Mazzei, D, Ahluwalia, A
Conference LocationVien, Austria
KeywordsBioengineering
Abstract

Many researchers now recognize the importance of the external environment in which cells are cultured for cell function and differentiation. Most of the systems able to apply physiological-like stimuli also need a classical incubator or a specifically designed system to control the environmental parameters at some distance from the cells. Here, a standalone platform for cell, tissue and organ culture is described. The SUITE (Supervising Unit for In-vitro Testing) system can control local environmental variables like pH, temperature and hydrostatic pressure over long periods, to provide the optimal environment for cells outside the classical incubator and also to apply mechanical and chemical stimuli to simulate the physiological milieu. The SUITE platform is used with Multi-Compartmental modular Bioreactors (MCmB) to perform dynamic cultures of hepatocytes as in-vitro liver model. Preliminary tests demonstrated the capability of the system to maintain the target parameters for more than 72 h generating different hydrostatic pressures (20–30–40–50 mmHg). Then, two bioreactors were connected in series and cultured for 24 h in the SUITE platform with hydrostatic pressures of 20–30–40 mmHg. Static and dynamic controls were placed in the classical humidified incubator at 37°C, 5% CO2. The results show that cell function is enhanced in SUITE at up to 30 mmHg of hydrostatic pressure, as confirmed by viability, metabolic function and morphological analysis.

URLhttp://www.ncbi.nlm.nih.gov/pubmed/22941753
DOI10.1002/term.1586
PubMed ID22941753

Multi-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity

TitleMulti-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity
Publication TypeConference Paper
Year of Publication2014
Conference NameESTIV 2014
Pagination107
AuthorsGiusti, S, Sbrana, T, Giacopelli, D, Di Patria, V, Ahluwalia, A
Conference LocationEgmond aan Zee, The Netherlands
KeywordsBioengineering
Abstract

More meaningful in-vitro models which simulate the physiological conditions of native tissue are becoming essential in the pharmaceutical field, for early and rapid screening of drug candidates. Here, we describe a multi-organ-on-plate system based on single and double flow mini bioreactor modules for dynamic in-vitro studies of intestinal drug absorption, drug metabolism and more relevant toxicity studies. The double flow module for membrane culture was firstly characterized using computational fluid dynamic models and measurements of pressure gradients, in order to indentify the optimal flow rates for maximizing the passage of solutes through the membrane. Then, cell culture experiments were performed with fully differentiated Caco-2 cells seeded on the semi-permeable membrane as a dynamic model of the intestinal epithelium, connected to a single flow chamber with metabolically competent human upcyte® hepatocytes (Medicyte GmbH, Germany) seeded on a 3D collagen cryogel. First we assessed the role of flow in modulating the passage of compounds across the epithelial barrier. Then toxicity tests were performed by administering different concentrations of hepatotoxic compounds (i.e. Diclofenac, Nimesulide, industrial nanoparticles) in the apical compartment of the MB, compared the data with cell cultures in transwells. Our results show: i) the presence of flow significantly increases translocation of all molecules tested across the membrane, ii) flow conditioned Caco-2 cells are more permeable to small hydrophilic compounds, despite having high TEER values iii) although they display higher levels of phenotypic markers (tight junctions, albumin expression etc), cells in the system are more susceptible to drug induced toxicity. In conclusion, the multi-organ-on-plate system predicts drug adsorption and toxicity better than traditional cell cultures and could be used to reduce, refine and eventually replace animal tests.

The need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech

TitleThe need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech
Publication TypeConference Paper
Year of Publication2014
Conference NameALTEX Proceedings
Pagination45–6
AuthorsSbrana, T, Mattei, G, Giusti, S, Ahluwalia, A
EditorDagmar, J, Horst, S
Conference LocationPrague, Czech Republic
KeywordsBioengineering
Abstract

New relevant in-vitro models are priorities in pharmaco-toxicology, cosmetic and food research to reduce the animal tests. Therefore, invivo models show ethical issues, are not time and cost effective and are progressively showing scientific limitations: for instance they fail in detection of pathogens that are species specific (Mazzoleni et al., 2009). The search of more relevant pre-clinical models forced the researcher to move from 2D to 3D in-vitro models in order to maintain the phenotype of cells (Lovit et al., 2013; Mattei et al., 2014). Even if the significant progress in material science, the metabolic requirement of 3D tissues is higher than a 2D culture and the scaffold is a limitation in nutrients transport. Dynamic cell culture chambers are then required to assure the gas/nutrient supply, waste elimination, mechanical stimulation of cells, study of cross talk between different tissues and real time monitoring of cells. Nowadays the only systems that meet all these specifications are the Ivtech technologies. Ivtech is an innovative Italian start-up that grows up to solve the needs of in-vitro experts, offering and customizing several type of transparent, dynamic and modular cell culture systems, organizing workshops and training. The goal is to expand the 3D approach and permits a significant evolution towards highly relevant in-vitro models.

Autonomous bioreactor modules for disease models and detection of systemic toxicity

TitleAutonomous bioreactor modules for disease models and detection of systemic toxicity
Publication TypeConference Paper
Year of Publication2014
Conference NameALTEX Proceedings
Pagination43
AuthorsAhluwalia, A, Giusti, S, Sbrana, T, Wilkinson, M, Misto, A, Lehr, C-M, Liley, M
EditorHorst, S, Jírová, D
Conference LocationPrague, Czech Republic
KeywordsBioengineering
Abstract

Advanced systems based on bioreactors and scaffolds are an essential step towards the development of more predictive and ethical alternatives to animal experiments. Size, modularity, automation, monitoring and essential design are crucial because these elements will ease the transition from old technology and accelerate their acceptance into mainstream research. Based on these requirements, the interconnected transparent sensorised “lego” bioreactors designed in our labs have been used to generate physiologically relevant disease and toxicity models which recapitulate systemic responses impossible to observe in standard cell cultures. The disease model is an interconnected bioreactor circuit with i) adipose tissue in 3D in 3 different concentrations representing normo-weight, over weight and obese body mass indices, ii) human hepatocytes on porous collagen scaffolds and iii) monolayers of human endothelial cells. High adiposity and elevated glucose levels induce systemic and endothelial inflammation in the circuit, as observed in overweight and diabetic humans (Iori et al., 2012). Using similar technology a three-tissue circuit for monitoring the absorption, distribution, metabolism and toxicity of nanoparticles was developed in the context of the EU project InLiveTox (Ucciferri et al., 2014). The results were strikingly similar to those observed in animal experiments demonstrating that the dynamic 3D in-vitro models are ethical, meaningful and economically viable replacements.

Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor

TitleFluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor
Publication TypeConference Paper
Year of Publication2014
Conference NameProceedings of ICMMB2014
Pagination363–68
AuthorsFerroni, M, Giusti, S, Spatafora, G, Boschetti, F, Ahluwalia, A
KeywordsBioengineering
URLhttp://amsacta.unibo.it/4085/1/ProceedingsİCMMB2014.pdf
DOI10.6092/unibo/amsacta/4085. In: Proceedings ICMMB A cura di: Zannoli, Romani ; Corazza, Ivan ; Stagni, Rita.

Sensorized Squeeze Pressure Bioreactor For mechanical modulation of cardiomyocyte phenotype

TitleSensorized Squeeze Pressure Bioreactor For mechanical modulation of cardiomyocyte phenotype
Publication TypeConference Paper
Year of Publication2014
Conference NameJournal of tissue engineering and regenerative medicine
Edited Volume8 Suppl 1
Pagination67–8
AuthorsGiusti, S, Vozzi, F, Pagliari, F, Tirella, A, Mazzei, D, Cabiati, M, del Ry, S, Ahluwalia, A
KeywordsBioengineering
URLhttp://www.ncbi.nlm.nih.gov/pubmed/24912686
DOI10.1002/term.1943
PubMed ID24912686

Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor

TitleFluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor
Publication TypeConference Paper
Year of Publication2014
Conference NameGruppo Nazionale Bioingegneria IV Congresso
AuthorsFerroni, M, Giusti, S, Spatafora, G, Boschetti, F, Ahluwalia, A
Conference LocationPavia, 25-27 June
KeywordsBioengineering
Abstract

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on the cells and recreate a physiological environment for cardiomyocytes cultures. This work is focused on an innovative Sensorized Squeeze PRessure (S2PR) bioreactor, able to apply a periodic contactless hydrodynamic pressures on 3D porous constructs. The fluid-dynamic environment inside the bioreactor was fully characterized using computational models, focusing on the pressures and fluid velocity profiles generated in the porous scaffold during the cyclic stimulation.

Piezoresistive Goniometer Network for Sensing Gloves

TitlePiezoresistive Goniometer Network for Sensing Gloves
Publication TypeConference Paper
Year of Publication2013
Conference NameProceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing
Pagination1547–1550
AuthorsMura, DG, Lorussi, F, Tognetti, A, Anania, G, Carbonaro, N, Pacelli, M, Paradiso, R, De Rossi, D
PublisherSpringer International Publishing
KeywordsBioengineering
Abstract

This paper presents a kinesthetic glove realized with knitted piezoresistive fabric (KPF) sensor technology. The glove forefinger area is sensorized by two KPF goniometers obtained on the same piezoresistive substrate. The piezoresistive textile is used for the realization of both electrogoniometers and connections, thus avoiding mechanical constraints due to metallic wires. Sensors are characterized in comparison with commercial goniometers. The glove behavior is pointed out in terms of methacarpal-phalangeal and interphalangeal joint movement reconstruction.

DOI10.1007/978-3-319-00846-2_382

Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition

TitleExploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition
Publication TypeConference Paper
Year of Publication2014
Conference Name 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies"
AuthorsBianchi, M, Carbonaro, N, Battaglia, E, Lorussi, F, Bicchi, A, De Rossi, D, Tognetti, A
Conference LocationNovember 3–5, 2014 Athens, Greece
KeywordsHaptics, Robotics
DOI10.4108/icst.mobihealth.2014.257228
Refereed DesignationRefereed

Grasping with Soft Hands

TitleGrasping with Soft Hands
Publication TypeConference Paper
Year of Publication2014
Conference NameIEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)
Pagination581 - 587
AuthorsBonilla, M, Farnioli, E, Piazza, C, Catalano, MG, Grioli, G, Garabini, M, Gabiccini, M, Bicchi, A
Conference LocationMadrid, Spain, November 18 - 20
KeywordsHaptics, Robotics
Abstract

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple — in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) — but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

URLhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7041421&queryText%3DGrasping+with+Soft+Hands
DOI10.1109/HUMANOIDS.2014.7041421
Refereed DesignationRefereed

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