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Wearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation

TitleWearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. of the IEEE EMBC 2009
Pagination6830–6833
Date Published02/09/ - 06/09/
AuthorsDe Rossi, D, Carpi, F, Lorussi, F, Scilingo, EP, Tognetti, A
URLhttp://dx.medra.org/10.1109/IEMBS.2009.5334481
DOI10.1109/IEMBS.2009.5334481

Event Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication

TitleEvent Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication
Publication TypeConference Paper
Year of Publication2009
Conference NameProceedings of the ISDA 2009 - 9th International Conference on Intelligent Systems Design and Applications
Pagination679–682
AuthorsFerro, M, Pioggia, G, Tognetti, A, Dalle Mura, G, De Rossi, D
URLhttp://dx.medra.org/10.1109/ISDA.2009.256
DOI10.1109/ISDA.2009.256

Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)

TitleMelt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)
Publication TypeJournal Article
Year of Publication2009
AuthorsChiono, V, Vozzi, G, Vozzi, F, Salvadori, C, Dini, F, Carlucci, F, ARISPICI, M, Burchielli, S, DI SCIPIO, F, GEUNA, S, FORNARO, M, TOS, P, Nicolino, S, Audisio, C, Perroteau, I, CHIARAVALLOTI, A, Domenici, C, Giusti, P, Ciardelli, G
JournalBIOMEDICAL MICRODEVICES
Pagination1037-1050
ISSN1387-2176
KeywordsBioengineering

A phase diagram for microfabrication of geometrically controlled hydrogel scaffolds

TitleA phase diagram for microfabrication of geometrically controlled hydrogel scaffolds
Publication TypeJournal Article
Year of Publication2009
AuthorsTirella, A, Orsini, A, Vozzi, G, Ahluwalia, A
JournalBiofabrication
Volume1
Pagination045002
ISSN1758-5090
KeywordsBioengineering
Abstract

Hydrogels are considered as excellent candidates for tissue substitutes by virtue of their high water content and biphasic nature. However, the fact that they are soft, wet and floppy renders them difficult to process and use as custom-designed scaffolds. To address this problem alginate hydrogels were modeled and characterized by measuring stress-strain and creep behavior as well as viscosity as a function of sodium alginate concentration, cross-linking time and calcium ion concentration. The gels were then microfabricated into scaffolds using the pressure-assisted microsyringe. The mechanical and viscous characteristics were used to generate a processing window in the form of a phase diagram which describes the fidelity of the scaffolds as a function of the material and machine parameters. The approach can be applied to a variety of microfabrication methods and biomaterials in order to design well-controlled custom scaffolds.

URLhttp://www.ncbi.nlm.nih.gov/pubmed/20811111
DOI10.1088/1758-5082/1/4/045002

Underwater vehicle technology in the European research project VENUS

TitleUnderwater vehicle technology in the European research project VENUS
Publication TypeJournal Article
Year of Publication2009
AuthorsConte, G, Gambella, L, Scaradozzi, D, Zanoli, SM, Caiti, A, Calabrò, V, Alcocer, A, Alves, J, Cardeira, B, Cunha, R, Curado, F, Oliveira, P, Oliveira, A, Pascoal, A, Rufino, M, Sebastião, L, Silvestre, C
JournalUNDERWATER TECHNOLOGY
Volume28
Pagination175–185
ISSN1756-0543
KeywordsRobotics
URLhttp://dx.medra.org/10.3723/ut.28.175
DOI10.3723/ut.28.175

Constructive robustness analysis of a limited-information feedback approach for nonlinear systems

TitleConstructive robustness analysis of a limited-information feedback approach for nonlinear systems
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE International Conference on Decision and Control
Date PublishedDecember, 16 - 1
Publication Languageeng
AuthorsFranci, A, Chaillet, A
Conference LocationShangai, China
KeywordsEmbedded Control, Robotics
Abstract

We analyze the robustness properties of a recently introduced strategy for stabilization with limited information. We show that if the nominal closed-loop system can be made Input-to-State Stable (ISS) with respect to measurement errors, parameter uncertainty and exogenous disturbances then this robustness is preserved when only limited information is available on the plant. More precisely, if a sufficiently bandwidth is available on the communication network, then the resulting closed-loop is semiglobally practically ISS.

Refereed DesignationRefereed

Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device

TitleNonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE/RSJ International Conference on Intelligent RObots and Systems
Pagination5487-5494
Date PublishedOctober, 11 - 15
Publication Languageeng
AuthorsDe Luca, A, Flacco, F, Schiavi, R, Bicchi, A
Conference LocationSt. Louis MO USA
KeywordsEmbedded Control, Physical Human-Robot Interaction (pHRI), Robotics
Abstract

Variable Stiffness Actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities is characterized. Moreover, a momentum-based collision detection scheme is introduced, which does not require joint torque sensing nor information on the time-varying stiffness of the device. Based on the residual signal, a collision reaction strategy is proposed that takes advantage of the proposed nonlinear control to rapidly let the arm bounce away after detecting the impact, while limiting contact forces through a sudden reduction of the stiffness. Simulations results are presented to illustrate the performance of the overall approach. Extensions to the multi-dof case of robot manipulators equipped with VSA-II devices are also considered.

A Master–Slave Synchronization Model for Enhanced Servo Clock Design

TitleA Master–Slave Synchronization Model for Enhanced Servo Clock Design
Publication TypeConference Paper
Year of Publication2009
Conference NameProc. IEEE Int. Symp. on Precision Clock Synchronization for Measurement, Control and Communication (ISPCS)
Pagination1–6
Date PublishedOctober 12-16
Publication Languageeng
AuthorsMacii, D, Fontanelli, D, Petri, D
Conference LocationBrescia (Italy)
KeywordsRobotics
Notes

DOI: 10.1109/ISPCS.2009.5340199

Safety and Security in Networked Robotics Systems via Logical Consensus

TitleSafety and Security in Networked Robotics Systems via Logical Consensus
Publication TypeConference Paper
Year of Publication2009
Conference NameInternational Workshop on Networked embedded and control system technologies: European and Russian R&D cooperation (NESTER'09)
Date PublishedJuly, 2 - 5
Publication Languageeng
AuthorsMartini, S, Fagiolini, A, Dini, G, Bicchi, A
Conference LocationMilan, Italy
KeywordsEmbedded Control, Robotics
Refereed DesignationRefereed