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Image-based control relying on conic curves foliation for passing through a gate

TitleImage-based control relying on conic curves foliation for passing through a gate
Publication TypeConference Paper
Year of Publication2015
Conference Name2015 IEEE International Conference on Robotics and Automation (ICRA)
Date Published07/2015
AuthorsSalaris, P, Vassallo, C, Souères, P, Laumond, JP
PublisherIEEE
Conference LocationSeattle, WA, USA
URLhttps://ieeexplore.ieee.org/document/7139253
DOI10.1109/ICRA.2015.7139253

Lower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy

TitleLower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy
Publication TypeConference Paper
Year of Publication2015
Conference NameComputing in Cardiology Conference (CinC), 2015
Pagination1037–1040
AuthorsBarbieri, R, Valenza, G, Citi, L, Placidi, F, Izzi, F, Albanese, M, Marciani, M, Guerrisi, M, Romigi, A, Toschi, N
PublisherIEEE
KeywordsBioengineering
Refereed DesignationRefereed

Removing movement artifacts from equine ECG recordings acquired with textile electrodes

TitleRemoving movement artifacts from equine ECG recordings acquired with textile electrodes
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination1955–1958
AuthorsLanata, A, Guidi, A, Baragli, P, Paradiso, R, Valenza, G, Scilingo, EP
PublisherIEEE
KeywordsBioengineering
Refereed DesignationRefereed

Autonomic Nervous System Dynamics for Mood and Emotional-State Recognition [electronic resource]: Significant Advances in Data Acquisition, Signal Processing and Classification

TitleAutonomic Nervous System Dynamics for Mood and Emotional-State Recognition [electronic resource]: Significant Advances in Data Acquisition, Signal Processing and Classification
Publication TypeBook
Year of Publication2015
AuthorsValenza, G, Scilingo, EP
Series TitleSeries in BioEngineering
PublisherSpringer
KeywordsBioengineering
Refereed DesignationRefereed

Nonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics

TitleNonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics
Publication TypeJournal Article
Year of Publication2015
AuthorsValenza, G, Garcia, RG, Citi, L, Scilingo, EP, Tomaz, CA, Barbieri, R
JournalFrontiers in physiology
Volume6
KeywordsBioengineering
Refereed DesignationRefereed

Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment

TitleCharacterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment
Publication TypeJournal Article
Year of Publication2015
AuthorsValenza, G, Citi, L, Gentili, C, Lanata, A, Scilingo, EP, Barbieri, R
JournalIEEE Journal of Biomedical and Health Informatics
Volume19
Pagination263–274
KeywordsBioengineering
Refereed DesignationRefereed

Evaluation of wearable KPF goniometers in knee flexion-extension measurement for daily-life applications

TitleEvaluation of wearable KPF goniometers in knee flexion-extension measurement for daily-life applications
Publication TypeConference Paper
Year of Publication2015
Conference NameProceedings of Wireless EAI 4th International Conference on Mobile Communication and Healthcare (Mobihealth)
Pagination1-4
AuthorsLorussi, F, Carbonaro, N, De Rossi, D, Tognetti, A
PublisherICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering
KeywordsBioengineering
URLhttp://dl.acm.org/citation.cfm?id=2897477
DOI10.4108/eai.14-10-2015.2261613
Refereed DesignationRefereed

Neuro-fuzzy physiological computing to assess stress levels in virtual reality therapy

TitleNeuro-fuzzy physiological computing to assess stress levels in virtual reality therapy
Publication TypeJournal Article
Year of Publication2015
AuthorsTartarisco, G, Carbonaro, N, Tonacci, A, Bernava, GM, Arnao, A, Crifaci, G, Cipresso, P, Riva, G, Gaggioli, A, De Rossi, D, Tognetti, A, Pioggia, G
JournalINTERACTING WITH COMPUTERS
Volume27
Pagination521–533
ISSN0953-5438
KeywordsBioengineering
URLhttp://dx.medra.org/10.1093/iwc/iwv010
DOI10.1093/iwc/iwv010
Refereed DesignationRefereed

Music, clicks, and their imaginations favor differently the event-based timing component for rhythmic movements

TitleMusic, clicks, and their imaginations favor differently the event-based timing component for rhythmic movements
Publication TypeJournal Article
Year of Publication2015
AuthorsBravi, R, Quarta, E, Del Tongo, C, Carbonaro, N, Tognetti, A, Minciacchi, D
JournalEXPERIMENTAL BRAIN RESEARCH
Volume233
Pagination1945–1961
ISSN0014-4819
KeywordsBioengineering
URLhttp://dx.medra.org/10.1007/s00221-015-4267-z
DOI10.1007/s00221-015-4267-z
Refereed DesignationRefereed

An instrumented manipulandum for human grasping studies

TitleAn instrumented manipulandum for human grasping studies
Publication TypeConference Paper
Year of Publication2015
Conference Name14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015
Pagination169-174
Publication Languageenglish
AuthorsAltobelli, A, Bianchi, M, Catalano, MG, Serio, A, Baud-Bovy, G, Bicchi, A
PublisherIEEE
Conference LocationSingapore, 11-14 Aug. 2015
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7281194
DOI10.1109/ICORR.2015.7281194
Refereed DesignationRefereed

Electrodermal activity analysis during affective haptic elicitation

TitleElectrodermal activity analysis during affective haptic elicitation
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination5777–5780
AuthorsGreco, A, Valenza, G, Nardelli, M, Bianchi, M, Lanata, A, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7319705
Refereed DesignationRefereed

On the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker

TitleOn the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination2283–2286
AuthorsLanata, A, Greco, A, Valenza, G, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7318848
Refereed DesignationRefereed

Gender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability

TitleGender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination298–301
AuthorsNardelli, M, Valenza, G, Bianchi, M, Greco, A, Lanata, A, Bicchi, A, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7318359
Refereed DesignationRefereed

Arousal recognition system based on heartbeat dynamics during auditory elicitation

TitleArousal recognition system based on heartbeat dynamics during auditory elicitation
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination6110–6113
AuthorsNardelli, M, Valenza, G, Greco, A, Lanata, A, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7319786
Refereed DesignationRefereed

Electroencephalographic spectral correlates of caress-like affective haptic stimuli

TitleElectroencephalographic spectral correlates of caress-like affective haptic stimuli
Publication TypeConference Paper
Year of Publication2015
Conference NameEngineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE
Pagination4733–4736
AuthorsValenza, G, Greco, A, Nardelli, M, Bianchi, M, Lanata, A, Rossi, S, Scilingo, EP
PublisherIEEE
Conference LocationMilano, ITA
KeywordsBioengineering
Notes

Published

DOI10.1109/EMBC.2015.7319451
Refereed DesignationRefereed

Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring

TitleTeaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference on Robotics and Biomimetics - ROBIO2015
Pagination1202-1208
Publication Languageenglish
AuthorsYang, C, Liang, P, Li, Z, A. Ajoudani, Su, C, Bicchi, A
PublisherIEEE
Conference LocationZhuhai, China, December 6-9, 2015
KeywordsRobotics
URLhttp://ieeexplore.ieee.org/document/7418935/
DOI10.1109/ROBIO.2015.7418935
Refereed DesignationRefereed

A Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties

TitleA Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination2231-2237
Publication Languageenglish
AuthorsShultz, J, Mathijssen, G, Vanderborght, B, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsRobotics
Abstract

Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties and replicating them in actuators for robotic devices. This paper describes a method to harness the redundancy present in muscle-like actuation systems composed of multiple motor units and shows that they have these same two qualities. By carefully choosing which motor units are recruited, the impedance viewed from the environment can be modulated while maintaining the same overall activation level. The degree to which the impedance can be controlled varies with total activation level and actuator length.

Discretizing the actuation effort into multiple parts that work together, inspired by the way muscle fibers work in the human body, produces damage-tolerant behavior. This paper shows that this not only produces reasonably good resolutions without inordinate numbers of units, but gives the control system the ability to set the impedance along with the drive effort to the load.

DOI10.1109/IROS.2015.7353676
Refereed DesignationRefereed

Design and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces

TitleDesign and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination1186 - 1193
AuthorsCasini, S, Morvidoni, M, Bianchi, M, Catalano, MG, Grioli, G, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsRobotics
Abstract

Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed, rather than, concentrated approach. On the other side, wearable haptics focuses on highly portable and mobile devices, which can be carried and worn by the user as the haptic equivalent of an mp3 player. This paper presents a light and simple wearable device (CUFF) for the distributed mechano-tactile stimulation of the user’s arm skin with pressure and stretch cues, related to normal and tangential forces, respectively. The working principle and the mechanical and control implementation of the CUFF device are presented. Then, after a basic functional validation, a first application of the device is shown, where it is used to render the grasping force of a robotic hand (the Pisa/IIT SoftHand). Preliminary results show that the device is capable to deliver in a reliable manner grasping force information, thus eliciting a good softness discrimination in users and enhancing the overall grasping experience.

Notes

The authors want to thank Cosimo della Santina, Andrea Di Basco, Riccardo Persichini and Fabio Bonomo for their really valuable support in the development of the hardware prototype. This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” (no. ERC-291166), and by the EU FP7 project (no. 601165) “WEARable HAPtics for Humans and Robots (WEARHAP)

URLhttp://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%20Stimulatio
DOI10.1109/IROS.2015.7353520
Refereed DesignationRefereed

A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control

TitleA Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control
Publication TypeConference Paper
Year of Publication2015
Conference NameIEEE International Conference of Intelligent Robots and Systems - IROS2015
Pagination1017 - 1023
Publication Languageenglish
AuthorsA. Ajoudani, Fang, C, Tsagarakis, NG, Bicchi, A
PublisherIEEE
Conference LocationHamburg, Germany, 28 Sept - 2 Oct 2015
KeywordsHaptics, Robotics
Abstract

Effective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.

Notes

softhands, wearhap

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7353495
DOI10.1109/IROS.2015.7353495
Refereed DesignationRefereed

Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency

TitleSoft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency
Publication TypeConference Paper
Year of Publication2015
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
Pagination107 - 113
AuthorsVelasco, A, Garabini, M, Catalano, MG, Bicchi, A
PublisherIEEE
KeywordsRobotics
Abstract
In this paper, we investigate the role of variable stiffness in the reduction of the energy cost for mechanical systems that perform desired tasks. The objective is to assess the use of Variable Stiffness Actuation (VSA) by determining an optimal stiffness profile and the associated energy cost of performing a desired task. For the analysis we consider mechanical systems of n-Degrees of Freedom (DoF), using VSA. We find an analytical solution that expresses the optimal stiffness profile during the task as a function of joint trajectories. This stiffness profile can be either constant or variable in time, and it minimizes a cost function, when performing a desired task.
We calculate the cost related to the torque of the system and the additional cost of changing or keeping a stiffness actively constant. Additionally, we discuss some cases for which it is worth to change the stiffness during a task and cases for which a constant stiffness may be better solution. Furthermore, from simulations and experiments we show cases in which using a variable stiffness profile allows cost savings w.r.t. constant
stiffness. The use of variable stiffness depends on the task, i.e. on the joint trajectories and their frequency, as well as on the mechanical implementation of the actuator used.
Notes

saphari walkman

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363522
DOI10.1109/HUMANOIDS.2015.7363522
Refereed DesignationRefereed

A muscle-like recruitment actuator with modular redundant actuation units for soft robotics

TitleA muscle-like recruitment actuator with modular redundant actuation units for soft robotics
Publication TypeJournal Article
Year of Publication2015
AuthorsMathijssen, G, Schultz, J, Vanderborght, B, Bicchi, A
JournalRobotics and Autonomous Systems
Volume74
Issuepart A
Pagination40-50
Date Published12/2015
KeywordsRobotics
Notes

This work was supported by ERC-291166-SOFTHANDS

URLhttp://www.sciencedirect.com/science/article/pii/S0921889015001384
DOI10.1016/j.robot.2015.06.010
Refereed DesignationRefereed

A Finite Element Model of Tactile Flow for Softness Perception

TitleA Finite Element Model of Tactile Flow for Softness Perception
Publication TypeConference Paper
Year of Publication2015
Conference Name37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)
Pagination2430 - 2433
AuthorsBattaglia, E, Bianchi, M, D'Angelo, ML, D'Imperio, M, Cannella, F, Scilingo, EP, Bicchi, A
PublisherIEEE
Conference LocationMilano, Italy, August 25th-29th, 2015
KeywordsHaptics, Robotics
Notes

This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7318884
DOI10.1109/EMBC.2015.7318884
Refereed DesignationRefereed

Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties

TitleEffect of Homogenous Object Stiffness on Tri-digit Grasp Properties
Publication TypeConference Paper
Year of Publication2015
Conference Name37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)
Pagination6704 - 6707
AuthorsGodfrey, SB, Altobelli, A, Rossi, M, Bicchi, A
PublisherIEEE
Conference Location Milano, Italy, August 25th-29th, 2015
KeywordsHaptics, Robotics
Abstract
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing cocontraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight.
 
Notes
This work is supported in part by the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands” no. ERC-291166 and under the EU FP7 project WEARHAP “WEARable HAPtics for Humans and Robots” no. 601165.
URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7319931
DOI10.1109/EMBC.2015.7319931
Refereed DesignationRefereed

Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+

TitleDexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+
Publication TypeConference Paper
Year of Publication2015
Conference Name15th IEEE RAS Humanoids Conference (HUMANOIDS2015)
Pagination497 - 503
AuthorsC. Della Santina,, Grioli, G, Catalano, MG, Brando, A, Bicchi, A
PublisherIEEE
Conference LocationSeoul, Korea, November 3 - 5, 2015
KeywordsHaptics, Robotics
Abstract
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
Notes

Softhands, SOMA

Best Interactive Paper Award

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7363595
DOI10.1109/HUMANOIDS.2015.7363595
Custom 1
This work is supported by the European Commission Grant no. H2020-ICT-645599 “SOMA”: SOft MAnipulation and the ERC Advanced Grant
no. 291166 “SoftHands”
Refereed DesignationRefereed