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Hap-Pro: a wearable haptic device for proprioceptive feedback

TitleHap-Pro: a wearable haptic device for proprioceptive feedback
Publication TypeJournal Article
Year of Publication2018
AuthorsRossi, M, Bianchi, M, Battaglia, E, Catalano, MG, Bicchi, A
JournalIEEE Transactions on Biomedical Engineering
Pagination1-1
ISSN0018-9294
Keywordshaptic feedback, haptic interfaces, proprioception, Prosthetic hand, Robot sensing systems, Skin, upper extremity prosthesis, Visualization, Wheels
DOI10.1109/TBME.2018.2836672

WALK-MAN Humanoid Robot: Field Experiments in a Post-earthquake Scenario

TitleWALK-MAN Humanoid Robot: Field Experiments in a Post-earthquake Scenario
Publication TypeJournal Article
Year of Publication2018
AuthorsNegrello, F, Settimi, A, Caporale, D, Lentini, G, Poggiani, M, Kanoulas, D, Muratore, L, Luberto, E, Santaera, G, Ciarleglio, L, Ermini, L, Pallottino, L, Caldwell, DG, Tsagarakis, N, Bicchi, A, Garabini, M, Catalano, MG
JournalIEEE Robotics Automation Magazine
Pagination1-1
ISSN1070-9932
KeywordsBuildings, Earthquakes, Hardware, Legged locomotion, Robot sensing systems, Task analysis
DOI10.1109/MRA.2017.2788801

Autonomous 3D exploration of large areas: A cooperative frontier-based approach

TitleAutonomous 3D exploration of large areas: A cooperative frontier-based approach
Publication TypeConference Paper
Year of Publication2018
Conference NameInternational Conference on Modelling and Simulation for Autonomous Systems
Edited Volume10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in
Pagination18-39
AuthorsMannucci, A, Nardi, S, Pallottino, L
Notes

Cited By :1

DOI10.1007/978-3-319-76072-8_2

Design of an indoor autonomous robot navigation system for unknown environments

TitleDesign of an indoor autonomous robot navigation system for unknown environments
Publication TypeConference Paper
Year of Publication2018
Conference NameInternational Conference on Modelling and Simulation for Autonomous Systems
Edited Volume10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in
Pagination153-169
AuthorsSilvestri, L, Pallottino, L, Nardi, S
Notes

Cited By :1

DOI10.1007/978-3-319-76072-8_11

WALK-MAN Humanoid Platform

TitleWALK-MAN Humanoid Platform
Publication TypeBook Chapter
Year of Publication2018
AuthorsTsagarakis, NG, Negrello, F, Garabini, M, Choi, W, Baccelliere, L, Loc, VG, Noorden, J, Catalano, MG, Ferrati, M, Muratore, L, Kryczka, P, E. Hoffman, M, Settimi, A, Rocchi, A, Margan, A, Cordasco, S, Kanoulas, D, Cardellino, A, Natale, L, Dallali, H, Malzahn, J, Kashiri, N, Varricchio, V, Pallottino, L, Pavan, C, Lee, J, A. Ajoudani, Caldwell, DG, Bicchi, A
Book TitleThe DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue
Volume121
Series VolumeThe DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue
Pagination495–548
PublisherSpringer
DOI10.1007/978-3-319-74666-1_13

Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity

TitleAerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity
Publication TypeJournal Article
Year of Publication2018
AuthorsTognon, M, Gabellieri, C, Pallottino, L, Franchi, A
JournalIEEE Robotics and Automation Letters
Volume3
Pagination2577-2583
Date PublishedJuly
KeywordsAdmittance, Aerial systems: mechanics and control, distributed robot systems, Force, mobile manipulation, multi-robot systems, Robot kinematics, Stability criteria, Transportation
DOI10.1109/LRA.2018.2803811

Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2

TitleTowards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2
Publication TypeJournal Article
Year of Publication2018
AuthorsC. Della Santina,, Piazza, C, Grioli, G, Catalano, MG, Bicchi, A
JournalIEEE Transactions on Robotics
VolumeEarly Access
Date Published06/2018
Type of ArticleRegular Paper
ISSNPrint 1552-3098; Onlline 1941-0468
Other NumbersD.O.I. 10.1109/TRO.2018.2830407
Abstract

In the recent years, a clear trend towards simplification emerged in the development of robotic hands. The use of soft robotic approaches has been a useful tool in this prospective, enabling complexity reduction by embodying part of grasping intelligence in the hand mechanical structure. Several hand prototypes designed according to such principles have accomplished good results in terms of grasping simplicity, robustness, and reliability. Among them, the Pisa/IIT SoftHand demonstrated the feasibility of a large variety of grasping tasks, by means of only one actuator and an opportunely designed tendon driven differential mechanism. However, the use of a single degree of actuation prevents the execution of more complex tasks, like fine pre-shaping of fingers and in-hand manipulation. While possible in theory, simply doubling the Pisa/IIT SoftHand actuation system has several disadvantages, e.g. in terms of space and mechanical complexity. To overcome these limitations we propose a novel design framework for tendon driven mechanisms, where the main idea is to turn transmission friction from a disturbance into a design tool. In this way the degrees of actuation can be doubled with little additional complexity.

By leveraging on this idea we design a novel robotic hand, the Pisa/IIT SoftHand 2. We present here its design, modeling, control, and experimental validation. The hand demonstrates that by opportunely combining only two degrees of actuation with hand softness, a large variety of grasping and manipulation tasks can be performed only relying on the intelligence embodied in the mechanism. Examples include rotating objects with different shapes, opening a jar, pouring coffee from a glass.

Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints

TitleEfficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints
Publication TypeJournal Article
Year of Publication2018
AuthorsGasparri, GM, Manara, S, Caporale, D, Averta, G, Bonilla, M, Marino, H, Catalano, MG, Grioli, G, Bianchi, M, Bicchi, A, Garabini, M
JournalIEEE Robotics and Automation Letters
Volume3
Pagination2299–2306
Abstract

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

Systemic and vascular inflammation in an in-vitro model of central obesity

TitleSystemic and vascular inflammation in an in-vitro model of central obesity
Publication TypeJournal Article
Year of Publication2018
AuthorsAhluwalia, A, Misto, A, Vozzi, G, Magliaro, C, Mattei, G, MC, M, AVOGARO, A, Iori, E
JournalPLoS ONE
Date Published02/2018
KeywordsBioengineering
Abstract

Metabolic disorders due to over-nutrition are a major global health problem, often associated with obesity and related morbidities. Obesity is peculiar to humans, as it is associated with lifestyle and diet, and so difficult to reproduce in animal models. Here we describe a model of human central adiposity based on a 3-tissue system consisting of a series of interconnected fluidic modules. Given the causal link between obesity and systemic inflammation, we focused primarily on pro-inflammatory markers, examining the similarities and differences between the 3-tissue model and evidence from human studies in the literature. When challenged with high levels of adiposity, the in-vitro system manifests cardiovascular stress through expression of E-selectin and von Willebrand factor as well as systemic inflammation (expressing IL-6 and MCP-1) as observed in humans. Interestingly, most of the responses are dependent on the synergic interaction between adiposity and the presence of multiple tissue types. The set-up has the potential to reduce animal experiments in obesity research and may help unravel specific cellular mechanisms which underlie tissue response to nutritional overload.

URLhttp://journals.plos.org/plosone/article?id=10.1371/journal.pone.0192824
DOI10.1371/journal.pone.0192824.s001
Refereed DesignationRefereed

Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment

TitleDecentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment
Publication TypeJournal Article
Year of Publication2018
AuthorsAngelini, F, C. Della Santina,, Garabini, M, Bianchi, M, Gasparri, GM, Grioli, G, Catalano, MG, Bicchi, A
JournalIEEE Transactions on Robotics (T-RO).
VolumeEarly Access
Date Published06/2018
KeywordsRobotics
Abstract

Despite the classic nature of the problem, trajectory

tracking for soft robots, i.e. robots with compliant elements

deliberately introduced in their design, still presents several

challenges. One of these is to design controllers which can

obtain sufficiently high performance while preserving the physical

characteristics intrinsic to soft robots. Indeed, classic control

schemes using high gain feedback actions fundamentally alter the

natural compliance of soft robots effectively stiffening them, thus

de facto defeating their main design purpose. As an alternative

approach, we consider here to use a low-gain feedback, while

exploiting feedforward components. In order to cope with the

complexity and uncertainty of the dynamics, we adopt a decentralized,

iteratively learned feedforward action, combined with

a locally optimal feedback control. The relative authority of the

feedback and feedforward control actions adapts with the degree

of uncertainty of the learned component. The effectiveness of the

method is experimentally verified on several robotic structures

and working conditions, including unexpected interactions with

the environment, where preservation of softness is critical for

safety and robustness.

Refereed DesignationRefereed

W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality

TitleW-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality
Publication TypeJournal Article
Year of Publication2018
AuthorsFani, S, Ciotti, S, Battaglia, E, Moscatelli, A, Bianchi, M
JournalIEEE Transactions on Haptics
Volume11
Start Page304
Issue2
Pagination304 - 316
ISSN1939-1412
KeywordsHaptics, Robotics
Abstract

Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user's finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user's finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction.

URLhttp://ieeexplore.ieee.org/document/8003491/
DOI10.1109/TOH.2017.2708717
Refereed DesignationRefereed