Search


Show only items where

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 PublicationIn Press
AuthorsFani, S, Ciotti, S, Battaglia, E, Moscatelli, A, Bianchi, M
JournalIEEE Transactions on Haptics
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

Towards Minimum-Information Adaptive Controllers for Robot Manipulators

TitleTowards Minimum-Information Adaptive Controllers for Robot Manipulators
Publication TypeConference Proceedings
Year of PublicationIn Press
AuthorsMarcucci, T, C. Della Santina,, Gabiccini, M, Bicchi, A
Conference NameAmerican Control Conference, AMC2017
Conference LocationMay 24–26 2017, Seattle USA
KeywordsRobotics
Abstract

The aim of this paper is to move a step in the direction of determining the minimum amount of information needed to control a robot manipulator within the framework of adaptive control. Recent innovations in the state of the art show how global asymptotic trajectory tracking can be achieved despite the presence of uncertainties in the kinematic and dynamic models of the robot. However, a clear distinction between
which parameters can be included among the uncertainties, and which parameters can not, has not been drawn yet. Since most of the adaptive control algorithms are built on linearly parameterized models, we propose to reformulate the problem as finding a procedure to determine whether and how a given dynamical system can be linearly parameterized with respect to a specific set of parameters.
Within this framework, we show how the trajectory tracking problem of a manipulator can be accomplished with the only knowledge of the number of joints of the manipulator. As an illustrative example, we present the end-effector trajectory tracking control of a robot initialized with the kinematic model of a different robot.

Refereed DesignationRefereed

Polymeric microporous nanofilms as smart platforms for in vitro assessment of nanoparticle translocation and Caco-2 cell culture

TitlePolymeric microporous nanofilms as smart platforms for in vitro assessment of nanoparticle translocation and Caco-2 cell culture
Publication TypeJournal Article
Year of PublicationIn Press
AuthorsRicotti, L, Gori, G, Cei, D, Costa, J, Signore, G, Ahluwalia, A
Journal IEEE Transactions on NanoBioscience
KeywordsBioengineering
Abstract

The study of nanomaterial translocation across epithelial barriers is often hindered by the low permeability of transwell membranes to nanoparticles. To address this issue ultra-thin poly(L-lactic acid) nanofilms with zero tortuosity micropores were developed for use in nanoparticle passage tests. In this study we demonstrate that microporous polymeric nanofilms allow a significantly higher passage of silver nanoparticles in comparison with commercial membranes normally used in Transwell inserts. A robust procedure for collecting free-standing nanofilms which enables their manipulation and use in lab-on-chip systems is described. We also demonstrate the cytocompatibility of porous nanofilms and their ability to sustain the adhesion and proliferation of Caco-2 cells. Ultra-thin microporous membranes show promise as low-cost nanomaterial screening tools and may be used as matrices for the development of bioengineered systems for mimicking the intestinal epithelium.

URLhttp://ieeexplore.ieee.org/document/7552480/
DOI10.1109/TNB.2016.2603191
Refereed DesignationRefereed

Sample, testing and analysis variables affecting liver mechanical properties: A review

TitleSample, testing and analysis variables affecting liver mechanical properties: A review
Publication TypeJournal Article
Year of PublicationIn Press
AuthorsAhluwalia, A, Mattei, G
JournalActa Biomaterialia
KeywordsBioengineering
Abstract

Given the critical role of liver mechanics in regulating cell response and directing the development of tissue fibrosis, accurately characterising its mechanical behaviour is of relevance for both diagnostic purposes as well as for tissue engineering and for the development of in-vitro models. Determining and quantifying the mechanical behaviour of soft biological tissues is, however, highly challenging due to their intrinsic labile nature. Indeed, a unique set of values of liver mechanical properties is still lacking to date; testing conditions can significantly affect sample status and hence the measured behaviour and reported results are strongly dependent on the adopted testing method and configuration as well as sample type and status. This review aims at summarising the bulk mechanical properties of liver described in the literature, discussing the possible sources of variation and their implications on the reported results. We distinguish between the intrinsic mechanical behaviour of hepatic tissue, which depends on sample variables, and the measured mechanical properties which also depend on the testing and analysis methods. Finally, the review provides guidelines on tissue preparation and testing conditions for generating reproducible data which can be meaningfully compared across laboratories.

URLhttp://www.sciencedirect.com/science/article/pii/S1742706116304603
DOI10.1016/j.actbio.2016.08.055
Refereed DesignationRefereed

No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem

TitleNo More Heavy Lifting: Robotic Solutions to the Container Unloading Problem
Publication TypeJournal Article
Year of PublicationIn Press
AuthorsStoyanov, T, Vaskeviciusz, N, Mueller, CA, Fromm, T, Krug, R, Tincani, V, Mojtahedzadeh, R, Kunaschk, S, Ernits, RM, Canelhas, DR, Bonilla, M, Schwertfeger, S, Bonini, M, Halfar, H, Pathak, K, Rohde, M, Fantoni, G, Bicchi, A, Birk, A, Lilienthal, A, Echelmeyer, W
JournalIEEE Robotics and Automation Magazine
KeywordsRobotics
Refereed DesignationRefereed