@article {3749, title = {Artificial hand}, number = {16/302227}, year = {2019}, month = {09/05}, url = {https://patentimages.storage.googleapis.com/4f/2c/07/915e9723cfe164/US20190269528A1.pdf}, author = {A. Bicchi and M. G. Catalano and C. Piazza and G. Grioli and C. Della Santina and M. Garabini} } @article {3744, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/full}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3745, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3638, title = {Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots}, journal = {Frontiers in Robotics and AI}, year = {2019}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M Gabiccini and A. Bicchi} } @article {3640, title = {Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 3 , July 2019}, year = {2019}, month = {04/2019}, author = {C. Della Santina and L. Pallottino and D. Rus and A. Bicchi} } @article {3751, title = {Exploiting Adaptability in Soft Feet for Sensing Contact Forces}, journal = { IEEE Robotics and Automation Letters}, volume = {5}, year = {2019}, month = {11/2019}, chapter = {391}, doi = {https://doi.org/10.1109/LRA.2019.2952292}, url = {https://ieeexplore.ieee.org/document/8894422}, author = {D. Mura and C. Della Santina and C. Piazza and I. Frizza and C. Morandi and M. Garabini and G. Grioli and M. G. Catalano} } @article {3621, title = {Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {April}, pages = {1533-1540}, keywords = {Computer architecture, Control, Deep Learning in Robotics and Automation, Grasping, Learning for Soft Robots, Modeling, Natural Machine Motion, Neural networks, Robot sensing systems, Uncertainty, Videos}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2896485}, author = {C. D. Santina and V. Arapi and G. Averta and F. Damiani and G. Fiore and A Settimi and M. G. Catalano and D. Bacciu and A. Bicchi and M. Bianchi} } @article {3642, title = {Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Fani and K. Di Blasio and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {3655, title = {Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.}, journal = {Journal of Robotic Surgery }, year = {2019}, author = {A. Giannini and M. Bianchi and D. Doria and S. Fani and M. Caretto and A. Bicchi and T. Simoncini} } @conference {3682, title = {Advanced grasping with the Pisa/IIT softHand}, booktitle = {Robotic Grasping and Manipulation Challenge }, year = {2018}, pages = {pp. 19-38}, author = {M. Bonilla and C. Della Santina and A. Rocchi and E. Luberto and G. Santaera and E. Farnioli and C. Piazza and F. Bonomo and A. Brando and A. Raugi and M. G. Catalano and M. Bianchi and M. Garabini and G. Grioli and A. Bicchi} } @conference {3724, title = {Approximate hybrid model predictive control for multi-contact push recovery in complex environments}, booktitle = {IEEE RAS International Conference on Humanoid Robots}, year = {2018}, doi = { 10.1109/HUMANOIDS.2017.8239534}, author = {T. Marcucci and R. Deits and M. Gabiccini and A. Bicchi and R. Tedrake} } @article {3326, title = {Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment}, journal = {IEEE Transactions on Robotics (T-RO).}, volume = {Early Access}, year = {2018}, month = {06/2018}, 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.

}, keywords = {Robotics}, author = {F. Angelini and C. Della Santina and M. Garabini and M. Bianchi and G M Gasparri and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3696, title = {DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information}, journal = {Frontiers in Neurorobotics}, year = {2018}, author = {A. Visar and C. Della Santina and D. Bacciu and M. Bianchi and A. Bicchi} } @article {3679, title = {Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling}, journal = {Smart Materials and Structures}, year = {2018}, author = {A. De Acutis and L. Calabrese and A. Bau and V. Tincani and N. M. Pugno and A. Bicchi and D. De Rossi} } @conference {3325, title = {Dynamic Control of Soft Robots Interacting with the Environment}, booktitle = {IEEE International Conference on Soft Robotics}, year = {2018}, month = {07/2018}, publisher = {IEEE}, organization = {IEEE}, address = {24 - 28 April 2018, Livorno, Italy}, keywords = {Robotics}, doi = {https://doi.org/10.1109/ROBOSOFT.2018.8404895}, url = {https://ieeexplore.ieee.org/abstract/document/8404895}, author = {C. Della Santina and R. K. Katzschmann and A. Bicchi and D. Rus} } @conference {3720, title = {A Novel Approach to Under-Actuated Control of Fluidic Systems}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, doi = {10.1109/ICRA.2018.8460859}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8460859\&isnumber=8460178}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M. Gabiccini and A. Bicchi} } @conference {3531, title = {A Planning and Control System for Self-Driving Racing Vehicles}, booktitle = {2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI)}, year = {2018}, month = {Sept}, pages = {1-6}, address = {Palermo, Italy}, doi = {10.1109/RTSI.2018.8548444}, author = {D. Caporale and A. Fagiolini and L. Pallottino and A Settimi and A. Biondo and F. Amerotti and F. Massa and S. De Caro and A. Corti and L. Venturini} } @conference {3747, title = {The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation}, booktitle = {International Symposium on Wearable Robotics}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01887-0_71}, author = {C. Piazza and M. G. Catalano and M. Bianchi and E. Ricciardi and D. Pratichizzo and S. Haddadin and Luft, A. R. L. and O. Lambercy and R. Gassert and E. Jakubowitz and H. Van Der Kooij and F. Tonis and F. Bonomo and B. de Jonge and T. Ward and K. Zhao and M. Santello and A. Bicchi} } @article {3366, title = {Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2}, journal = {IEEE Transactions on Robotics}, volume = {Early Access}, year = {2018}, month = {06/2018 }, type = {Regular Paper}, 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.

}, issn = {Print 1552-3098; Onlline 1941-0468}, author = {C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3750, title = {Underactuated robotic hand}, number = {15/772368}, year = {2018}, month = {11/01}, url = {https://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf}, author = {A. Bicchi and C. Della Santina and M. G. Catalano and C. Piazza and G. Grioli and A. Brando} } @inbook {3381, title = {WALK-MAN Humanoid Platform}, booktitle = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, volume = {121}, number = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, year = {2018}, pages = {495{\textendash}548}, publisher = {Springer}, organization = {Springer}, doi = {10.1007/978-3-319-74666-1_13}, author = {N. G. Tsagarakis and F. Negrello and M. Garabini and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and M. G. Catalano and M. Ferrati and L. Muratore and P. Kryczka and E. Mingo Hoffman and A Settimi and A. Rocchi and A. Margan and S. Cordasco and D. Kanoulas and A. Cardellino and L. Natale and H. Dallali and J. Malzahn and N. Kashiri and V. Varricchio and L. Pallottino and C. Pavan and J. Lee and A. Ajoudani and D. G. Caldwell and A. Bicchi} } @conference {3139, title = {Cerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers}, booktitle = {IEEE Mediterranean Conference on Control and Automation}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {3-6 July 2017 in Valletta, Malta}, abstract = {

The cerebellum is a crucial brain structure in enabling precise motor control in animals. Recent advances suggest that the timing of the plasticity rule of Purkinje cells, the main cells of the cerebellum, is matched to behavioral function.Simultaneously, counter-factual predictive control (CFPC), a cerebellar-based control scheme, has shown that the optimal rule for learning feed-forward action in an adaptive filter playing the role of the cerebellum must include a forward model of the system controlled. Here we show how the same learning rule obtained in CFPC, which we term as Model-enhanced least mean squares (ME-LMS), emerges in the problem of learning the gains of a feedback controller. To that end, we frame a model-reference adaptive control (MRAC) problem and derive an adaptive control scheme treating the gains of a feedback controller as if they were the weights of an adaptive linear unit. Our results demonstrate that the approach of controlling plasticity with a forward model of the subsystem controlled can provide a solution to a wide set of adaptive control problems

}, author = {I. Herreros and X. D. Arsiwalla and C. Della Santina and J.-Y. Puigbo and A. Bicchi and P. F. M. J. Verschure} } @conference {3222, title = {Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery}, booktitle = {Proceedings of the second International Conference on Medical Information and Bioengineering}, year = {2017}, abstract = {

The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand into the abdomen of the patient. The risk of collision between the hand of the surgeon and the tool moved by the robot is the reason why these robots for laparoscopic surgery are not appropriate for HALS. On the other hand, in recent years, there has been an increasing interest in wearables, which have been introduced in our daily life. This interest and the lack of surgery robots for HALS are the reasons to develop a sensing glove which co-works whit a collaborative robot in this kind of surgery. The aim of this paper is to study the use of a sensing glove which will provide information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to the collaborative robot. This information determinates the actions that the robot will carry on. The first step was to define different movements of the hand which could be identified. An algorithm identifies these movements using the data given by the sensing glove. For the purpose of algorithm accuracy measurement, 4 persons wearing the sensing glove made a sequence with different movements. The evidence from this study suggests that a sensing glove can be used to send information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to a collaborative robot during a HALS.

}, author = {L. Santos and N. Carbonaro and A. Tognetti and Gonzales, R. and J. C. Fraile and J. P. Turiel and E. De La Fuente} } @article {3119, title = {Controlling Soft Robots: Balancing Feedback and Feedforward Elements}, journal = {IEEE Robotics and Automation Magazine}, volume = {24}, year = {2017}, note = {

This work is supported by European Commission grant H2020-ICT-645599 ({\textquotedblleft}SOMA{\textquotedblright}: SOft Manipulation) and European Research Council Advanced grant 291166 ({\textquotedblleft}SoftHands{\textquotedblright}).

}, month = {05/2017}, pages = {75 - 83}, abstract = {

Soft robots (SRs) represent one of the most significant recent evolutions in robotics. Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics. This article discusses the problem of controlling SRs. We start by observing that most of the standard methods of robotic control{\textemdash}e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control{\textemdash}effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model. This defeats the purpose of introducing physical compliance. After all, what is the point of building soft actuators if we then make them stiff by control? An alternative to such approaches can be conceived by observing humans, who can obtain good motion accuracy and repeatability while maintaining the intrinsic softness of their bodies. In this article, we show that an anticipative model of human motor control, using a feedforward action combined with low-gain feedback, can be used to achieve human-like behavior. We present an implementation of such an idea that uses iterative learning control. Finally, we present the experimental results of the application of such learned anticipative control to a physically compliant robot. The control application achieves the desired behavior much better than a classical feedback controller used for comparison.

}, keywords = {Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2016.2636360}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438}, author = {C. Della Santina and M. Bianchi and G. Grioli and F. Angelini and M. G. Catalano and M. Garabini and A. Bicchi} } @conference {3219, title = {Design, control and validation of the variable stiffness exoskeleton FLExo}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, pages = {539 - 546}, publisher = {IEEE}, organization = {IEEE}, address = {London, UK, 17-20 July 2017}, abstract = {

In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be obtained from a proper tuning of the mechanical system parameters. Based on this, the idea is to control inputs by directly mapping the estimation of the muscle activations, e.g. via ElectroMyoGraphic(EMG) sensors, on the exoskeleton. The control policy resulting from this mapping acts in feedforward in a way to exploit the muscle-like dynamics of the mechanical device. Thanks to the particular structure of the actuator, the exoskeleton joint stiffness naturally results from that mapping. The platform as well as the novel control idea have been experimentally validated and the results show a substantial reduction of the subject muscle effort.

}, keywords = {Robotics}, doi = {10.1109/ICORR.2017.8009304}, url = {http://ieeexplore.ieee.org/document/8009304/}, author = {S. Mghames and M. Laghi and C. Della Santina and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {3106, title = {Design of an Under-Actuated Wrist Based on Adaptive Synergies}, booktitle = {IEEE International Conference of Robotics and Automation, ICRA2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 29 May-3 June 2017}, abstract = {

An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2017.7989789}, url = {http://ieeexplore.ieee.org/document/7989789/}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @conference {3387, title = {Design of an under-actuated wrist based on adaptive synergies}, booktitle = {Robotics and Automation (ICRA), 2017 IEEE International Conference on}, year = {2017}, pages = {6679{\textendash}6686}, publisher = {IEEE}, organization = {IEEE}, abstract = {

An effective robotic wrist represents a key en- abling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under- actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we intro- duce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @conference {3220, title = {Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Della Santina and C. Piazza and G. Santaera and G. Grioli and M. G. Catalano and A. Bicchi} } @conference {3365, title = {From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands}, booktitle = {Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on}, year = {2017}, note = {

This work has been awarded with the "Best Student Paper Award" and the "Best Paper in Session - Robotics"

}, pages = {179{\textendash}184}, publisher = {IEEE}, organization = {IEEE}, address = {Munich}, abstract = {

Human hands are capable of a variety of movements, thanks to their extraordinary biomechanical structure and rely- ing on the richness of human tactile information. Recently, soft robotic hands have opened exciting possibilities and, at the same time, new issues related to planning and control. In this work, we propose to study human strategies in environmental constraint exploitation to grasp objects from a table. We have considered both the case where participants{\textquoteright} fingertips were free and with a rigid shell worn on them to understand the role of cutaneous touch. Main kinematic strategies were quantified and classified in an unsupervised manner. The principal strategies appear to be consistent in both experimental conditions, although cluster cardinality differs. Furthermore, as expected, tactile feedback improves both grasp precision and quality performance. Results opens interesting perspective for sensing and control of soft manipulators.

}, author = {G. Averta and C. Della Santina and E. Battaglia and S. Ciotti and V. Arapi and S. Fani and M. Bianchi} } @article {2841, title = {An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window}, journal = {IEEE Transactions on Haptics}, volume = {10}, year = {2017}, month = {01/2017}, pages = {123-129}, abstract = {

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant{\textquoteright}s fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = { 10.1109/TOH.2016.2614679}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7579582}, author = {M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M. D{\textquoteright}Imperio and E. Battaglia and M. Poggiani and G. Rossi and A. Bicchi and D. G. Caldwell} } @article {3223, title = {A Multimodal Perception Framework for Users Emotional State Assessment in Social Robotics}, journal = {FUTURE INTERNET}, volume = {9}, year = {2017}, keywords = {human-robot interaction, multimodality, perception framework, physiological signal acquisition, social robotics}, doi = {10.3390/fi9030042}, author = {Cominelli, L. and N. Carbonaro and D. Mazzei and R. Garofalo and A. Tognetti and D. De Rossi} } @article {3216, title = {Postural Hand Synergies during Environmental Constraint Exploitation}, journal = {Fronters in Neurorobotics}, year = {2017}, month = {08/2017}, abstract = {

Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kinematic perspective, i.e., the hand joint angles, in both pre-shaping and during the interaction with the environment. To determine the role of tactile feedback, we repeated the same experiments but with subjects wearing a rigid shell on the fingertips to reduce cutaneous afferent inputs. Results show the persistence of at least two postural synergies in all the considered experimental conditions and phases. Tactile impairment does not alter significantly the first two synergies, and contact with the environment generates a change only for higher order Principal Components. A good match also arises between the first synergy found in our analysis and the first synergy of grasping as quantified by previous work. The present study is motivated by the interest of learning from the human example, extracting lessons that can be applied in robot design and control. Thus, we conclude with a discussion on implications for robotics of our findings.

}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.3389/fnbot.2017.00041}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2017.00041/full}, author = {C. Della Santina and M. Bianchi and G. Averta and S. Ciotti and V. Arapi and S. Fani and E. Battaglia and M. G. Catalano and M. Santello and A. Bicchi} } @conference {3215, title = {Preliminary results toward a naturally controlled multi-synergistic prosthetic hand}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, abstract = {

Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.

}, keywords = {Robotics}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009437}, url = {http://ieeexplore.ieee.org/abstract/document/8009437/}, author = {M. Rossi and C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {2875, title = {The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots}, journal = {IEEE Robotics and Automation Magazine }, volume = {24}, year = {2017}, note = {

Open access

e wish to thank Samuele Batazzi, Fabio Bonomo, Alberto
Brando, Andrea Di Basco, Tommaso Pardi, Riccardo Persichi-
ni, and Alessandro Raugi for their valuable support in the
development of the hardware prototype. This work was sup-
ported by SOFTPRO (grant 688857) and SOMA (grant
645599){\textemdash}projects of the European Commission{\textquoteright}s Horizon
2020 research program{\textemdash}and by Walk-Man grant 611832.
Support also came from the European Research Council
under an Advanced Grant for {\textquotedblleft}SoftHands: A Theory of Soft
Synergies for a New Generation of Artificial Hands{\textquotedblright} (grant
ERC-291166).
}, pages = {48 - 56}, abstract = {
Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overcoming their rigid counterparts in such areas as interaction with humans, adaptability, energy efficiency, and maximization of peak performance. Nonetheless, we believe
that research on novel soft robot applications is still slowed by the difficulty in obtaining or developing a working soft robot structure to explore novel applications.
In this article, we present the Natural Machine Motion Initiative (NMMI), a modular open platform that aims to provide the scientific community with tools for fast and easy prototyping of articulated soft robots. Such a platform is composed of three main open hardware modules: the Qbmoves variable-stiffness actuators (VSAs) to build the main robotic structure, soft end effectors (EEs) to interact with the world, and a pool of application-specific add-ons. We also discuss many novel uses of the platform to rapidly prototype (RP) and test new robotic structures with original soft capabilities, and we propose NMMI- based experiments.
}, keywords = {Robotics}, issn = {1070-9932 }, doi = {10.1109/MRA.2016.2636366}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7857692}, author = {C. Della Santina and C. Piazza and Gasparri, G. M. and M. Bonilla and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @inbook {3221, title = {Strain and angular sensing fabrics for human motion analysis in daily life}, booktitle = {Smart textiles : fundamentals, design, and interaction}, year = {2017}, pages = {49{\textendash}70}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Dordrecht}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @proceedings {2992, title = {Towards Minimum-Information Adaptive Controllers for Robot Manipulators}, year = {2017}, publisher = {IEEE}, address = {May 24{\textendash}26 2017, Seattle USA}, 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.

}, keywords = {Robotics}, doi = {https://doi.org/10.23919/ACC.2017.7963602}, url = {https://ieeexplore.ieee.org/document/7963602}, author = {T. Marcucci and C. Della Santina and M Gabiccini and A. Bicchi} } @article {3363, title = {Unvealing the principal modes of human upper limb movements through functional analysis}, journal = {Frontiers in Robotics and AI}, volume = {4}, year = {2017}, pages = {37}, abstract = {

The rich variety of human upper limb movements requires an extraordinary coordination of different joints according to specific spatio-temporal patterns. However, unvealing these motor schemes is a challenging task. Principal components have been often used for analogous purposes, but such an approach relies on hypothesis of temporal uncorrelation of upper limb poses in time. To overcome these limitations, in this work, we leverage on functional principal component analysis (fPCA). We carried out experiments with 7 subjects performing a set of most significant human actions, selected considering state-of-the-art grasp taxonomies and human kinematic workspace. fPCA results show that human upper limb trajectories can be reconstructed by a linear combination of few principal time-dependent functions, with a first component alone explaining around 60/70\% of the observed behaviors. This allows to infer that in daily living activities humans reduce the complexity of movement by modulating their motions through a reduced set of few principal patterns. Finally, we discuss how this approach could be profitably applied in robotics and bioengineering, opening fascinating perspectives to advance the state of the art of artificial systems, as it was the case of hand synergies.

}, author = {G. Averta and C. Della Santina and E. Battaglia and F. Felici and M. Bianchi and A. Bicchi} } @article {3137, title = {WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments}, journal = {Journal of Field Robotics}, volume = {34}, year = {2017}, month = {06/2017}, pages = {1 - 34}, abstract = {

In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition.

}, keywords = {Robotics}, issn = {1556-4967}, doi = {10.1002/rob.21702}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf}, author = {N. G. Tsagarakis and D. G. Caldwell and F. Negrello and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and L. Muratore and A. Margan and A. Cardellino and L. Natale and E. Mingo Hoffman and H. Dallali and N. Kashiri and J. Malzahn and J. Lee and P. Kryczka and D. Kanoulas and M. Garabini and M. G. Catalano and M. Ferrati and V. Varricchio and L. Pallottino and C. Pavan and A. Bicchi and A Settimi and A. Rocchi and A. Ajoudani} } @article {3246, title = {Assessment of spontaneous cardiovascular oscillations in Parkinson{\textquoteright}s disease}, journal = {Biomedical Signal Processing and Control}, volume = {26}, year = {2016}, pages = {80{\textendash}89}, keywords = {Bioengineering}, author = {G. Valenza and S. Orsolini and S. Diciotti and L. Citi and E. P. Scilingo and M. Guerrisi and S. Danti and C. Lucetti and C. Tessa and R. Barbieri} } @article {3235, title = {A bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, volume = {13}, year = {2016}, pages = {1{\textendash}13}, keywords = {Hand posture estimation, Reaching activity, Scapular girdle movement, Scapular-humeral rhythm, Wearable sensing}, doi = {10.1186/s12984-016-0149-2}, url = {https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-016-0149-2}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @article {2896, title = {A bioreactor with an electro-responsive elastomeric membrane for mimicking intestinal peristalsis}, journal = {Bioinspiration \& Biomimetics}, volume = {12}, year = {2016}, abstract = {

This study describes an actuated bioreactor which mimics the pulsatile contractile motion of the intestinal barrier using electro-responsive elastomers as smart materials that undergo deformation upon electrical stimulation. The device consists of an annular dielectric elastomer actuator working as a radial artificial muscle able to rhythmically contract and relax a central cell culture well. The bioreactor maintained up to 4 h of actuation at a frequency of 0.15 Hz and a strain of 8\%{\textendash}10\%, to those of the cyclic contraction and relaxation of the small intestine. In vitro tests demonstrated that the device was biocompatible and cell-adhesive for Caco-2 cells, which formed a confluent monolayer following 21 days of culture in the central well. In addition, cellular adhesion and cohesion were maintained after 4 h of continuous cyclic strain. These preliminary results encourage further investigations on the use of dielectric elastomer actuation as a versatile technology that might overcome the limitations of commercially available pneumatic driving systems to obtain bioreactors that can cyclically deform cell cultures in a biomimetic fashion.

}, url = {http://iopscience.iop.org/article/10.1088/1748-3190/12/1/016001/pdf}, author = {D. Cei and J. Costa and G. Gori and G. Frediani and C. Domenici and F. Carpi and A. Ahluwalia} } @article {2481, title = {Convergence Analysis of Distributed Set-Valued Information Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {61}, year = {2016}, month = {06/2016}, pages = {1477 - 1491}, abstract = {
This paper focuses on the convergence of information in distributed systems of agents communicating over a network.
The information on which the convergence is sought is not represented by real numbers, as often in the literature, rather by sets. The dynamics of the evolution of information across the network is accordingly described by set-valued iterative maps. While the study of convergence of set-valued iterative maps is highly complex in general, this paper focuses on Boolean maps, which are comprised of arbitrary combinations of unions, intersections, and complements of sets. For these important class of systems, we provide tools to study both global and local convergence. A distributed geographic information system, leading to successful information reconstruction from partial and corrupted data, is used to illustrate the applications of the proposed methods.
}, keywords = {Embedded Control, Robotics}, doi = {10.1109/TAC.2015.2480176}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7272075}, author = {A. Fagiolini and N. Dubbini and S. Martini and A. Bicchi} } @article {2848, title = {Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles}, journal = {AUTONOMOUS ROBOTS}, volume = {40}, year = {2016}, month = {10/2016}, pages = {1229{\textendash}1244}, abstract = {

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet\ {\textquoteright}13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface\ {\textquoteright}14 workshop, organized by the University of Zagreb.

}, keywords = {Robotics}, issn = {0929-5593}, doi = {10.1007/s10514-016-9594-9}, url = {http://link.springer.com/journal/volumesAndIssues/10514}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Di Corato and D. Fenucci and N. Monni and L. Pugi and A. Ridolfi} } @article {2710, title = {fabrication and perivascular implantation of bioactive scaffolds engineered with human adventitial progenitor cells for stimulation of arteriogenesis in peripheral ischemia}, journal = {Biofabrication}, volume = {8}, year = {2016}, month = {03/24}, keywords = {Bioengineering}, doi = {10.1088/1758-5090/8/1/015020}, author = {Carrabba, M. and C. De Maria and A. Oikawa and C. Reni and I. Rodriguez-Arabaolaza and H. Spencer and S. Slater and E. Avolio and Z. Dang and G. Spinetti and MADEDDU, P. and G. Vozzi} } @inbook {2714, title = {A Full Body Sensing System for Monitoring Stroke Patients in a Home Environment}, booktitle = {Biomedical Engineering Systems and Technologies: 7th International Joint Conference, BIOSTEC 2014, Angers, France, March 3-6, 2014, Revised Selected Papers}, year = {2016}, pages = {378 - 393}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, keywords = {Bioengineering}, isbn = {978-3-319-26128-7}, doi = {10.1007/978-3-319-26129-4_25}, author = {Klaassen, B. and van Beijnum, B.J.F. and Weusthof, M. H. H. and D. Hofs and van Meulen, F.B. and E. Droog and H. Luinge and S. Laurens and A. Tognetti and F. Lorussi and R. Paradiso and Held, J. and Luft, A. R. L. and Reenalda, J. and Nikamp, C. D. M. and Buurke, J. H. and Hermens, HJ and Veltink, P.} } @article {2496, title = {The influence of mesh topology in the abdominal wall repair process}, journal = {J Biomed Mater Res Part B. }, year = {2016}, month = {08/2016}, keywords = {Bioengineering}, doi = {https://doi.org/10.1002/jbm.b.33468}, url = {https://www.ncbi.nlm.nih.gov/pubmed/26097153}, author = {C. De Maria and S. Burchielli and C. Salvadori and V. Santoro and F. Montemurro and G. Orsi and G. Vozzi} } @inbook {2713, title = {Machine design for multimaterial processing}, booktitle = {Nanobiomaterials in Soft Tissue Engineering - Applications of Nanobiomaterials}, year = {2016}, publisher = {Elsevier}, organization = {Elsevier}, issn = {978-0-323-42865-1}, author = {C. De Maria and De Acutis, A and Carrabba, M. and G. Criscenti and G. Vozzi} } @conference {2892, title = {Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies}, booktitle = {International Workshop on Human-Friendly Robotics}, year = {2016}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @conference {3232, title = {A preliminary framework for a social robot {\quotesinglbase}{\"A}{\'u}sixth sense{\quotesinglbase}{\"A}{\`u}}, booktitle = {Biomimetic and Biohybrid Systems 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings}, volume = {9793}, year = {2016}, pages = {58{\textendash}70}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Dordrecht}, keywords = {Affective computing, Behaviour monitoring, Computer Science (all), human-robot interaction, social robotics, Synthetic tutor, Theoretical Computer Science}, doi = {10.1007/978-3-319-42417-0_6}, url = {http://springerlink.com/content/0302-9743/copyright/2005/}, author = {Cominelli, L. and D. Mazzei and N. Carbonaro and R. Garofalo and A. Zaraki and A. Tognetti and D. De Rossi} } @article {2711, title = {Reconstruction of medial patello-femoral ligament: Comparison of two surgical techniques}, journal = {J Mech Behav Biomed Mater.}, year = {2016}, month = {02/10}, pages = {272-278}, keywords = {Bioengineering}, doi = {10.1016/j.jmbbm.2016.02.009}, author = {Criscenti, G. and C. De Maria and E. Sebastiani and M. Tei and G. Placella and G. Vozzi and Cerulli, G.} } @article {2712, title = {riphasic scaffolds for the regeneration of the bone-ligament interface}, journal = {Biofabrication}, volume = {8}, year = {2016}, chapter = {015009}, doi = {10.1088/1758-5090/8/1/015009}, author = {G. Criscenti and A. Longoni and A. Di Luca and C. De Maria and Van Blitterswijk, C. and G. Vozzi and Moroni, L.} } @conference {3086, title = {Soft Robots that Mimic the Neuromusculoskeletal System}, booktitle = {3rd International Conference on NeuroRehabilitation (ICNR2016)}, volume = {Converging Clinical and Engineering Research on Neurorehabilitation}, year = {2016}, month = {10/2016}, pages = {259-263}, publisher = {Springer}, organization = {Springer}, abstract = {

In motor control studies, the question on which
parameters human beings and animals control through their
nervous system has been extensively explored and discussed,
and several hypotheses proposed. It is widely acknowledged
that useful inputs in this problem could be provided by
developing artificial replication of the neuromusculoskeletal
system, to experiment different motor control hypothesis. In
this paper we present such device, which reproduces many of
the characteristics of an agonistic-antagonistic muscular pair
acting on a joint.

}, keywords = {Robotics}, doi = { 10.1007/978-3-319-46669-9_45}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45}, author = {M. Garabini and C. Della Santina and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {2725, title = {SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, note = {

softpro soma softhands

}, pages = {3516 - 3523}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21}, abstract = {

State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions of the patient using the dynamic frequency content of the control signals in a natural way. We move a step further showing how this idea can be embedded in the mechanics of an underactuated soft hand by using only passive damping components.

In particular we devise a method to design the hand hardware to obtain a given desired motion. This method, that we call of the dynamic synergies, builds on the theory of linear descriptor systems, and is based on the division of the hand movement in a slow and a fast components. We use this method to evolve the design of the Pisa/IIT SoftHand in a prototype prosthesis which, while still having 19 degrees of freedom and just one motor, can move along two different synergistic directions of motion (and combinations of the two), to perform either a pinch or a power grasp. Preliminary experimental results are presented, demonstrating the effectiveness of the proposed design

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487532}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487532}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @conference {2881, title = {Toward an Adaptive Foot for Natural Walking}, booktitle = {International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, address = {Cancun, Mexico, November 15-17, 2016}, abstract = {

Many walking robot presented in literature stand
on rigid flat feet, with a few notable exceptions that embed
flexibility in their feet to optimize the energetic cost of walking.
This paper proposes a novel adaptive robot foot design, whose
main goal is to ease the task of standing and walking on uneven
terrains. After explaining the rationale behind our design
approach, we present the design of the SoftFoot, a foot able
to comply with uneven terrains and to absorb shocks thanks to
its intrinsic adaptivity, while still being able to rigidly support
the stance, maintaining a rather extended contact surface,
and effectively enlarging the equivalent support polygon. The
paper introduces the robot design and prototype and presents
preliminary validation and comparison versus a rigid flat foot
with comparable footprint and sole.

}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2016.7803423}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7803423}, author = {C. Piazza and C. Della Santina and Gasparri, G. M. and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {2846, title = {An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles}, journal = {Mechatronics}, volume = {39}, year = {2016}, month = {11/2016}, pages = {185-195}, abstract = {

Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the AUV navigation state strongly affects the performance of the overall system. In this paper, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an Unscented Kalman Filter (UKF). The comparison results to be significant as the two strategies of filtering are based on the same process and sensors models. The UKF-based approach, here adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load. UKF has not yet been extensively used in practical underwater applications, even if it turns out to be quite promising. The proposed results rely on the data acquired during a sea mission performed by one of the two Typhoon class vehicles involved in the NATO CommsNet13 experiment (held in September 2013). As ground truth for performance evaluation and comparison, performed offline, position measurements obtained through Ultra-Short BaseLine (USBL) fixes are used. The result analysis leads to identify both the strategies as effective for the purpose of being included in the control loop of an AUV. The UKF approach demonstrates higher performance encouraging its implementation as a more suitable navigation algorithm even if, up to now, it is still not used much in this field.

}, keywords = {Robotics}, doi = {http://dx.doi.org/10.1016/j.mechatronics.2016.05.007}, url = {http://www.sciencedirect.com/science/article/pii/S095741581630037X}, author = {B. Allotta and A. Caiti and L. Chisci and R. Costanzi and F. Di Corato and D. Fantacci and D. Fenucci and E. Meli and A. Ridolfi} } @article {2904, title = {Variable Stiffness Actuators: Review on Design and Components}, journal = { IEEE/ASME Transactions on Mechatronics }, volume = {21}, year = {2016}, month = {10/2016}, pages = {2418 - 2430}, abstract = {

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

}, keywords = {Robotics}, doi = {10.1109/TMECH.2015.2501019}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7330025}, author = {S. Wolf and G. Grioli and O. Eiberger and W. Friedl and M. Grebenstein and H. Hoppner and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and D. Lefeber and S. Stramigioli and N. G. Tsagarakis and M. Van Damme and R. Van Ham and B. Vanderborght and L. C. Visser and A. Bicchi and A Albu-Schaeffer} } @article {3233, title = {Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions}, journal = {FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY}, volume = {4}, year = {2016}, pages = {1{\textendash}28}, keywords = {ambulatory monitoring, data fusion, gait, Grasping, reaching, stroke rehabilitation, wearable sensors}, doi = {10.3389/fbioe.2016.00028}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and R. Paradiso and Veltink, P. and A. Tognetti} } @article {2513, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, volume = {18(13)}, year = {2015}, pages = {1386 -1391}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @article {2499, title = {Biomimicking of the Breast Tumor Microenvironment}, journal = {Current Molecular Biology Reports}, volume = {1 (2)}, year = {2015}, pages = {71-76}, keywords = {Bioengineering}, author = {M. Giussani and C. De Maria and M. Vasso and F. Montemurro and T. Triulzi and E. Tagliabue and C. Gelfi and G. Vozzi} } @conference {2454, title = {Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering}, booktitle = {IEEE World Haptics Conference}, year = {2015}, note = {

softhands, werahap

}, pages = {63-68}, address = {Chicago, USA, 22-25 June 2015}, abstract = {

The computation of skin forces and deformations for\ tactilerendering\ requires an accurate model of the extremely\ nonlinear\ behavior of the skin. In this work, we investigate the\ characterization\ of\ fingermechanics\ with the goal of designing accurate\ nonlinear\ models for\ tactilerendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled\ finger\ indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches\ nonlinear\ models that match the measured data with high accuracy.

}, keywords = {Haptics, Robotics}, doi = {10.1109/WHC.2015.7177692}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7177692}, author = {E. Miguel and M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M Memeo and A. Bicchi and D. G. Caldwell and M. A. Otaduy} } @article {2387, title = {Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics}, journal = {Frontiers in Computational Neuroscience}, volume = {9}, year = {2015}, month = {03/2015}, doi = {dx.doi.org/10.3389/fncom.2015.00037}, author = {M. Nardelli and G. Valenza and Cristea, I. and C. Gentili and C. Cotet and David, D. and A Lanata and E. P. Scilingo} } @article {2501, title = {Combining Inkjet Printing and Sol-Gel chemistry for Making pH-Sensitive surfaces}, journal = {Current topics in medicinal chemistry}, volume = {15(3)}, year = {2015}, pages = {271-278}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @conference {2429, title = {Coordination of unmanned marine vehicles for asymmetric threats protection}, booktitle = {MTS/IEEE Oceans 2015}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = {May 18-21, Genoa, Italy}, abstract = {

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

}, keywords = {Robotics}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7271413/}, author = {S. Nardi and C. Della Santina and D. Meucci and L. Pallottino} } @conference {2495, title = {Damasio{\textquoteright}s Somatic Marker for Social Robotics: Preliminary Implementation and Test}, booktitle = {Living Machines - The 4th International Conference on Biomimetic and Biohybrid Systems}, year = {2015}, pages = {316-328}, publisher = {Springer}, organization = {Springer}, address = {Barcelona, Spain, 28 - 31 July 2015}, keywords = {Bioengineering}, url = {http://link.springer.com/chapter/10.1007/978-3-319-22979-9_31$\#$page-1}, author = {Cominelli, L. and D. Mazzei and M. Pieroni and A. Zaraki and R. Garofalo and D. De Rossi} } @article {2498, title = {Design and Validation of an Open-Hardware Print-Head forBioprinting Application}, journal = {Procedia Engineering}, volume = {110}, year = {2015}, pages = {98-105}, keywords = {Bioengineering}, author = {C. De Maria and L. Ferrari and F. Montemurro and G. Vozzi and I. Guerrazzi and Boland, T. and G. Vozzi} } @conference {2537, title = {Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

Softhands, SOMA

Best Interactive Paper Award

}, pages = {497 - 503}, publisher = {IEEE}, organization = {IEEE}, address = {Seoul, Korea, November 3 - 5, 2015}, 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.
}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2015.7363595}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363595}, author = {C. Della Santina and G. Grioli and M. G. Catalano and Brando, A. and A. Bicchi} } @article {2473, title = {Distributed motion misbehavior detection in teams of heterogeneous aerial robots}, journal = {Robotics and Autonomous Systems information}, volume = {74 part A}, year = {2015}, month = {12/2015}, pages = {30-39}, abstract = {

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common\ interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider\ misbehaving\ those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2015.06.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001360}, author = {S. Martini and D. Di Baccio and F. Alarc{\`o}n-Romero and A. Viguria-Jim{\'e}nez and L. Pallottino and G. Dini and A. Ollero} } @conference {2718, title = {Evaluation of wearable KPF goniometers in knee flexion-extension measurement for daily-life applications}, booktitle = {Proceedings of Wireless EAI 4th International Conference on Mobile Communication and Healthcare (Mobihealth)}, year = {2015}, pages = {1-4}, publisher = {ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering}, organization = {ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering}, keywords = {Bioengineering}, doi = {10.4108/eai.14-10-2015.2261613}, url = {http://dl.acm.org/citation.cfm?id=2897477}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @conference {2539, title = {A Finite Element Model of Tactile Flow for Softness Perception}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {

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.

}, pages = {2430 - 2433}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, Italy, August 25th-29th, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7318884}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7318884}, author = {E. Battaglia and M. Bianchi and M. L. D{\textquoteright}Angelo and M. D{\textquoteright}Imperio and F. Cannella and E. P. Scilingo and A. Bicchi} } @article {2497, title = {Improving African Healthcare through Open Source Biomedical Engineering}, journal = {International Journal On Advances in Life Sciences}, year = {2015}, month = {01/2015}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @inbook {2502, title = {Indirect Rapid Prototyping for Tissue Engineering}, booktitle = {Essential of 3D Biofabrication and Translation}, year = {2015}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Bioengineering}, issn = {978-0-12-800972-7}, author = {C. De Maria and De Acutis, A and G. Vozzi} } @article {2500, title = {Magnetic-Driven Pointing System: a Feasibility Study}, journal = {Sensors Journal}, volume = {15 (2)}, year = {2015}, month = {02/2015}, pages = {703 - 714}, keywords = {Bioengineering}, author = {G. Russo and C. De Maria and Cerulli, G. and G. Vozzi} } @article {2716, title = {Music, clicks, and their imaginations favor differently the event-based timing component for rhythmic movements}, journal = {EXPERIMENTAL BRAIN RESEARCH}, volume = {233}, year = {2015}, pages = {1945{\textendash}1961}, keywords = {Bioengineering}, issn = {0014-4819}, doi = {10.1007/s00221-015-4267-z}, url = {http://dx.medra.org/10.1007/s00221-015-4267-z}, author = {Bravi, R. and E. Quarta and Del Tongo, C. and N. Carbonaro and A. Tognetti and Minciacchi, D.} } @article {2717, title = {Neuro-fuzzy physiological computing to assess stress levels in virtual reality therapy}, journal = {INTERACTING WITH COMPUTERS}, volume = {27}, year = {2015}, pages = {521{\textendash}533}, keywords = {Bioengineering}, issn = {0953-5438}, doi = {10.1093/iwc/iwv010}, url = {http://dx.medra.org/10.1093/iwc/iwv010}, author = {Tartarisco, G. and N. Carbonaro and A. Tonacci and G. M. Bernava and A. Arnao and G. Crifaci and P. Cipresso and G. Riva and A. Gaggioli and D. De Rossi and A. Tognetti and G. Pioggia} } @conference {2504, title = {Open Biomedical Engineering Education in Africa}, booktitle = {The 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = { Milan, Italy, 25-29 August 2015}, keywords = {Bioengineering}, author = {A. Ahluwalia and D. Atwine and C. De Maria and C. Ibingira and E. Kipkorir and F. Kiros and J. Madete and D. Mazzei and E. Molyneux and K. Moonga and M. Moshi and M. Nzomo and V. Oduol and J. Okuonzi} } @conference {2512, title = {P2SF: Physically-based Point Spread Function for digital image processing}, booktitle = {Imaging Systems and Applications}, year = {2015}, pages = {IT3A{\textendash}5}, publisher = {Optical Society of America}, organization = {Optical Society of America}, keywords = {Bioengineering}, author = {M. Pieroni and B. Wandell and P. Catrysse and D. De Rossi} } @article {2514, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research - Part B Applied Biomaterials}, volume = {103}, year = {2015}, pages = {1107-1119}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @inbook {2503, title = {Utilizzo di Phantom in oftalmologia}, booktitle = {Metodiche alternative alla sperimentazione animale}, volume = {34}, year = {2015}, publisher = {P{\`a}tron Editore}, organization = {P{\`a}tron Editore}, address = {Bologna}, keywords = {Bioengineering}, issn = {9788855533157}, author = {G. Vozzi and C. De Maria and F. Montemurro} } @article {2080, title = {Variable Stiffness Actuators: the user{\textquoteright}s point of view}, journal = {Int. J. Robotics Research}, volume = {34}, year = {2015}, note = {

Extensions.zip

}, month = {05/2015}, pages = {727-743}, keywords = {Robotics}, doi = {10.1177/0278364914566515}, url = {http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP\&keytype=finite}, author = {G. Grioli and S. Wolf and M. Garabini and M. G. Catalano and E. Burdet and D. G. Caldwell and R. Carloni and W. Friedl and M. Grebenstein and M. Laffranchi and D. Lefeber and S. Stramigioli and N G Tsagarakis and M. Van Damme and B. Vanderborght and A Albu-Schaeffer and A. Bicchi} } @article {2715, title = {Wearable goniometer and accelerometer sensory fusion for knee joint angle measurement in daily-life}, journal = {SENSORS}, volume = {15}, year = {2015}, pages = {28435{\textendash}28455}, keywords = {Bioengineering}, issn = {1424-8220}, doi = {10.3390/s151128435}, url = {http://dx.medra.org/10.3390/s151128435}, author = {A. Tognetti and F. Lorussi and N. Carbonaro and D. De Rossi} } @article {2191, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, year = {2014}, pages = {1{\textendash}6}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @article {2192, title = {An Autologously Generated Platelet-Rich Plasma Suturable Membrane May Enhance Peripheral Nerve Regeneration after Neurorraphy in an Acute Injury Model of Sciatic Nerve Neurotmesis}, journal = {Journal of reconstructive microsurgery}, year = {2014}, keywords = {Bioengineering}, author = {Giannessi, E. and Coli, A. and Stornelli, M. R. and Miragliotta, V. and Pirone, A. and Lenzi, C. and Burchielli, S. and G. Vozzi and C. De Maria and Giorgetti, M.} } @conference {2214, title = {Daily-Life Monitoring of Stroke Survivors Motor Performance: The INTERACTION Sensing System}, year = {2014}, abstract = {

The objective of the INTERACTION Eu project is to develop and validate an unobtrusive and modular system for monitoring daily life activities, physical interactions with the environment and for training upper and lower extremity motor function in stroke subjects. This paper describes the development and preliminary testing of the project sensing platform made of sensing shirt, trousers, gloves and shoes. Modular prototypes were designed and built considering the minimal set of inertial, force and textile sensors that may enable an efficient monitoring of stroke patients. The single sensing elements are described and the results of their preliminary lab-level testing are reported.

}, author = {A. Tognetti and F. Lorussi and N. Carbonaro and D. De Rossi and De Toma, G. and Mancuso, C. and Paradiso, R. and Luinge, H. and Reenalda, J. and Droog, E. and Veltink, P.} } @conference {2215, title = {Daily-life tele-monitoring of motor performance in stroke survivors}, booktitle = {Proceedings of XIII International Symposium on 3D Analysis of Human Movement}, year = {2014}, month = {17 July 2014}, pages = {159{\textendash}162}, abstract = {

The objective of the EU project INTERACTION is to develop an unobtrusive and modular sensing system for objective monitoring of daily-life motor performance of stroke survivors. This will enable clinical professionals to advise their patients about their continued daily-life activity profile and home training, and evaluate and optimize rehabilitation programs.A modular textile-integrated sensing system was developed and performance and capacity measures were proposed and clinically tested in stroke subject.Telemonitoring facilities were developed and tested. In the last stage of the project, the system will be tested during daily-life.

}, author = {Veltink, P.H. and van Meulen, F.B. and van Beijnum, B.J.F. and Klaassen, B. and Hermens, H. J. and Droog, E. and Weusthof, M. H. H. and F. Lorussi and A. Tognetti and Reenalda, J. and Nikamp, C. D. M. and Baten, C. T. M. and Buurke, J. H. and Held, J. and Luft, A. R. L. and Luinge, H. and De Toma, G. and Mancuso, C. and Paradiso, R.} } @article {2228, title = {A Decision Support System for Real-Time Stress Detection During Virtual Reality Exposure}, year = {2014}, pages = {114{\textendash}120}, abstract = {

Virtual Reality (VR) is increasingly being used in combination with psycho-physiological measures to improve assessment of distress in mental health research and therapy. However, the analysis and interpretation of multiple physiological measures is time consuming and requires specific skills, which are not available to most clinicians. To address this issue, we designed and developed a Decision Support System (DSS) for automatic classification of stress levels during exposure to VR environments. The DSS integrates different biosensor data (ECG, breathing rate, EEG) and behavioral data (body gestures correlated with stress), following a training process in which self-rated and clinical-rated stress levels are used as ground truth. Detected stress events for each VR session are reported to the therapist as an aggregated value (ranging from 0 to 1) and graphically displayed on a diagram accessible by the therapist through a web-based interface.

}, doi = {10.3233/978-1-61499-375-9-114}, author = {A. Gaggioli and P. Cipresso and Serino, S. and G. Pioggia and Tartarisco, G. and Baldus, G. and Corda, D. and M. Ferro and N. Carbonaro and A. Tognetti and D. De Rossi and Giakoumis, D. and Tzovaras, D. and Riera, A. and G. Riva} } @article {2184, title = {Designing and Evaluating a Social Gaze-Control System for a Humanoid Robot }, journal = {IEEE Transactions on Human-Machine Systems }, volume = {44}, year = {2014}, pages = {157-168}, keywords = {Robotics}, author = {A. Zaraki and D. Mazzei and Giuliani, M. and D. De Rossi} } @article {2189, title = { Development and Testing of a Multimodal Acquisition Platform for Human-Robot Interaction Affective Studies}, journal = {Journal of Human robot Interaction }, volume = {3}, year = {2014}, pages = {1-24}, keywords = {Robotics}, doi = { http://dx.doi.org/10.5898/JHRI.3.2.Lazzeri}, url = {http://humanrobotinteraction.org/journal/index.php/HRI/article/view/142/pdf_3}, author = {Lazzeri, N. and D. Mazzei and D. De Rossi} } @article {2203, title = {Development of a novel Micro-Ablation System to realise micrometric and well-defined hydrogel structures for Tissue Engineering applications}, journal = {Rapid Prototyping Journal}, volume = {20}, year = {2014}, keywords = {Bioengineering}, author = {C. De Maria and Grassi, L. and Vozzi, F. and A. Ahluwalia and G. Vozzi and Campbell, R. I.} } @article {2242, title = {Enabling variable-stiffness hand rehabilitation orthoses with dielectric elastomer transducers}, journal = {Medical Engineering and Physics}, volume = {36}, year = {2014}, pages = {205{\textendash}211}, abstract = {

Patients affected by motor disorders of the hand and having residual voluntary movements of fingers or wrist can benefit from self-rehabilitation exercises performed with so-called dynamic hand splints. These systems consist of orthoses equipped with elastic cords or springs, which either provide a sustained stretch or resist voluntary movements of fingers or wrist. These simple systems are limited by the impossibility of modulating the mechanical stiffness. This limitation does not allow for customizations and real-time control of the training exercise, which would improve the rehabilitation efficacy. To overcome this limitation, {\textquoteright}active{\textquoteright} orthoses equipped with devices that allow for electrical control of the mechanical stiffness are needed. Here, we report on a solution that relies on compact and light-weight electroactive elastic transducers that replace the passive elastic components. We developed a variable-stiffness transducer made of dielectric elastomers, as the most performing types of electromechanically active polymers. The transducer was manufactured with a silicone film and tested with a purposely-developed stiffness control strategy that allowed for electrical modulations of the force-elongation response. Results showed that the proposed new technology is a promising and viable solution to develop electrically controllable dynamic hand orthoses for hand rehabilitation. ? 2013 IPEM.

}, doi = {10.1016/j.medengphy.2013.10.015}, author = {F. Carpi and G. Frediani and C. Gerboni and J. Gemignani and D. De Rossi} } @conference {2186, title = {An Experimental Eye-Tracking Study for the Design of a Context-Dependent Social Robot Blinking Model}, booktitle = {Living Machines 2014}, year = {2014}, pages = {356-366}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Milan, Italy, July 30 {\textendash} August 1}, abstract = {

uman gaze and blinking behaviours have been recently considered, to empower humanlike robots to convey a realistic behaviour in a social human-robot interaction. This paper reports the findings of our investigation on human eye-blinking behaviour in relation to human gaze behaviour, in a human-human interaction. These findings then can be used to design a humanlike eye-blinking model for a social humanlike robot. In an experimental eye-tracking study, we showed to 11 participants, a 7-minute video of social interactions of two people, and collected their eye-blinking and gaze behaviours with an eye-tracker. Analysing the collected data, we measured information such as participants{\textquoteright} blinking rate, maximum and minimum blinking duration, number of frequent (multiple) blinking, as well as the participants{\textquoteright} gaze directions on environment. The results revealed that participants{\textquoteright} blinking rate in a social interaction are qualitatively correlated to the gaze behaviour, as higher number of gaze shift increased the blinking rate. Based on the findings of this study, we can propose a context-dependent blinking model as an important component of the robot{\textquoteright}s gaze control system that can empower our robot to mimic human blinking behaviour in a multiparty social interaction.

}, keywords = {Robotics}, doi = {10.1007/978-3-319-09435-9_31}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_31}, author = {A. Zaraki and Dehkordi, M. B. and D. Mazzei and D. De Rossi} } @conference {2233, title = {Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition}, booktitle = { 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies" }, year = {2014}, address = {November 3{\textendash}5, 2014 Athens, Greece}, keywords = {Haptics, Robotics}, doi = { http://dx.doi.org/10.4108/icst.mobihealth.2014.257228}, author = {M. Bianchi and N. Carbonaro and E. Battaglia and F. Lorussi and A. Bicchi and D. De Rossi and A. Tognetti} } @article {2211, title = {Exploiting wearable goniometer technology for motion sensing gloves}, journal = {IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS}, year = {2014}, abstract = {

This paper presents an innovative wearable kinesthetic glove realized with knitted piezoresistive fabric (KPF) sensor technology. The glove is conceived to capture hand movement and gesture by using KPF in a double layer configuration working as angular sensors (electro-goniometers). The sensing glove prototype is endowed by three KPF goniometers, used to track flexion and extension movement of metacarpo-phalangeal joint of thumb, index and middle fingers. The glove is devoted to the continuous monitoring of patients during their daily life activities, in particular for stroke survivors during their rehabilitation. The prototype performances have been evaluated in comparison with an optical tracking system considered as a gold standard both for relieving static and dynamic posture and gesture of the hand. The introduced prototype has shown very interesting figures of merit. The angular error, evaluated through the standard Bland Altman analysis, has been estimated in ? 3? which is slightly less accurate than commercial electro-goniometers. Moreover, a new conceptual prototype design, preliminary evaluated within this work, is presented and discussed in order to solve actual limitations in terms of number and type of sensor connections, avoiding mechanical constraints given by metallic inextensible wires and improving user comfort.

}, doi = {10.1109/JBHI.2014.2324293}, author = {N. Carbonaro and Dalle Mura, G. and F. Lorussi and Paradiso, R. and D. De Rossi and A. Tognetti} } @article {2240, title = {For every thing there is a season and a time ? the construction of a humanoid. A tribute to Vincenzo Tagliasco}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {2}, year = {2014}, abstract = {

"There is a time to be born, and a time to die; a time to break down, and a time to build up; a time to weep, and a time to laugh; a time to keep silence, and a time to speak" (Ecclesiastes 3, 2?7). There was a time when automata were designed like clocks. Androids will have the time of their creators, the state of the art in technology, a wealth of experience to draw from, as well as the capacity to carry out actions as being endowed with meaning. The machine will undergo a long period of nurturing, from which it will learn to shape some sort of identity.

}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2014.00019}, url = {http://journal.frontiersin.org/Journal/10.3389/fbioe.2014.00019/abstract}, author = {D. De Rossi and A. D{\textquoteright}Ursi} } @article {2178, title = {Grasping devices and methods in automated production processes }, journal = {CIRP Annals - Manufacturing Technology}, volume = {63}, year = {2014}, pages = {679-701}, abstract = {

In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.

}, keywords = {Robotics}, doi = {10.1016/j.cirp.2014.05.006}, url = {http://www.sciencedirect.com/science/article/pii/S0007850614001887}, author = {G Fantoni and Santochi, M. and Dini, G. and Tracht, K. and Scholz-Reiter, B. and Fleischer, J. and Kristoffer Lien, T. and Seliger, G. and Reinhart, G. and Franke, J. and N{\o}rgaard Hansen, H. and Verl, A.} } @conference {2185, title = {I-CLIPS Brain: A Hybrid Cognitive System for Social Robots }, booktitle = { Living Machines 2014}, year = {2014}, pages = {213-224}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = { Milan, Italy, July 30 {\textendash} August 1}, abstract = {

Sensing and interpreting the interlocutor{\textquoteright}s social behaviours is a core challenge in the development of social robots. Social robots require both an innovative sensory apparatus able to perceive the {\textquotedblleft}social and emotional world{\textquotedblright} in which they act and a cognitive system able to manage this incoming sensory information and plan an organized and pondered response. In order to allow scientists to design cognitive models for this new generation of social machines, it is necessary to develop control architectures that can be easily used also by researchers without technical skills of programming such as psychologists and neuroscientists. In this work an innovative hybrid deliberative/reactive cognitive architecture for controlling a social humanoid robot is presented. Design and implementation of the overall architecture take inspiration from the human nervous system. In particular, the cognitive system is based on the Damasio{\textquoteright}s thesis. The architecture has been preliminary tested with the FACE robot. A social behaviour has been modeled to make FACE able to properly follow a human subject during a basic social interaction task and perform facial expressions as a reaction to the social context.

}, keywords = {Robotics}, isbn = {978-3-319-09434-2}, doi = {10.1007/978-3-319-09435-9_19}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_19}, author = {D. Mazzei and Cominelli, L. and Lazzeri, N. and A. Zaraki and D. De Rossi} } @article {2230, title = {Improving sodium Magnetic Resonance in humans by design of a dedicated Na-23 surface coil }, journal = {MEASUREMENT }, volume = {50}, year = {2014}, month = {04/2014}, chapter = {285-292}, doi = {10.1016/j.measurement.2014.01.006}, author = {G. Giovannetti and Pingitore, A. and V. Positano and De Marchi, D. and Valvano, G. and Gibiino, F. and Aquaro, G. D. and Lombardi, M. and L. Landini and M. F. Santarelli} } @article {2220, title = {In vitro development of engineered muscle using a scaffold based on the pressure-activated microsyringe (PAM) technique}, journal = {Journal of tissue engineering and regenerative medicine}, year = {2014}, author = {D. Cei and Malena, A. and C. De Maria and Loro, E. and Sandri, F. and Moro, G. and Bettio, S. and Vergani, L. and G. Vozzi} } @article {2196, title = {In vivo assessment of printed microvasculature in a bilayer skin graft to treat full-thickness wounds}, journal = {Tissue Engineering Part A}, year = {2014}, keywords = {Bioengineering}, author = {Yanez, M. and Rincon, J. and Dones, A. and C. De Maria and Gonzales, R. and Boland, T.} } @article {2209, title = {Inference of Human Affective States from Psychophysiological Measurements Extracted under Ecologically Valid Conditions}, journal = {FRONTIERS IN NEUROSCIENCE}, volume = {8}, year = {2014}, abstract = {

Compared to standard laboratory protocols, the measurement of psychophysiological signals in real world experiments poses technical and methodological challenges due to external factors that cannot be directly controlled. To address this problem, we propose a hybrid approach based on an immersive and human accessible space called the eXperience Induction Machine (XIM), that incorporates the advantages of a laboratory within a life-like setting. The XIM integrates unobtrusive wearable sensors for the acquisition of psychophysiological signals suitable for ambulatory emotion research. In this paper, we present results from two different studies conducted to validate the XIM as a general-purpose sensing infrastructure for the study of human affective states under ecologically valid conditions. In the first investigation, we recorded and classified signals from subjects exposed to pictorial stimuli corresponding to a range of arousal levels, while they were free to walk and gesticulate. In the second study, we designed an experiment that follows the classical conditioning paradigm, a well-known procedure in the behavioral sciences, with the additional feature that participants were free to move in the physical space, as opposed to similar studies measuring physiological signals in constrained laboratory settings. Our results indicate that, by using our sensing infrastructure, it is indeed possible to infer human event-elicited affective states through measurements of psychophysiological signals under ecological conditions.

}, doi = {10.3389/fnins.2014.00286}, author = {A. Betella and R. Zucca and Cetnarski, A and A. Greco and A Lanata and D. Mazzei and A. Tognetti and X. D. Arsiwalla and P Omedas and D. De Rossi and Verschure, P} } @conference {2197, title = {In-silico model of cell metabolism in dynamic cell culture system}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {487{\textendash}488}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {Andreoni, C. and G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @conference {2213, title = {Interpreting Psychophysiological States Using Unobtrusive Wearable Sensors in Virtual Reality}, booktitle = {Proc. of The Seventh International Conference on Advances in Computer-Human Interactions}, year = {2014}, abstract = {

One of the main challenges in the study of human be- havior is to quantitatively assess the participants? affective states by measuring their psychophysiological signals in ecologically valid conditions. The quality of the acquired data, in fact, is often poor due to artifacts generated by natural interactions such as full body movements and gestures. We created a technology to address this problem. We enhanced the eXperience Induction Machine (XIM), an immersive space we built to conduct experiments on human behavior, with unobtrusive wearable sensors that measure electrocardiogram, breathing rate and electrodermal response. We conducted an empirical validation where participants wearing these sensors were free to move in the XIM space while exposed to a series of visual stimuli taken from the International Affective Picture System (IAPS). Our main result consists in the quan- titative estimation of the arousal range of the affective stimuli through the analysis of participants? psychophysiological states. Taken together, our findings show that the XIM constitutes a novel tool to study human behavior in life-like conditions.

}, author = {A. Betella and Pacheco, D. and R. Zucca and X. D. Arsiwalla and P Omedas and A Lanata and D. Mazzei and A. Tognetti and A. Greco and N. Carbonaro and Wagner, J. and Lingenfelser, F. and Andr{\`e}, E. and D. De Rossi and Verschure, P.} } @conference {2201, title = {Keratin based hydrogels for tissue engineering and regenerative medicine}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {357{\textendash}358}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {F. Montemurro and Gattazzo, F. and C. De Maria and G. Vozzi} } @article {2032, title = {Modulation of isochronous movements in a flexible environment: links between motion and auditory experience}, journal = {Experimental Brain Research}, volume = {232}, year = {2014}, month = {06/2014}, pages = {1663 - 1675}, keywords = {Bioengineering}, doi = {10.1007/s00221-014-3845-9}, author = {Bravi, R. and Del Tongo, C. and Cohen, E. J. and Dalle Mura, G. and A. Tognetti and Minciacchi, D.} } @conference {2198, title = {Multimaterial and multiscale biofabrication for smart scaffolds}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {470{\textendash}470}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {C. De Maria and Carrabba, M. and G. Criscenti and G. Orsi and F. Montemurro and G. Vozzi} } @conference {2280, title = {Multi-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity}, booktitle = {ESTIV 2014}, year = {2014}, pages = {107}, address = {Egmond aan Zee, The Netherlands}, 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{\^A}{\textregistered} 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.

}, keywords = {Bioengineering}, author = {S. Giusti and Sbrana, T. and D. Giacopelli and V. Di Patria and A. Ahluwalia} } @conference {2199, title = {Nanoparticles doped sol-gel ink for inkjet printers}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {197{\textendash}198}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @conference {2279, title = {The need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {45{\textendash}6}, address = {Prague, Czech Republic}, 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.

}, keywords = {Bioengineering}, author = {Sbrana, T. and G. Mattei and S. Giusti and A. Ahluwalia}, editor = {J. Dagmar and S. Horst} } @article {2194, title = {A new 3D concentration gradient maker and its application in building hydrogels with a 3D stiffness gradient}, journal = {Journal of Tissue Engineering and Regenerative Medicine}, year = {2014}, keywords = {Bioengineering}, author = {G. Orsi and Fagnano, M. and C. De Maria and F. Montemurro and G. Vozzi} } @article {2193, title = {New eye phantom for ophthalmic surgery.}, journal = {Journal of biomedical optics}, volume = {19}, year = {2014}, pages = {68001}, keywords = {Bioengineering}, author = {Fogli, G. and G. Orsi and C. De Maria and F. Montemurro and Palla, M. and Rizzo, S. and G. Vozzi} } @article {2212, title = {New generation of wearable goniometers for motion capture systems}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, volume = {11}, year = {2014}, abstract = {

Background Monitoring joint angles through wearable systems enables human posture and gesture to be reconstructed as a support for physical rehabilitation both in clinics and at the patient{\textquoteright}s home. A new generation of wearable goniometers based on knitted piezoresistive fabric (KPF) technology is presented. Methods KPF single-and double-layer devices were designed and characterized under stretching and bending to work as strain sensors and goniometers. The theoretical working principle and the derived electromechanical model, previously proved for carbon elastomer sensors, were generalized to KPF. The devices were used to correlate angles and piezoresistive fabric behaviour, to highlight the differences in terms of performance between the single layer and the double layer sensors. A fast calibration procedure is also proposed. Results The proposed device was tested both in static and dynamic conditions in comparison with standard electrogoniometers and inertial measurement units respectively. KPF goniometer capabilities in angle detection were experimentally proved and a discussion of the device measurement errors of is provided. The paper concludes with an analysis of sensor accuracy and hysteresis reduction in particular configurations. Conclusions Double layer KPF goniometers showed a promising performance in terms of angle measurements both in quasi-static and dynamic working mode for velocities typical of human movement. A further approach consisting of a combination of multiple sensors to increase accuracy via sensor fusion technique has been presented.

}, doi = {10.1186/1743-0003-11-56}, author = {A. Tognetti and F. Lorussi and Dalle Mura, G. and N. Carbonaro and Pacelli, M. and Paradiso, R. and D. De Rossi} } @conference {2200, title = {A novel concentration gradient bioreactor by PMMA laser micromachining}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {482{\textendash}482}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @article {2274, title = {A novel dual-flow bioreactor simulates increased fluorescein permeability in epithelial tissue barriers}, journal = {Biotechnology journal}, year = {2014}, abstract = {

Permeability studies across epithelial barriers are of primary importance in drug delivery as well as in toxicology. However, traditional in vitro models do not adequately mimic the dynamic environment of physiological barriers. Here, we describe a novel two-chamber modular bioreactor for dynamic in vitro studies of epithelial cells. The fluid dynamic environment of the bioreactor was characterized using computational fluid dynamic models and measurements of pressure gradients for different combinations of flow rates in the apical and basal chambers. Cell culture experiments were then performed with fully differentiated Caco-2 cells as a model of the intestinal epithelium, comparing the effect of media flow applied in the bioreactor with traditional static transwells. The flow increases barrier integrity and tight junction expression of Caco-2 cells with respect to the static controls. Fluorescein permeability increased threefold in the dynamic system, indicating that the stimulus induced by flow increases transport across the barrier, closely mimicking the in vivo situation. The results are of interest for studying the influence of mechanical stimuli on cells, and underline the importance of developing more physiologically relevant in vitro tissue models. The bioreactor can be used to study drug delivery, chemical, or nanomaterial toxicity and to engineer barrier tissues.

}, keywords = {Bioengineering}, issn = {1860-7314}, doi = {10.1002/biot.201400004}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24756869}, author = {S. Giusti and Sbrana, T. and La Marca, M and V. Di Patria and V. Martinucci and Tirella, A and C. Domenici and A. Ahluwalia} } @conference {2190, title = {Open Source Biomedical Engineering for Sustainability in African Healthcare: Combining Academic Excellence with Innovation}, booktitle = {ICDS 2014, The Eighth International Conference on Digital Society}, year = {2014}, pages = {48{\textendash}53}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @article {2153, title = {Peripheral Machine Interfaces: going beyond traditional surface electromyography}, journal = {Frontiers in Neurorobotics}, volume = {8}, year = {2014}, month = {08/2014}, pages = {1 - 17}, keywords = {Robotics}, doi = {10.3389/fnbot.2014.00022}, author = {C. Castellini and P. Artemiadis and M. Wininger and A. Ajoudani and M. Alimusaj and A. Bicchi and B. Caputo and W. Craelius and S. Dosen and K. Englehart and D. Farina and A. Gijsberts and S. B. Godfrey and L. Hargrove and M. Ison and T. Kuiken and M. Markovic and P. M. Pilarski and R. Rupp and E. Scheme} } @conference {1996, title = {Piezoresistive Goniometer Network for Sensing Gloves}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2014}, pages = {1547{\textendash}1550}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, doi = {10.1007/978-3-319-00846-2_382}, url = {http://dx.medra.org/10.1007/978-3-319-00846-2_382}, author = {Dalle Mura, G. and F. Lorussi and A. Tognetti and G. Anania and N. Carbonaro and M. Pacelli and R. Paradiso and D. De Rossi} } @article {2210, title = {Psychometric Assessment of Cardio-Respiratory Activity Using a Mobile Platform}, journal = {INTERNATIONAL JOURNAL OF HANDHELD COMPUTING RESEARCH}, volume = {5}, year = {2014}, pages = {13{\textendash}29}, abstract = {

Stress is an increasingly recognized phenomenon that has negative effects on growing numbers of people. Stress assessment is a complex issue, but different studies have shown that monitoring user psychophysi- ological parameter during daily life can be greatly helpful in stress evaluation. In this context, the European Collaborative Project INTERSTRESS is aimed at designing and developing advanced simulation and sensing technologies for the assessment and treatment of psychological stress, based on mobile biosensors.In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed mobile platform, in terms of hardware and processing algorithms, is described. Moreover the use of this wearable biosensor platform in combination with advanced simulation technologies, such as virtual reality, offer interesting opportunities for innovative personal health-care solutions to stress.

}, doi = {10.4018/ijhcr.2014010102}, author = {N. Carbonaro and Cipresso, P and A. Tognetti and G. Anania and D. De Rossi and Pallavicini, F and A. Gaggioli and Riva, G} } @article {2202, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research Part B: Applied Biomaterials}, year = {2014}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @conference {2187, title = {Recognition and Expression of Emotions by a Symbiotic Android Head}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {134 - 139 }, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, keywords = {Bioengineering, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041349}, author = {D. Mazzei and A. Zaraki and Lazzeri, N. and D. De Rossi} } @conference {2188, title = {An RGB-D Based Social Behavior Interpretation System for a Humanoid Social Robot}, booktitle = {IEEE-RSI International Conference on Robotics and Mechatronics 2014 }, year = {2014}, pages = {185 - 190}, publisher = {IEEE}, organization = {IEEE}, address = {Tehran, Iran, October 15-17}, keywords = {Bioengineering, Robotics}, doi = {10.1109/ICRoM.2014.6990898}, author = {A. Zaraki and Giuliani, M. and Dehkordi, M. B. and D. Mazzei and D{\textquoteright}Ursi, A. and D. De Rossi} } @article {2219, title = {Role of IGF1 and IGF1/VEGF on Human Mesenchymal Stromal Cells in Bone Healing: Two Sources and Two Fates}, journal = {Tissue Engineering Part A}, year = {2014}, author = {Ferretti, C. and G. Vozzi and Falconi, M. and Orciani, M. and Gesi, M. and Di Primio, R. and Mattioli-Belmonte, M.} } @conference {2275, title = {Sensorized Squeeze Pressure Bioreactor For mechanical modulation of cardiomyocyte phenotype}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {8 Suppl 1}, year = {2014}, pages = {67{\textendash}8}, keywords = {Bioengineering}, doi = {10.1002/term.1943}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24912686}, author = {S. Giusti and Vozzi, F. and F. Pagliari and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @article {2204, title = {Smart Sensing Scaffolds}, journal = {Smart Membranes and Sensors: Synthesis, Characterization, and Applications}, year = {2014}, pages = {337}, keywords = {Bioengineering}, author = {C. De Maria and Whulanza, Y. and G. Vozzi and A. Ahluwalia} } @article {2234, title = {Special Issue on the Mechanics and Design of Robotic Hands}, year = {2014}, keywords = {Haptics, Robotics}, author = {Dollar, A. and A. Bicchi and M. Cutkosky and Howe, D.} } @article {2177, title = {Tuning of the freezing and melting points of [Hmim][NO3] by the addition of water and nitrate salts }, journal = {RSC Advances}, volume = {4}, year = {2014}, pages = {40407 - 40413}, keywords = {Bioengineering}, doi = {10.1039/c4ra06290f}, author = {Di Francesco, F. and Ferrari, F. and Moni, L. and Melai, B. and Bernazzania, L. and Chiappe, C.} } @article {2241, title = {Wearable Wireless Tactile Display for Virtual Interactions with Soft Bodies}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {2}, year = {2014}, abstract = {

We describe here a wearable, wireless, compact, and lightweight tactile display, able to mechanically stimulate the fingertip of users, so as to simulate contact with soft bodies in virtual environments. The device was based on dielectric elastomer actuators, as high-performance electromechanically active polymers. The actuator was arranged at the user{\textquoteright}s fingertip, integrated within a plastic case, which also hosted a compact high-voltage circuitry. A custom-made wireless control unit was arranged on the forearm and connected to the display via low-voltage leads. We present the structure of the device and a characterization of it, in terms of electromechanical response and stress relaxation. Furthermore, we present results of a psychophysical test aimed at assessing the ability of the system to generate different levels of force that can be perceived by users.

}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2014.00031}, url = {http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4150388/}, author = {G. Frediani and D. Mazzei and D. De Rossi and F. Carpi} } @conference {2226, title = {XIM-Engine: a software framework to support the development of interactive applications that uses conscious and unconscious reactions in immersive mixed reality}, booktitle = {VIRTUAL REALITY INTERNATIONAL CONFERENCE}, year = {2014}, abstract = {

The development of systems that allow multimodal interpretation of human-machine interaction is crucial to advance our understanding and validation of theoretical models of user behavior. In particular, a system capable of collecting, perceiving and interpreting unconscious behavior can provide rich contextual information for an interactive system. One possible application for such a system is in the exploration of complex data through immersion, where massive amounts of data are generated every day both by humans and computer processes that digitize information at different scales and resolutions thus exceeding our processing capacity. We need tools that accelerate our understanding and generation of hypotheses over the datasets, guide our searches and prevent data overload. We describe XIM- engine, a bio-inspired software framework designed to capture and analyze multi-modal human behavior in an immersive environment. The framework allows performing studies that can advance our understanding on the use of conscious and unconscious reactions in interactive systems.

}, author = {P. Omedas and A. Betella and Zucca, R. and X. D. Arsiwalla and Pacheco, D. and J. Wagner and F. Lingenfelser and D. Mazzei and A Lanata and A. Tognetti and Goldhoorn, A. and Guerra, E. and Alqu{\`\i}zar, R. and Grau, A. and Sanfeliu, A. and D. De Rossi and E. Andr{\'e} and P. F. M. J. Verschure} } @conference {1812, title = {Advanced Interfaces to Stem the Data Deluge in Mixed Reality: Placing Human (un)consciuosness in the Loop}, booktitle = {ACM SIGGRAPH 2013}, year = {2013}, address = {New York, NY, USA}, keywords = {Bioengineering}, url = {10.1145/2503385.2503460}, author = {A. Betella and E. Mart{\`\i}nez and R. Zucca and X. D. Arsiwalla and P Omedas and S. Wierenga and A. Mura and J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and A Lanata and D. De Rossi and P. F. M. J. Verschure} } @article {1492, title = {Bone scaffolds with homogeneous and discrete gradient mechanical properties}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {2013}, pages = {28{\textendash}36}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Jelen, C. and G. Mattei and F. Montemurro and C. De Maria and Mattioli-Belmonte, M. and G. Vozzi} } @inbook {1787, title = {Da scaffold a tessuti: progettazione, realizzazione e caratterizzazione di architetture 3D per la medicina rigenerativa }, booktitle = {Approccio Integrato per la medicina rigenerativa - book of XXXII School of Bioengineering}, year = {2013}, keywords = {Bioengineering}, author = {Tirella, A and C. De Maria and G. Vozzi and A. Ahluwalia} } @article {2256, title = {Design of a quadrature surface coil for hyperpolarized 13C MRS cardiac metabolism studies in pigs}, journal = {CONCEPTS IN MAGNETIC RESONANCE PART B-MAGNETIC RESONANCE ENGINEERING}, volume = {43b}, year = {2013}, pages = {69 - 77}, doi = {10.1002/cmr.b.21235}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Attanasio, S. and Menichetti, L. and N. Vanello and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {1809, title = {Grand Challenges in Bionics}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {1}, year = {2013}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2013.00003}, author = {D. De Rossi and M. Pieroni} } @article {1791, title = {In vitro toxicological screening of nanoparticles on primary human endothelial cells and the role of flow in modulating cell response}, journal = {Nanotoxicology}, year = {2013}, abstract = {

Abstract After passage through biological barriers, nanomaterials inevitably end up in contact with the vascular endothelium and physiological flow, and can induce cardiovascular damage. In this study the toxicity and sublethal effects of 6 nanoparticles, including 4 of industrial and biomedical importance, on human endothelial cells was investigated using different in vitro assays. The results show that all the particles investigated induce some level of damage to the cells and that silver particles were most toxic, followed by titanium dioxide. Furthermore endothelial cells were shown to be more susceptible when exposed to silver nanoparticles under flow conditions in a bioreactor. The study underlines that although simple in vitro tests are useful to screen compounds and to identify the type of effect induced on cells, they may not be sufficient to define safe exposure limits. Therefore, once initial toxicity screening has been conducted on nanomaterials, it is necessary to develop more physiologically relevant in vitro models to better understand how nanomaterials can impact on human health.

}, keywords = {Bioengineering}, issn = {1743-5404}, doi = {10.3109/17435390.2013.831500}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23909703}, author = {Ucciferri, N and Collnot, E. M. and Gaiser, B. and Tirella, A and Stone, V. and C. Domenici and Lehr, C.-M. and A. Ahluwalia} } @conference {2144, title = {Increased Instability of Heartbeat Dynamics in Parkinson{\textquoteright}s Disease}, booktitle = {Computers in Cardiology}, year = {2013}, keywords = {Bioengineering}, author = {R. Barbieri and L. Citi and G. Valenza and M. Guerrisi and S. Orsolini and C. Tessa and S. Diciotti and N. Toschi} } @conference {1995, title = {An Innovative Multisensor Controlled Prosthetic Hand}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2013}, pages = {93{\textendash}96}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, doi = {10.1007/978-3-319-00846-2_23}, url = {http://dx.medra.org/10.1007/978-3-319-00846-2_23}, author = {N. Carbonaro and G. Anania and Bacchereti, M. and Donati, G. and Ferretti, G. and Pellicci, L. and Parrini, G. and Vitetta, N. and D. De Rossi and A. Tognetti} } @article {2251, title = {Magnetic resonance butterfly coils: Design and application for hyperpolarized C-13 studies}, journal = {MEASUREMENT }, volume = {46}, year = {2013}, pages = {3282-3290}, doi = {10.1016/j.measurement.2013.06.031}, author = {G. Giovannetti and Frijia, F. and Attanasio, S. and Menichetti, L. and V. Hartwig and N. Vanello and Ardenkjaer-Larsen, J. H. and De Marchi, D. and V. Positano and Schulte, R. and L. Landini and Lombardi, M. and M. F. Santarelli} } @conference {1814, title = {A Mobile Biosensor to detect Cardiorespiratory Activity for Stress Tracking}, booktitle = {IEEE 7th International Conference on Pervasive Computing Technologies for Healthcare (PervasiveHealth)}, year = {2013}, pages = {440 - 445 }, address = {Venice, Italy}, abstract = {

Stress is an increasingly recognized phenomenon that has negative effects on growing numbers of people. Stress assessment is a complex issue, but different studies have shown that monitoring user psychophysiological parameter during daily life can be greatly helpful in stress evaluation. In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed wearable platform, in terms of hardware and processing algorithms, is described. Moreover the use of this wearable biosensor platform in combination with advanced simulation technologies, such as virtual reality offer interesting opportunities for innovative personal health-care solutions to stress. A recently founded European project, "INTERSTRESS - Interreality in the management and treatment of stress-related disorders," will take into account these relevant aspects.

}, keywords = {Bioengineering}, issn = {978-1-4799-0296-5 }, author = {N. Carbonaro and A. Tognetti and G. Anania and D. De Rossi and P. Cipresso and A. Gaggioli and G. Riva} } @article {1876, title = {Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment}, journal = {JOURNAL OF FIELD ROBOTICS}, volume = {30}, year = {2013}, pages = {237{\textendash}253}, keywords = {Robotics}, issn = {1556-4959}, doi = {10.1002/rob.21447}, url = {http://dx.medra.org/10.1002/rob.21447}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1808, title = {Modeling and Characterization of Extensible Wearable Textile-Based electrogoniometers}, journal = {IEEE Sensors Journal}, volume = {13}, year = {2013}, pages = {217 - 228}, abstract = {

Measuring and monitoring through wearable technology parameters related to human movement, posture, and gesture are gaining momentum because of their wide range of potential applications in daily-life conditions. In previous studies, carbon elastomers (CEs) have been used as strain sensors. Recent developments of CE sensors mathematical modeling demonstrated that the CEs can be used as electrogoniometers. It was proved that for small local curvatures of CE layers, the resistance of a strip constituting a layer depends only on the total curvature of the same layer and not on the particular shape that the sensor keeps in adherence with a surface. Further, it was proved, theoretically and experimentally, that a double-layer configuration provides better accuracy with respect to a single-layer configuration. These results have been obtained under the hypothesis that the device was bent, but not extended. In this paper, we substituted the inextensible insulating layer in the sensors with an elastic one, allowing the system to extend its length. This improvement required further study to make it fit for biomechanical applications following epithelial deformations produced by joint movements and minimizes skin motion artifacts.

}, keywords = {Bioengineering}, issn = {1530-437X}, doi = {10.1109/JSEN.2012.2211099}, author = {F. Lorussi and S. Galatolo and R. Bartalesi and D. De Rossi} } @article {2259, title = {Modified cine inversion recovery pulse sequence for the quantification of myocardial T1 and gadolinium partition coefficient}, journal = {JOURNAL OF MAGNETIC RESONANCE IMAGING}, volume = {37}, year = {2013}, pages = {109-118}, doi = {10.1002/jmri.23807}, author = {Milanesi, M. and Barison, A. and Positano, V. and Masci, P. G. and De Marchi, D. and Marinelli, L. and Hardy, C. J. and Foo, T. K. and L. Landini and Lombardi, M.} } @conference {1940, title = {Neural correlates of haptic pop-out of shape discrimination in the human brain}, booktitle = {19th Annual Meeting of the Organization for Human Brain Mapping}, year = {2013}, address = {Seattle, USA, June2013}, author = {A. Leo and M. Feurra and S. Rossi and A. Kappers and A. Bicchi and D Prattichizzo and Cristea, I. and David, D. and P. Pietrini and E. Ricciardi} } @article {1783, title = {A new approach to fabricate agarose microstructures}, journal = {Polymers Advanced Technologies}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/pat.3162}, author = {C. De Maria and J. Rincon and A.A. Duarte and G. Vozzi and Boland, T} } @conference {1813, title = {Novel Spiking Neuron-Astrocyte Networks based on NoNlinearTransistor-Like Models of Tripartite Synapses}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC{\textquoteright}13)}, year = {2013}, address = {Osaka, Japan}, abstract = {

In this paper a novel and efficient computational implementation of a Spiking Neuron-Astrocyte Network (SNAN) is reported. Neurons are modeled according to the Izhikevich formulation and the neuron-astrocyte interactions are intended as tripartite synapsis and modeled with the previ- ously proposed nonlinear transistor-like model. Concerning the learning rules, the original spike-timing dependent plasticity is used for the neural part of the SNAN whereas an ad-hoc rule is proposed for the astrocyte part. SNAN performances are compared with a standard spiking neural network (SNN) and evaluated using the polychronization concept, i.e., number of co-existing groups that spontaneously generate patterns of polychronous activity. The astrocyte-neuron ratio is the biologically inspired value of 1.5. The proposed SNAN shows higher number of polychronous groups than SNN, remarkably achieved for the whole duration of simulation (24 hours).

}, keywords = {Bioengineering}, author = {G. Valenza and L. Tedesco and A Lanata and D. De Rossi and E. P. Scilingo} } @conference {2243, title = {Piezoresistive Goniometer Network for Sensing Gloves}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2013}, pages = {1547{\textendash}1550}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, 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.

}, keywords = {Bioengineering}, doi = {10.1007/978-3-319-00846-2_382}, author = {G. Dalle Mura and F. Lorussi and A. Tognetti and G. Anania and N. Carbonaro and M. Pacelli and R. Paradiso and D. De Rossi} } @inbook {1810, title = {Preliminary Implementation of Context-Aware Attention System for Humanoid Robots}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, volume = {8064}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {457-459}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

A context-aware attention system is fundamental for regulating the robot behaviour in a social interaction since it enables social robots to actively select the right environmental stimuli at the right time during a multiparty social interaction. This contribution presents a modular context-aware attention system which drives the robot gaze. It is composed by two modules: the scene analyzer module manages incoming data flow and provides a human-like understanding of the information coming from the surrounding environment; the attention module allows the robot to select the most important target in the perceived scene on the base of a computational model. After describing the motivation, we report the proposed system and the preliminary test.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_65}, author = {A. Zaraki and D. Mazzei and Lazzeri, N. and M. Pieroni and D. De Rossi} } @article {1782, title = {Pressure-activated microsyringe composite scaffold of poly(L-lactic acid) and carbon nanotubes for bone tissue engineering}, journal = {Journal of Apllied polymer science}, volume = {129}, year = {2013}, pages = {528{\textendash}536}, keywords = {Bioengineering}, author = {G. Vozzi and C. Corallo and C. Daraio} } @conference {1998, title = {A Sensing Architecture for Empathetic Data Systems}, booktitle = {ACM International Conference Proceeding Series}, year = {2013}, month = {7-8 March}, pages = {{\textendash}}, publisher = {ACM Digital Library}, organization = {ACM Digital Library}, doi = {10.1145/2459236.2459253}, url = {http://dx.medra.org/10.1145/2459236.2459253}, author = {J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and D. De Rossi and A. Betella and R. Zucca and P Omedas and P. F. M. J. Verschure} } @article {2281, title = {SQPR 3.0: A Sensorized Bioreactor for Modulating Cardiac Phenotype}, journal = {Procedia Engineering}, volume = {59}, year = {2013}, pages = {219{\textendash}225}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on cells and recreate a physiological environment for cardiomyocyte cultures. This work is focused on the design of a sensorized Squeeze Pressure bioreactor (SQPR 3.0) able to apply a periodic contactless hydrodynamic pressure on tissue constructs. This system was then tested with H2c9, a murine cardiomyoblast cell line, to investigate the effect of different stimulation times (2h, 24h, 30h) on cell shape and cardiotypic marker expression.

}, keywords = {Bioengineering}, issn = {18777058}, doi = {10.1016/j.proeng.2013.05.114}, url = {http://linkinghub.elsevier.com/retrieve/pii/S187770581301028X}, author = {S. Giusti and F. Pagliari and Vozzi, F. and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @inbook {1811, title = {Towards a Believable Social Robot}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {393-395}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

Two perspectives define a human being in his social sphere: appearance and behaviour. The aesthetic aspect is the first significant element that impacts a communication while the behavioural aspect is a crucial factor in evaluating the ongoing interaction. In particular, we have more expectations when interacting with anthropomorphic robots and we tend to define them believable if they respect human social conventions. Therefore researchers are focused both on increasingly anthropomorphizing the embodiment of the robots and on giving the robots a realistic behaviour.This paper describes our research on making a humanoid robot socially interacting with human beings in a believable way.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_45}, author = {Lazzeri, N. and D. Mazzei and A. Zaraki and D. De Rossi} } @article {2252, title = {Transmit-Only/Receive-Only Radiofrequency System for Hyperpolarized C-13 MRS Cardiac Metabolism Studies in Pigs}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1125-1138}, doi = {10.1007/s00723-013-0477-3}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Menichetti, L. and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {1698, title = {Variable Impedance Actuators: a Review}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, note = {

Available online 6 August 2013

}, month = {12/2013}, pages = {1601{\textendash}1614}, abstract = {

Variable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA{\textquoteright}s to be guided in the design and implementation process for their targeted application.

}, keywords = {Robotics, Soft robotics, Variable Impedance Actuators}, url = {http://www.sciencedirect.com/science/article/pii/S0921889013001188}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and O. Eiberger and W. Friedl and G. Ganesh and M. Garabini and M. Grebenstein and G. Grioli and S. Haddadin and H. Hoppner and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @article {1479, title = {Are socially anxious individuals less empathic? A psychophysiological investigation of facial mimicry for emotional expressions}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {375{\textendash}376}, keywords = {Bioengineering}, author = {Matu, S. and Cristea, I. and Cote{\c t}, C. and G. Valenza and C. Gentili and E. P. Scilingo and David, D.} } @article {1480, title = {Cognitive reappraisal and acceptance distinctively impact heart rate variability in socially anxious individuals}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {339}, keywords = {Bioengineering}, author = {Cristea, I. and G. Valenza and C. Gentili and Tatar, A.S. and E. P. Scilingo and David, D.} } @conference {GDBO12, title = {Design and Control of an Air-Jet Lump Display}, booktitle = {Haptics Symposium}, year = {2012}, month = {March 4 - 7}, pages = {45 - 49}, address = {Vancouver, Canada}, keywords = {Robotics}, author = {J.C Gwilliam and A. Degirmenci and M. Bianchi and A.M. Okamura} } @article {DM10, title = {An equivalent of Kronecker{\textquoteright}s Theorem for powers of an Algebraic Number and Structure of Linear Recurrences of fixed length}, journal = {Acta Arithmetica}, volume = {153}, year = {2012}, note = {

accepted for publication

}, pages = {15-33}, abstract = {

After defining a notion of epsilon-density, we provide for any integer m\>1 and real algebraic number alpha an estimate of the smallest epsilon such that the set of vectors of the form (t,t^alpha,...,t alpha^{m-1}) for tR is epsilon-dense modulo 1 in terms of the multiplicative Mahler measure M(A(x)) of the minimal integral polynomial A(x) of alpha, which is independent of m. In particular, we show that if alpha has degree d it is possible to take epsilon = 2^{[d/2]}/M(A(x)). On the other side we show using asymptotic estimates for Toeplitz determinants that we cannot have epsilon$-density for sufficiently large m whenever epsilon is strictly smaller than 1/M(A(x)). In the process of proving this we obtain a result of independent interest about the structure of the Z-module of integral linear recurrences of fixed length determined by a non-monic polynomial.

}, keywords = {Robotics}, issn = {0065-1036}, doi = {10.4064/aa153-1-2}, url = {http://journals.impan.pl/cgi-bin/doi?aa153-1-2}, author = {N. Dubbini and M. Monge} } @conference {1265, title = {HEFES: an Hybrid Engine for Facial Expressions Synthesis to control human-like androids and avatars}, booktitle = {BIOROB2012}, year = {2012}, pages = {195 - 200}, address = {Rome, Italy}, keywords = {Bioengineering}, author = {D. Mazzei and Lazzeri, N. and Hanson, D. and D. De Rossi} } @inbook {2002, title = {Immersive Multimodal Interactive Presence}, booktitle = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {215{\textendash}228}, publisher = {SPRINGER-VERLAG}, organization = {SPRINGER-VERLAG}, chapter = {FMRI Compatible Sensing Glove for Hand Gesture Monitoring}, address = {LONDON {\textendash} GBR}, isbn = {9781447127536}, doi = {10.1007/978-1-4471-2754-3_12}, url = {http://dx.medra.org/10.1007/978-1-4471-2754-3_12}, author = {N. Vanello and V. Hartwig and E. P. Scilingo and D. Bonino and E. Ricciardi and A. Tognetti and P. Pietrini and D. De Rossi and L. Landini and A. Bicchi} } @conference {1500, title = {Indirect m-fabrication using Pam2 system}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {166 - 167}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {De Acutis, A and C. De Maria and G. Vozzi} } @conference {2003, title = {INTERACTION, Training and monitoring of daily-life physical interaction with the environment after stroke}, booktitle = {Proceedings of XII International Symposium on 3D Analysis of Human Movement}, year = {2012}, pages = {{\textendash}}, author = {Veltink, PH and van Meulen, FB and van Beijnum, BJF and Hermens, HJ and D. De Rossi and F. Lorussi and A. Tognetti and Buurke, JH and Reenalda, J and Baten, CTM and Simons, CDM and Luft, AR L and Schepers, HM and Luinge, HJ and R. Paradiso and Orselli, R} } @conference {1874, title = {MOOS middleware and node adaptivity in underwater sensor networks: Results from the UAN11 sea trial}, booktitle = {Proceedings of Meetings on Acoustics}, year = {2012}, month = {2-6 July,}, pages = {1{\textendash}9}, publisher = {Acoustical Society of America}, organization = {Acoustical Society of America}, address = {Edinburgh}, keywords = {Robotics}, doi = {10.1121/1.4772678}, url = {http://dx.medra.org/10.1121/1.4772678}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Duca and A. Munaf{\`o}} } @conference {1803, title = {A multi-stimuli environment for cardiac tissue engineering}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

The identification of the ideal cell source to generate cardiac tissue able to integrate into the host myocardium and with the contractile system is crucial for cardiac engineering. Amongst different cell sources so far proposed, human adult Cardiac Progenitor Cells (hCPCs) show the ability to proliferate and differentiate toward cardiac lineages when grown in appropriate microenvironmental conditions. It is widely accepted that conventional 2D cultures may provide a physiological environment for growing cells. For this reason the need to have an engineered microenvironment, matching physiological requirements, is crucial. A 3D context with spatial and time varying distribution of regulatory factors using mechanically matched scaffolds and bioreactors could represent an in vitro cell culture model being able to more closely reflects the in vivo conditions. In the present study, the possibility of using biocompatible and biodegradable scaffolds of collagen based or derivatives hydrogels in combination with Linneg/Sca-1pos hCPCs gathered from human heart biopsies was investigated. Bio-constructs were placed in the low shear, high flow MCmB (MultiCompartment modular Bioreactor) and the combined effects of dynamic culture conditions and 3D scaffolds on cell morphology and differentiation were studied in order to investigate the possibility of fabricating stem cell-derived cardiac patches to replace infarcted tissue.

}, keywords = {Bioengineering, Bioreactors, Dynamic 3D Cultures}, author = {Tirella, A and A. Ahluwalia and P. Di Nardo and Gaudiello, E and S. Giusti and F. Pagliari} } @conference {1495, title = {A novel approach to fabricate agarose microstructures,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti, pp 341-342, Rome}, year = {2012}, keywords = {Bioengineering}, author = {C. De Maria and Boland, T and G. Vozzi} } @article {1331, title = {The PAM2 system: a multilevel approach for fabrication of complex three-dimensional microstructures}, journal = {Rapid Prototyping Journal}, volume = {18}, year = {2012}, pages = {299{\textendash}307}, keywords = {Bioengineering}, doi = {10.1108/13552541211231725}, author = {Tirella, A and C. De Maria and G. Criscenti and G. Vozzi and A. Ahluwalia} } @conference {2005, title = {Personal Biomonitoring System: a real-time physiological and behavioural parameter monitoring system for stress correlation}, booktitle = {17th Annual CyberPsychology \& CyberTherapy Conference (CYBER17)}, year = {2012}, month = {September 25-28,}, pages = {{\textendash}}, author = {N. Carbonaro and A. Tognetti and G. Anania and Dalle Mura, G. and D. De Rossi} } @conference {1264, title = {Realistic Humanlike Robots for Treatment of ASD, Social Training, and Research; Shown to Appeal to Youths with ASD, Cause Physiological Arousal, and Increase Human-to-Human Social Engagement}, booktitle = {Realistic Humanlike Robots for Treatment of Autism, PETRA 2012}, year = {2012}, pages = {1-7}, keywords = {Bioengineering}, author = {Hanson, D. and D. Mazzei and Garver, C. and D. De Rossi and Stevenson, M.} } @article {1334, title = {Realization of a poro-elastic ultrasound replica of pulmonary tissue}, journal = {Biomatter}, volume = {2}, year = {2012}, pages = {27{\textendash}26}, keywords = {Bioengineering}, url = {http://www.landesbioscience.com/journals/biomatter/article/19835/}, author = {Spinelli, A and Vinci, B. and Tirella, A and Matteucci, M and Gargani, L and A. Ahluwalia and C. Domenici and Picano, E and Chiarelli, P} } @article {1289, title = {Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network}, journal = {SENSORS}, volume = {12}, year = {2012}, pages = {1967{\textendash}1989}, keywords = {Embedded Control, Robotics}, issn = {1424-8220}, doi = {10.3390/s120201967}, url = {http://dx.medra.org/10.3390/s120201967}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1491, title = {Small-Strain Modeling of Helical Dielectric Elastomer Actuators}, journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS}, volume = {17}, year = {2012}, pages = {318{\textendash}325}, keywords = {Bioengineering}, issn = {1083-4435}, author = {F. Carpi and D. De Rossi} } @conference {2006, title = {Unobtrusive Physiological and Gesture Wearable Acquisition System: A Preliminary Study on Behavioral and Emotional Correlations}, booktitle = {GLOBAL HEALTH 2012 : The First International Conference on Global Health Challenges}, year = {2012}, month = {21-26 October}, pages = {88{\textendash}92}, author = {N. Carbonaro and A. Greco and G. Anania and G. Dalle Mura and A. Tognetti and E. P. Scilingo and D. De Rossi and A Lanata} } @conference {CGGBDBTB12, title = {A Variable Damping module for Variable Impedance Actuation}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2666 - 2672}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. A. W. Belo and A. Di Basco and N G Tsagarakis and A. Bicchi} } @article {1245, title = {Variable Impedance Actuators: Moving the Robots of Tomorrow}, year = {2012}, keywords = {Robotics}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and G. Ganesh and M. Garabini and G. Grioli and S. Haddadin and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @conference {2004, title = {Wearable systems for e-health: Telemonitoring and telerehabilitation}, booktitle = {Proceedings of the IASTED African Conference on Health Informatics, AfricaHI 2012}, year = {2012}, pages = {335{\textendash}338}, doi = {10.2316/P.2012.763-004}, url = {http://dx.medra.org/10.2316/P.2012.763-004}, author = {D. De Rossi and F. Lorussi and A. Tognetti} } @conference {1870, title = {AUVs as mobile nodes in acoustic networks: field experience at the UAN10 experiment}, booktitle = {Proceedings of the OCEANS{\^a}{\texteuro}{\texttrademark}11 IEEE Santander Conference}, year = {2011}, month = {June}, pages = {1{\textendash}6}, keywords = {Robotics}, doi = {10.1109/Oceans-Spain.2011.6003462}, url = {http://dx.medra.org/10.1109/Oceans-Spain.2011.6003462}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @conference {DRGMP11, title = {Causality as a unifying approach between activation and connectivity analysis of fMRI data}, booktitle = {17-th annual meeting of the Organization for Human Brain Mapping}, year = {2011}, note = {Abstract}, author = {N. Dubbini and E. Ricciardi and A. Gaglianese and S. Marmi and P. Pietrini} } @conference {BGDO11, title = {Characterization of an Air Jet Haptic Lump Display}, booktitle = {33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2011)}, year = {2011}, pages = {3467-3470}, keywords = {Haptics, Robotics}, author = {M. Bianchi and J.C Gwilliam and A. Degirmenci and A.M. Okamura} } @article {1514, title = {Cooperation of Biological and Mechanical Signals in Cardiac Progenitor Cell Differentiation}, journal = {ADVANCED MATERIALS}, year = {2011}, keywords = {Bioengineering}, issn = {0935-9648}, author = {S. Pagliari and A.C. Vilela-Silva and G. Forte and F. Pagliari and C. Mandoli and G. Vozzi and S. Pietronave and M. Prat and S. Licoccia and A. Ahluwalia and E. Traversa and M. Minieri and P. Di Nardo} } @article {1477, title = {Daytime naps improve motor imagery learning}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, year = {2011}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {Debarnot, U. and Castellani, E. and G. Valenza and Sebastiani, L. and Guillot, A.} } @conference {1272, title = {Development and evaluation of a social robot platform for therapy in autism}, booktitle = {Proc. Annual Int Engineering in Medicine and Biology Society,EMBC Conf. of the IEEE}, year = {2011}, pages = {4515{\textendash}4518}, keywords = {Bioengineering}, doi = {10.1109/IEMBS.2011.6091119}, author = {D. Mazzei and Lazzeri, N. and Billeci, L. and Igliozzi, R. and A Mancini and A. Ahluwalia and Muratori, F. and D. De Rossi} } @conference {2012, title = {Electroactive polymer patches for wearable haptic interfaces}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBC{\textquoteright}11}, year = {2011}, pages = {8369{\textendash}8372}, doi = {10.1109/IEMBS.2011.6092064}, url = {http://dx.medra.org/10.1109/IEMBS.2011.6092064}, author = {D. De Rossi and F. Carpi and N. Carbonaro and A. Tognetti and E. P. Scilingo} } @conference {2014, title = {Enhancing the performance of upper limb gesture reconstruction through sensory fusion}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2011}, pages = {3496{\textendash}3499}, publisher = {IEEE}, organization = {IEEE}, address = {USA}, doi = {10.1109/IEMBS.2011.6090944}, url = {http://dx.medra.org/10.1109/IEMBS.2011.6090944}, author = {F. Lorussi and A. Tognetti and N. Carbonaro and G. Anania and D. De Rossi} } @article {1511, title = {HEMETBeta: improvement of hepatocyte metabolism mathematical model}, journal = {COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING}, year = {2011}, keywords = {Bioengineering}, issn = {1025-5842}, author = {G. Orsi and C. De Maria and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @article {1277, title = {High throughput sensorized bioreactor for applying hydrodynamic pressure and shear stress stiumli on cell cutlures}, year = {2011}, month = {10/2011}, keywords = {Bioengineering}, issn = {WO 2011/121377}, author = {A. Ahluwalia and C. De Maria and D. Mazzei and G. Vozzi} } @conference {1799, title = {How dimension a substrate for the realisation of controlled micro- and bio-inspired environment}, booktitle = {Euromat-FEMS}, year = {2011}, address = {Montpellier, France}, abstract = {

European Congress and Exhibition on Advanced Materials and Processes - Oral

}, keywords = {Bioengineering}, author = {Tirella, A and A. Ahluwalia and C. De Maria and Vozzi, F. and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L} } @inbook {1789, title = {{Inherently Bio-Active Scaffolds: Intelligent Constructs to Model the Stem Cell Niche}}, booktitle = {Myocardial Tissue Engineering}, series = {Studies in Mechanobiology, Tissue Engineering and Biomaterials}, volume = {6}, year = {2011}, pages = {29{\textendash}47}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {Berlin, Heidelberg}, abstract = {

The oft-abused phrase {\^a}{\texteuro}{\oe}genes load the gun, environment pulls the trigger{\^a}{\texteuro} can be applied to stem cells and stem cell niches as well as to cell{\^a}{\texteuro}{\textquotedblleft}material interfaces. Much is known about cell{\^a}{\texteuro}{\textquotedblleft}material interaction in general, perhaps a little less about how these interactions condition cell phenotype. With the increasing interest in stem cells and, in particular, their applications in tissue regeneration, the regulation of the stem cell microenvironment through modulation of intuitive or smart materials and structures, or what we term IBAS (Inherently Bio-Active Scaffolds) is poised to become a major field of research. Here, we discuss how cardiac regeneration strategies have undergone a gradual shift from the emphasis on biochemical signals and basic biology to one in which the material or scaffold plays a major role in establishing an equilibrium state. From being a constant battle or tug-of-war between the cells and synthetic environments, we conceive IBAS as intuitively responding to the cell{\^a}{\texteuro}{\texttrademark}s requirements to instate a sort of equilibrium in the system.

}, keywords = {Bioengineering}, isbn = {978-3-642-18055-2}, doi = {10.1007/978-3-642-18056-9}, url = {http://www.springerlink.com/content/j3k541l113233424/}, author = {P. Di Nardo and M. Minieri and Tirella, A and G. Forte and A. Ahluwalia}, editor = {Boccaccini, A. R. and Harding, S. E.} } @article {DPB11, title = {Left invertibility of discrete-time output-quantized systems: the linear case with finite inputs}, journal = {Mathematics of Control, Signals, and Systems}, volume = {23}, number = {1 - 2}, year = {2011}, note = {

published online 8 Sept. 2011

}, month = {November, 16}, pages = {117 - 139}, abstract = {

This paper studies left invertibility of discrete-time linear outputquantized systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a nite alphabet. Left invertibility, i.e. injectivity of I/O map, is reduced to left D-invertibility, under suitable conditions. While left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is much easier to detect. The condition under which left invertibility and left D-invertibility are equivalent is that the elements of the dynamic matrix of the system form an algebraically independent set. Our main result is a method to compute left D-invertibility (so also left invertibility for a full measure matrix set) for all linear systems with no eigenvalue of modulus one. Therefore we are able to check left invertibility of output-quantized linear systems for a full measure matrices set. Some examples are presented to show the application of the proposed method.

}, keywords = {Robotics}, doi = {10.1007/s00498-011-0063-x}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DMB11, title = {Left invertibility of output-quantized MISO linear systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC2011}, year = {2011}, month = {August 28 - Sept}, pages = {11278 - 11283}, address = {Milano, italy}, abstract = {

This paper studies left invertibility of single-output discrete-time quantized linear systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a finite alphabet. Left invertibility deals with the possibility of recovering unknown inputs from the only knowledge of the outputs. It is reduced, under suitable conditions, to left D-invertibility: while left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is easily (and algorithmically) detectable. Our main result is a sufficient condition for the equivalence between left invertibility and left D-invertibility in MISO system. In unidimensional systems the equivalence is valid except at most a finite (and computable) number of cases. These results allows the effective detection of left invertibility by means of left Dinvertibility, which is algorithmically detectable. An example with effective computations is presented to show the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and M. Monge and A. Bicchi} } @article {1510, title = {Melt Extruded PU Hollow Fibers for Nerve Regeneration: In vivo Study}, journal = {VETERINARY RESEARCH}, year = {2011}, keywords = {Bioengineering}, issn = {0928-4249}, author = {G. Vozzi and F. Dini and S. Burchielli and C. Salvadori and C. De Maria and V. Chiono and G. Barsotti and G. Ciardelli and F. Carlucci and R. Roni} } @article {1466, title = {Motor imagery effectiveness for mirror reversed movements}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, volume = {11}, year = {2011}, pages = {22{\textendash}31}, keywords = {Bioengineering}, author = {Debarnot, U. and G. Valenza and Champely, S. and E. P. Scilingo and D. De Rossi and Guillot, A.} } @conference {2324, title = {Neighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study}, booktitle = {IEEE Symposium on Computers and Communications}, year = {2011}, 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.

}, keywords = {Embedded Control, Robotics}, author = {G. Dini and Giurlanda, F. and L. Pallottino} } @article {1473, title = {A neuron-astrocyte transistor-like model for neuromorphic dressed neurons}, journal = {Neural Networks}, year = {2011}, keywords = {Bioengineering}, author = {G. Valenza and G. Pioggia and Armato, A. and M. Ferro and E. P. Scilingo and D. De Rossi} } @article {1513, title = {Poly(ester urethane) Guides for Peripheral Nerve Regeneration}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2011}, keywords = {Bioengineering}, issn = {1616-5187}, author = {V. Chiono and Sartori, S and Rechichi, A and Tonda-Turo, C and G. Vozzi and Vozzi, F. and D{\textquoteright}Acunto, M and C. Salvadori and F. Dini and G. Barsotti and F. Carlucci and S. Burchielli and Nicolino, S and Audisio, C and Perroteau, I and P. Giusti and G. Ciardelli} } @conference {MDBGB11, title = {Robust Network Agreement on Logical Information}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {13905 - 13911}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and D. Di Baccio and A. Fagiolini and A. Bicchi} } @conference {1871, title = {Secure Cooperation of Mobile Sensors in an Underwater Acoustic Network}, booktitle = {Proceedings of the 8th European Conference on Wireless Sensor Networks}, year = {2011}, month = {23-25 February,}, pages = {1{\textendash}2}, keywords = {Robotics}, author = {A. Caiti and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1512, title = {Sensing scaffolds to monitor cellular activity using impedance measurements}, journal = {BIOSENSORS \& BIOELECTRONICS}, year = {2011}, keywords = {Bioengineering}, issn = {0956-5663}, author = {Whulanza, Y and Ucciferri, N and C. Domenici and G. Vozzi and A. Ahluwalia} } @article {2007, title = {SoC CMOS UWB Pulse Radar Sensor for Contactless Respiratory Rate Monitoring}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS}, volume = {5}, year = {2011}, pages = {503{\textendash}510}, issn = {1932-4545}, doi = {10.1109/TBCAS.2011.2176937}, url = {http://dx.medra.org/10.1109/TBCAS.2011.2176937}, author = {D. Zito and D. Pepe and M. Mincica and F. Zito and A. Tognetti and A Lanata and D. De Rossi} } @article {2284, title = {Squeeze pressure bioreactor: a hydrodynamic bioreactor for noncontact stimulation of cartilage constructs}, journal = {Tissue engineering. Part C, Methods}, volume = {17}, year = {2011}, pages = {757{\textendash}64}, abstract = {

A novel squeeze pressure bioreactor for noncontact hydrodynamic stimulation of cartilage is described. The bioreactor is based on a small piston that moves up and down, perpendicular to a tissue construct, in a fluid-filled chamber. Fluid displaced by the piston generates a pressure wave and shear stress as it moves across the sample, simulating the dynamic environment of a mobile joint. The fluid dynamics inside the squeeze pressure bioreactor was modeled using analytical and computational methods to simulate the mechanical stimuli imposed on a construct. In particular, the pressure, velocity field, and wall shear stress generated on the surface of the construct were analyzed using the theory of hydrodynamic lubrication, which describes the flow of an incompressible fluid between two surfaces in relative motion. Both the models and in-situ pressure measurements in the bioreactor demonstrate that controlled cyclic stresses of up to 10 kPa can be applied to tissue constructs. Initial tests on three-dimensional scaffolds seeded with chondrocytes show that glycosaminoglycan production is increased with regard to controls after 24 and 48 h of cyclic noncontact stimulation in the bioreactor.

}, keywords = {Bioengineering}, issn = {1937-3392}, doi = {10.1089/ten.TEC.2011.0002}, url = {http://online.liebertpub.com/doi/abs/10.1089/ten.tec.2011.0002 http://www.ncbi.nlm.nih.gov/pubmed/21410315}, author = {C. De Maria and S. Giusti and D. Mazzei and A. Crawford and A. Ahluwalia} } @inbook {2285, title = {The Squeeze Pressure Bioreactor: Design and Modelling of a Non-Contact Device for Mechanical Stimulation of Tissue Engineered Constructs}, booktitle = {Bioreactors: Design, Properties and Applications}, year = {2011}, pages = {199{\textendash}214}, publisher = {Nova Science Publishers, Inc.}, organization = {Nova Science Publishers, Inc.}, address = {Hauppauge NY}, abstract = {

Diseases of hyaline cartilage represent one of the major health problems, especially in industrialized countries with high life expectancy. The erosion of the articulating surfaces of joints, known as osteoarthritis, currently affects more than 200 million citizens worldwide, and more than 50\% of the patients need or will need a surgical treatment. Articular cartilage is a three dimensional avascular tissue, which covers the ends of all synovial joints. During normal daily function, articular cartilage can be repeatedly subjected to forces up to several time body weight, but it is able to provide articulating joints with a nearly frictionless motion. Despite its tremendously important function, articular cartilage has limited capacity for auto regeneration after degenerative and rheumatic diseases, like arthritis, as well as traumatic injuries. Cartilage problems are a huge and still unsolved medical issue, which therefore represents one of the most important tissue engineering targets requiring high quality products as fast as possible. For this reason, the possibility to recreate in vitro cartilage substitutes as a real alternative to total joint replacement represents an increasing and hopeful market, in which many research groups are still working. At the moment, one of the main findings in invitro cartilage studies is the importance of the role of mechanical stimuli and dynamic loads for the chondrocytes growth and differentiation. Several studies using cartilage explants or chondrocytes seeded in 3D scaffolds have shown that mechanical compressive loads affect the cells metabolic activity and their matrix production. In order to simulate the in vivo environment, the use of bioreactors is becoming fundamental: bioreactors can provide the chemical and mechanical signals that optimize tissue development. Furthermore, bioreactors could be an important instrument to reduce the cost of clinical studies, used as in vitro predictors of in vivo performance. In this way,the use of bioreactors can reduce animal studies, helping the scientists to focus their attention in the right direction before starting pre-clinical studies, which are usually more expensive than preliminary research. In the past few years, several systems for the application of different mechanical stimuli to chondrocytes have been developed. Most of these can generate biomechanical-like forces such as the direct compression, tensile and shear forces, or hydrostatic pressure, in order to stimulate the articular chondrocyctes to increase their matrix production. Generally, the most important requirements that a culture system has to satisfy are high reliability and usability, perfect sterility, easy control of all the important culture parameters and low cost. In this work, a new system, inspired by the synovial environment of mobile joints and able to apply an innovative type of stimulation on articular chondrocytes is described and modeled. The SQPR (SQueeze PRessure) bioreactor chamber is designed to impose a cyclic hydrodynamic pressure on cell cultures, constructs or tissues slices. The basic principle of this new system is the generation of a localized contact less overpressure on articular chondrocytes, using a simple vertical piston movement. This kind of stimulation is particularly useful for neo-tissue or fresh-constructs, in which cells require a dynamic environment to maintain their differentiate state, but at the same time do not tolerate direct compression or high shear stress. When the piston moves down, a controlled hydrodynamic overpressure and a shear stress is generated over the cell surface, stimulating the chondrocytes to improve their matrix production. The fluid dynamics inside the SQPR bioreactor is illustrated from an analytical and numerical point of view. We show how these models can predict the pressure, velocity field and wall shear stress generated on the cell surface of the construct. The bioreactor design is presented in detail and validation tests on chondrocytes are described.

}, keywords = {Bioengineering}, url = {https://www.novapublishers.com/catalog/product\_info.php?products\_id=22653}, author = {S. Giusti and A. Ahluwalia and C. De Maria}, editor = {Antolli, P. G. and Z. Liu} } @article {1488, title = {Substrate stiffness influences high resolution printing of living cells with an ink-jet system}, journal = {Journal of bioscience and bioengineering}, volume = {112}, year = {2011}, pages = {79{\textendash}85}, abstract = {

The adaptation of inkjet printing technology for the realisation of controlled micro- and nano-scaled biological structures is of great potential in tissue and biomaterial engineering. In this paper we present the Olivetti BioJet system and its applications in tissue engineering and cell printing. BioJet, which employs a thermal inkjet cartridge, was used to print biomolecules and living cells. It is well known that high stresses and forces are developed during the inkjet printing process. When printing living particles (i.e., cell suspensions) the mechanical loading profile can dramatically damage the processed cells. Therefore computational models were developed to predict the velocity profile and the mechanical load acting on a droplet during the printing process. The model was used to investigate the role of the stiffness of the deposition substrate during droplet impact and compared with experimental investigations on cell viability after printing on different materials. The computational model and the experimental results confirm that impact forces are highly dependent on the deposition substrate and that soft and viscous surfaces can reduce the forces acting on the droplet, preventing cell damage. These results have high relevance for cell bioprinting; substrates should be designed to have a good compromise between substrate stiffness to conserve spatial patterning without droplet coalescence but soft enough to absorb the kinetic energy of droplets in order to maintain cell viability.

}, keywords = {Bioengineering}, issn = {1347-4421}, doi = {10.1016/j.jbiosc.2011.03.019}, url = {http://www.ncbi.nlm.nih.gov/pubmed/21497548}, author = {Tirella, A and Vozzi, F. and C. De Maria and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L and A. Ahluwalia} } @conference {2013, title = {Wearable biomonitoring system for stress management: A preliminary study on robust ECG signal processing}, booktitle = {2011 IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks, WoWMoM 2011}, year = {2011}, month = {20-24 June}, pages = {{\textendash}}, doi = {10.1109/WoWMoM.2011.5986192}, url = {http://dx.medra.org/10.1109/WoWMoM.2011.5986192}, author = {N. Carbonaro and G. Anania and G. Dalle Mura and M. Tesconi and A. Tognetti and G. Zupone and D. De Rossi} } @article {2008, title = {Wearable Systems for Brain body Reading and Mind Healing}, journal = {CYBER THERAPY AND REHABILITATION MAGAZINE}, year = {2011}, pages = {39{\textendash}40}, issn = {1784-9926}, author = {A. Tognetti and E. P. Scilingo and G. Anania and N. Carbonaro and A Lanata and F. Lorussi and D. Mazzei and G. Valenza and D. De Rossi} } @article {1468, title = {074 EARLY EVALUATION OF THE CONNECTIONS BETWEEN AUTISM AND ALTERATIONS OF MOVEMENT}, journal = {Parkinsonism \& Related Disorders}, volume = {16}, year = {2010}, pages = {S22}, keywords = {Bioengineering}, author = {Nardini, E. and G. Valenza and Mancuso, C. and Armato, A. and A Lanata and E. P. Scilingo and D. De Rossi} } @conference {2023, title = {Enabling technology for heart health wireless assistance}, booktitle = {12th IEEE International conference on e-Health networking, application and services}, year = {2010}, month = {1-3 July}, pages = {36{\textendash}42}, doi = {10.1109/HEALTH.2010.5556540}, url = {http://dx.medra.org/10.1109/HEALTH.2010.5556540}, author = {M. Mincica and D. Pepe and A. Tognetti and A Lanata and D. De Rossi and D. Zito} } @conference {1529, title = {Engineered Skeletal Muscle using Pam Scaffold}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {D. Cei and E. Loro and A. Malena and C. De Maria and L. Vergani and G. Vozzi} } @conference {1271, title = {The FACE of autism}, booktitle = {Proc. IEEE RO-MAN}, year = {2010}, pages = {791{\textendash}796}, keywords = {Bioengineering}, doi = {10.1109/ROMAN.2010.5598683}, author = {D. Mazzei and Billeci, L. and Armato, A. and Lazzeri, N. and Cisternino, A. and G. Pioggia and Igliozzi, R. and Muratori, F. and A. Ahluwalia and D. De Rossi} } @article {2015, title = {Heart Rate and Accelerometer data fusion for activity assessment of rescuers during emergency interventions}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {702{\textendash}710}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2047727}, url = {http://dx.medra.org/10.1109/TITB.2010.2047727}, author = {Curone, D. and A. Tognetti and Secco, E. L. and G. Anania and N. Carbonaro and D. De Rossi and G. Magenes} } @conference {1537, title = {In silico model of hepatic metabolism of Diclofenac}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, author = {A. Moschetti and F. Montemurro and C. De Maria and Vozzi, F. and A. Ahluwalia and G. Vozzi} } @article {1284, title = {In vitro liver model using microfabricated scaffolds in a modular bioreactor.}, journal = {Biotechnol J}, volume = {5}, year = {2010}, month = {Feb}, pages = {232{\textendash}241}, abstract = {

Hepatocyte function on 3-D microfabricated polymer scaffolds realised with the pressure-activated microsyringe was tested under static and dynamic conditions. The dynamic cell culture was obtained using the multicompartment modular bioreactor system. Hepatocyte cell density, glucose consumption, and albumin secretion rate were measured daily over a week. Cells seeded on scaffolds showed an increase in cell density compared with monolayer controls. Moreover, in dynamic culture, cell metabolic function increased three times in comparison with static monolayer cultures. These results suggest that cell density and cell-cell interactions are mediated by the architecture of the substrate, while the endogenous biochemical functions are regulated by a sustainable supply of nutrients and interstitial-like flow. Thus, a combination of 3-D scaffolds and dynamic flow conditions are both important for the development of a hepatic tissue model for applications in drug testing and regenerative medicine.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/biot.200900074}, author = {Vinci, B. and Cavallone, D. and G. Vozzi and D. Mazzei and C. Domenici and Brunetto, M. and A. Ahluwalia} } @conference {2019, title = {The influence of audio-stimuli on isochronic repetitive movements. A time analysis using kinematic data}, booktitle = {Joint Meeting of Young Italian and Japanese Neuroscientists, Italian Society for Neuroscience}, year = {2010}, month = {21 settembre}, pages = {35{\textendash}35}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @conference {2024, title = {Interreality: The use of advanced technologies in the assessment and treatement of psychological stress}, booktitle = {Proceedings of the 2010 10th International Conference on Intelligent Systems Design and Applications ISDA{\textquoteright}10}, year = {2010}, month = {29 Nov- 1 Dec}, pages = {1047{\textendash}1051}, doi = {10.1109/ISDA.2010.5687047}, url = {http://dx.medra.org/10.1109/ISDA.2010.5687047}, author = {G. Pioggia and N. Carbonaro and G. Anania and A. Tognetti and Tartarisco, G. and M. Ferro and D. De Rossi and G. Riva} } @article {DPB10, title = {Left invertibility of discrete systems with finite inputs and quantized output}, journal = {International Journal Of Control}, volume = {83}, number = {4}, year = {2010}, pages = {798 - 809}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems which evolve in discrete time within a continuous state-space; quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. Our main results are obtained under some contractivity hypotheses. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the invertibility property of the system. Our main result is a necessary and sufficient condition for left invertibility and uniform left invertibility for joint contractive systems. In addition, an algorithm is proposed to recover inputs from output strings. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DCB, title = {Left invertibility of output-quantized systems: an application to cryptography}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, month = {December}, pages = {4078-4083}, address = {Atlanta, USA}, abstract = {

In this paper a secure communication method is proposed, based on left invertibility of output-quantized dynamical systems. The sender uses an output-quantized linear system with a feedback function to encode messages, which are sequences of inputs of the system. So left invertibility property enables the receiver to recover the messages. The secret key is formed by the system

}, keywords = {Robotics}, author = {N. Dubbini and A. Carluccio and A. Bicchi} } @conference {1533, title = {Mechanical characterization of polymer cartilage scaffold at different pH}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {S. Romiti and G. Vozzi and C. De Maria and F. Montemurro} } @article {1282, title = {Modification of Pointing Performance in Altered Gravitational Environments}, journal = {Microgravity Science and Technology}, volume = {22}, year = {2010}, note = {

10.1007/s12217-009-9163-3

}, pages = {123-128}, abstract = {

The Fitts{\textquoteright} law describes a correlation between the time needed to complete basic tasks such as pointing movements and the level of knowledge of the specific target to be reached. While it has been largely proved in normal gravity, very few experiments have been carried out in altered gravitational conditions. In our experiment, four subjects were positioned in front of a panel where round targets were placed along a circumference. They carried out pointing movements towards the targets when these were switched on. The task time was acquired and processed off-line. In all the cases, the performance of each subject have been significantly modified in the altered gravitational environment and, in particular, hypergravity seems to affect motor performance more considerably than microgravity. Even if experiments involving several subjects and more complex tasks have to be carried out in order to confirm our findings, these results show that ergonomics could be strongly affected by the modification of gravity, especially during the first phase of exposure to gravity alteration.

}, keywords = {Bioengineering}, issn = {0938-0108}, doi = {http://dx.doi.org/10.1007/s12217-009-9163-3}, author = {Ciofani, G. and Migliore, A. and D. Mazzei and Carrozza, M. and P. Dario} } @conference {2021, title = {A MR Compatible Sensing Glove for Brain Studies}, booktitle = {Proceedings of the 16th Annual Meeting of the Organization for Human Brain Mapping}, year = {2010}, month = {6-10 Giugno}, pages = {1262 MT{\textendash}PM{\textendash}}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and G. Zupone and A. Tognetti and D. Bonino and E. P. Scilingo and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @conference {2022, title = {Neural Correlates of Human-Robot Handshaking}, booktitle = {Proc. of the 19th IEEE International Symposium in Robot and Human Interactive Communication}, year = {2010}, note = {

http://www.scopus.com/inward/record.url?eid=2-s2.0-78649822141\&partnerID=40\&md5=e485b7dd908e69afd535dc7792a8e5b3

}, month = {13-15, Settembre}, pages = {555{\textendash}561}, publisher = {IEEE}, organization = {IEEE}, address = {NEW YORK {\textendash} USA}, doi = {10.1109/ROMAN.2010.5598624}, url = {http://dx.medra.org/10.1109/ROMAN.2010.5598624}, author = {N. Vanello and D. Bonino and E. Ricciardi and M. Tesconi and E. P. Scilingo and V. Hartwig and A. Tognetti and G. Zupone and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @article {1516, title = {NEW BIOARTIFICIAL SYSTEMS AND BIODEGRADABLE SYNTHETIC POLYMERS FOR CARDIAC TISSUE ENGINEERING: A PRELIMINARY SCREENING}, journal = {BIOMEDICAL ENGINEERING. APPLICATIONS, BASIS, COMMUNICATIONS}, year = {2010}, keywords = {Bioengineering}, issn = {1016-2372}, author = {Rosellini, E and Cristallini, C and Barbani, N and G. Vozzi and D{\textquoteright}Acunto, M and G. Ciardelli and P. Giusti} } @conference {1534, title = {Pam scaffold for heart tissue engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {M. Nardi and C. De Maria and A. Ahluwalia and G. Vozzi} } @inbook {2018, title = {Pervasive Computing: Innovations in Intelligent Multimedia and Applications}, year = {2010}, pages = {97{\textendash}115}, publisher = {Springer London}, organization = {Springer London}, chapter = {Sensorized garment augmented 3d pervasive virtual reality system}, isbn = {9781848825987}, doi = {10.1007/978-1-84882-599-4_5}, url = {http://dx.medra.org/10.1007/978-1-84882-599-4_5}, author = {Gulrez, T and A. Tognetti and D. De Rossi} } @conference {1528, title = {Resident cardiac stem cells on PAM scaffold for Heart tissue engineering application}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {M. Nardi and C. De Maria and G. Forte and P. Di Nardo and A. Ahluwalia and G. Vozzi} } @conference {FMDBB10, title = {A Self-Routing Protocol for Distributed Consensus on Logical Information}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2010}, month = {October, 18 - 22}, pages = {5151 - 5156}, address = {Taipei, Taiwan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and D. Di Baccio and A. Bicchi} } @conference {1530, title = {Sensorised "Smart" Scaffold to Monitor Cell Processes Based on Impedance Characteristics}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {Whulanza, Y and Ucciferri, N and G. Vozzi and A. Ahluwalia and C. Domenici} } @article {2017, title = {Smart Garments for Emergency Operators: The ProeTEX Project}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {694{\textendash}701}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2045003}, url = {http://dx.medra.org/10.1109/TITB.2010.2045003}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Loriga and Dudnik, G. and Risatti, M. and Whyte, R. and Bonfiglio, A. and G. Magenes} } @conference {1465, title = {Towards a smart glove: Arousal recognition based on textile electrodermal response}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE}, year = {2010}, pages = {3598{\textendash}3601}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo and D. De Rossi} } @conference {2025, title = {Wearable monitoring of lumbar spine curvature by inertial and e-textile sensory fusion}, booktitle = {2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC{\textquoteright}10}, year = {2010}, pages = {6373{\textendash}6376}, publisher = {IEEE}, organization = {IEEE}, address = {USA}, doi = {10.1109/IEMBS.2010.5627294}, url = {http://dx.medra.org/10.1109/IEMBS.2010.5627294}, author = {R. Bartalesi and F. Lorussi and D. De Rossi and M. Tesconi and A. Tognetti} } @article {2016, title = {A WEARABLE SYSTEM FOR MONITORING GESTURE, POSTURE AND PHYSIOLOGICAL CORRELATES OF EMOTION}, journal = {PARKINSONISM \& RELATED DISORDERS}, year = {2010}, pages = {{\textendash}}, issn = {1353-8020}, author = {Debarnot, U. and F. Lorussi and E. P. Scilingo and A. Tognetti and D. De Rossi} } @conference {FMDB-NecSys09, title = {Distributed Consensus on Boolean Information}, booktitle = {1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys{\textquoteright}09)}, year = {2009}, month = {September, 24 - }, pages = {72 - 77}, address = {Venice, Italy}, abstract = {

In this paper we study the convergence towards consensus on information in a distributed system of agents communicating over a network. The particularity of this study is that the information on which the consensus is seeked is not represented by real numbers, rather by logical values or compact sets. Whereas the problems of allowing a network of agents to reach a consensus on logical functions of input events, and that of agreeing on set-valued information, have been separately addressed in previous work, in this paper we show that these problems can indeed be attacked in a unified way in the framework of Boolean distributed information systems. Based on a notion of contractivity for Boolean dynamical systems, a necessary and suficient condition ensuring the global convergence toward a unique equilibrium point is presented. This result can be seen as a first step toward the de nition of a unified framework to uniformly address all consensus problems on Boolean algebras.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and N. Dubbini and A. Bicchi} } @conference {1544, title = {ENMET: Endothelial Cell Metabolism Mathematical Model,}, booktitle = {2009 Ninth International Conference on Intelligent Systems Design and Applications}, year = {2009}, pages = {654 - 659}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and Vozzi, F. and M. A. Guzzardi and A. Ahluwalia and G. Vozzi} } @conference {2029, title = {Event Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication}, booktitle = {Proceedings of the ISDA 2009 - 9th International Conference on Intelligent Systems Design and Applications}, year = {2009}, pages = {679{\textendash}682}, doi = {10.1109/ISDA.2009.256}, url = {http://dx.medra.org/10.1109/ISDA.2009.256}, author = {M. Ferro and G. Pioggia and A. Tognetti and Dalle Mura, G. and D. De Rossi} } @conference {1462, title = {An FPGA based arrhythmia recognition system for wearable applications}, booktitle = {Intelligent Systems Design and Applications, 2009. ISDA{\textquoteright}09. Ninth International Conference on}, year = {2009}, pages = {660{\textendash}664}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {Armato, A. and Nardini, E. and A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo and D. De Rossi} } @article {1539, title = {Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)}, journal = {BIOMEDICAL MICRODEVICES}, year = {2009}, pages = {1037-1050}, keywords = {Bioengineering}, issn = {1387-2176}, author = {V. Chiono and G. Vozzi and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and DI SCIPIO, F and GEUNA, S and FORNARO, M and TOS, P and Nicolino, S and Audisio, C and Perroteau, I and CHIARAVALLOTI, A and C. Domenici and P. Giusti and G. Ciardelli} } @conference {2028, title = {Music and non-musical timed information affect accuracy of motor performance in a task of synchronization}, booktitle = {Proceedings of the National Congress of the Italian Society for Neuroscience}, year = {2009}, pages = {{\textendash}}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @article {1542, title = {A new library of HEMET model: Insulin effects on hepatic metabolism}, journal = {COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE}, volume = {94}, year = {2009}, pages = {181{\textendash}189}, keywords = {Bioengineering}, issn = {0169-2607}, doi = {10.1016/j.cmpb.2008}, author = {CUTRONE, A and C. De Maria and Vinci, B. and Vozzi, F. and A. Ahluwalia and G. Vozzi} } @conference {DLFSB-IROS09, title = {Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {5487-5494}, address = {St. Louis MO USA}, 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.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. De Luca and F. Flacco and R. Schiavi and A. Bicchi} } @conference {2027, title = {ntegrating hands-free interface into 3d virtual reality environments}, booktitle = {ARO Non-Manual Control Devices Symposium}, year = {2009}, pages = {{\textendash}}, author = {A. Tognetti and Gulrez, T and N. Carbonaro and G. Dalle Mura and G. Zupone and D. De Rossi} } @conference {1795, title = {Pneumatic module of PAM2 microfabrication system: realization of bio-inspired complex scaffolds}, booktitle = {3B International Conference in Bioprinting and Biofabrication}, year = {2009}, address = {Bordeaux, France}, abstract = {

poster

}, keywords = {Bioengineering}, author = {C. De Maria and Tirella, A and A. Ahluwalia and G. Vozzi} } @conference {FMDB-NESTER09, title = {Safety and Security in Networked Robotics Systems via Logical Consensus}, booktitle = {International Workshop on Networked embedded and control system technologies: European and Russian R\&D cooperation (NESTER{\textquoteright}09)}, year = {2009}, month = {July, 2 - 5}, address = {Milan, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Dini and A. Bicchi} } @article {2026, title = {A SENSING SEAT FOR HUMAN AUTHENTICATION}, journal = {IEEE TRANSACTIONS ON INFORMATION FORENSICS AND SECURITY}, volume = {4}, year = {2009}, pages = {451{\textendash}459}, issn = {1556-6013}, author = {M. Ferro and G. Pioggia and A. Tognetti and N. Carbonaro and D. De Rossi} } @conference {2031, title = {A sensorized glove for hand rehabilitation}, booktitle = {Proceedings of the Annual Northeast Bioengineering Conference}, year = {2009}, month = {3-5 April}, pages = {139{\textendash}140}, doi = {10.1109/NEBC.2009.4967775}, url = {http://dx.medra.org/10.1109/NEBC.2009.4967775}, author = {F. Cutolo and C. Mancinelli and S. Patel and N. Carbonaro and M. Schmid and A. Tognetti and D. De Rossi and P. Bonato} } @article {1538, title = {Simplified cell culture method for the diagnosis of atypical Primary Ciliary}, journal = {THORAX}, volume = {64}, year = {2009}, pages = {1077-81}, keywords = {Bioengineering}, issn = {0040-6376}, doi = {10.1136/thx.2008}, author = {M. PIFFERI and F. Montemurro and CANGIOTTI, A M and RAGAZZO, V and DI CICCO, M and Vinci, B. and G. Vozzi and MACCHIA, P and BONER, A L} } @article {FDSBB09, title = {Visual Servoing in the Large}, journal = {International Journal of Robotics Research}, volume = {28}, number = {6}, year = {2009}, month = {June}, pages = {802 - 814}, abstract = {

In this paper we consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-ofview of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and A. Danesi and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {2030, title = {Wearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation}, booktitle = {Proc. of the IEEE EMBC 2009}, year = {2009}, month = {02/09/ - 06/09/}, pages = {6830{\textendash}6833}, doi = {10.1109/IEMBS.2009.5334481}, url = {http://dx.medra.org/10.1109/IEMBS.2009.5334481}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @article {1550, title = {Chitosan/gelatin blends for biomedical applications}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, volume = {86}, year = {2008}, pages = {311{\textendash}322}, keywords = {Bioengineering}, issn = {1549-3296}, author = {PULIERI, E and V. Chiono and G. Ciardelli and G. Vozzi and A. Ahluwalia and C. Domenici and Vozzi, F. and P. Giusti} } @conference {FPVDB08, title = {Consensus-based Distributed Intrusion Detection for Multi-Robot Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {120 - 127}, abstract = {

This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non- cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non- cooperative behavior, using only locally available information. In this paper, we allow such monitors to share the collected information in order to overcome their sensing limitation. In this perspective, we show how an agreement on the type of behavior of a target-robot may be reached by the monitors, through execution of a suitable consensus algorithm. After formulating a consensus problem over non-scalar quantities, and with a generic update function, we provide conditions for the consensus convergence and an upper bound to its transient duration. Effectiveness of the proposed solution is finally shown through simulation of a case study.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and M. Pellinacci and M. Valenti and G. Dini and A. Bicchi} } @article {1549, title = {Criticality of the Biological and Physical Stimuli Array Inducing Resident Cardiac Stem Cell Determination}, journal = {STEM CELLS}, volume = {26}, year = {2008}, pages = {2093{\textendash}2103}, keywords = {Bioengineering}, issn = {1066-5099}, author = {G. Forte and CAROTENUTO, F and F. Pagliari and S. Pagliari and COSSA, P and FIACCAVENTO, R and A. Ahluwalia and G. Vozzi and Vinci, B. and SERAFINO, A and RINALDI, A and E. Traversa and CAROSELLA, L and M. Minieri and P. Di Nardo} } @conference {FTBD08, title = {Decentralized Deployment of Mobile Sensors for Optimal Connected Sensing Coverage}, booktitle = {Distributed Computing in Sensor Systems}, series = {Lecture Notes in Computer Science}, volume = {5067/2008}, year = {2008}, pages = {486 - 491}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper, we address the optimal connected sensing coverage problem, i.e., how mobile sensors with limited sensing capabilities can cooperatively adjust their locations so as to maximize the extension of the covered area while avoiding any internal "holes", areas that are not covered by any sensor. Our solution consists in a distributed motion algorithm that is based on an original extension of the Voronoi tessellation.

}, keywords = {Embedded Control, Robotics}, url = {http://dx.doi.org/10.1007/978-3-540-69170-9_34}, author = {A. Fagiolini and L. Tani and A. Bicchi and G. Dini} } @article {1629, title = {Degradable block polyurethanes from nontoxicbuilding blocks as scaffold materials to support cell growth and proliferation}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Rechichi, A and G. Ciardelli and D{\textquoteright}Acunto, M and G. Vozzi and P. Giusti} } @article {1630, title = {Electroactive Carbon Nanotube Actuators: Soft-Lithographic Fabrication and Electro-chemical Modelling}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0928-4931}, author = {A. Mazzoldi and M. Tesconi and A. Tognetti and W. Rocchia and G. Vozzi and G. Pioggia and A. Ahluwalia and D. De Rossi} } @article {1547, title = {HEMET: mathematical model of biochemical pathways for simulation and prediction of HEpatocyte METabolism}, journal = {COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE}, volume = {92}, year = {2008}, pages = {121{\textendash}134}, keywords = {Bioengineering}, issn = {0169-2607}, author = {C. De Maria and GRASSINI, D and Vozzi, F. and Vinci, B. and A. Landi and A. Ahluwalia and G. Vozzi} } @article {BDDLPPSS08, title = {Heterogeneous Wireless Multirobot System}, journal = {Robotics and Automation Magazine, IEEE}, volume = {15}, number = {1}, year = {2008}, pages = {62{\textendash}70}, keywords = {Robotics}, doi = {10.1109/M-RA.2007.914925}, url = {http://dx.doi.org/10.1109/M-RA.2007.914925}, author = {A. Bicchi and A. Danesi and G. Dini and La Porta, S. and L. Pallottino and I. M. Savino and R. Schiavi} } @conference {DPB-CDC08, title = {Left invertibility of discrete systems with finite inputs and quantized output}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {4687 - 4692}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems that evolve in discrete time within a continuous state-space. Quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. We restrict to the case of contractive dynamics for fixed inputs. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the left invertibility property of the system. Our main results are a necessary and sufficient condition for a given system to be left invertible with probability one on the space of inputs (i.e. for almost all input sequences), and necessary and sufficient conditions for left invertibility and uniform left invertibility under some weak additional hypotheses. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @article {1551, title = {Nerve regeneration using novel biomaterial supports}, journal = { Biomedicine and Pharmacotherapy }, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0753-3322}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {1635, title = {Nerve regeneration using novel biomaterial supports}, booktitle = {Biomedicine \& Pharmacotherapy}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @article {1558, title = {A New Bio-Inspired Robot Based on Senseless Motion: Theoretical study and Preliminary Technological Results}, journal = {MULTIDISCIPLINE MODELING IN MATERIALS AND STRUCTURES}, year = {2008}, keywords = {Bioengineering}, issn = {1573-6105}, author = {COTRONEO, A and G. Vozzi and GEROVASI, L and D. De Rossi} } @article {1553, title = {Optimization of PAM Scaffolds for Neural Tissue Engineering: Preliminary Study on an SH-SY5Y Cell Line}, journal = {TISSUE ENGINEERING, PART A}, year = {2008}, keywords = {Bioengineering}, issn = {1937-3341}, author = {KULLENBERG, J and ROSATINI, F and G. Vozzi and BIANCHI, F and A. Ahluwalia and C. Domenici} } @article {1557, title = {PAM-microfabricated polyurethane scaffolds: in vivo and in vitro preliminary studies}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2008}, keywords = {Bioengineering}, issn = {1616-5187}, author = {G. Vozzi and Rechichi, A and F. Dini and C. Salvadori and Vozzi, F. and S. Burchielli and F. Carlucci and ARISPICI, M and G. Ciardelli and P. Giusti and A. Ahluwalia} } @article {1554, title = {Poly(3-hydroxybutyrate-co-3-hydroxyvalerate)/poly(epsilon-caprolactone) blends for tissue engineering applications in the form of hollow fibers}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {V. Chiono and G. Ciardelli and G. Vozzi and SOTGIU, MG and Vinci, B. and C. Domenici and P. Giusti} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @article {1628, title = {Surface modification of a synthetic polyurethane by plasma glow discharge: preparation and characterisation of bioactive monolayers}, journal = {REACTIVE \& FUNCTIONAL POLYMERS}, volume = {68}, year = {2008}, pages = {809{\textendash}821}, keywords = {Bioengineering}, issn = {1381-5148}, author = {Sartori, S and Rechichi, A and G. Vozzi and D{\textquoteright}Acunto, M and HEINE, E and P. Giusti and G. Ciardelli} } @conference {BFDS08, title = {Tolerating Malicious Monitors in Detecting Misbehaving Robots}, booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics}, year = {2008}, pages = {108 - 114}, address = {Tohoku University Aobayama Campus, Sendai, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and A. Bicchi and G. Dini and I. M. Savino} } @article {1400, title = {Underwater cartography for archaeology in the VENUS project}, journal = {GEOMATICA}, volume = {62}, year = {2008}, pages = {419{\textendash}427}, keywords = {Bioengineering}, issn = {1195-1036}, author = {P. Drap and J. SEINTURIER and G. Conte and A. Caiti and D. Scaradozzi and S. M. Zanoli and P. GAMBOGI} } @conference {DFB, title = {Visual Servoing on Image Maps}, booktitle = {Experimental Robotics}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {39}, year = {2008}, note = {

proceedings of the 2006 symposium of experimental robotics

}, pages = {277 - 286}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, keywords = {Robotics}, author = {A. Danesi and D. Fontanelli and A. Bicchi} } @article {1655, title = {Acute retinal ganglion cell injury caused by intraocular pressure spikes is mediated by endogenous extracellular ATP}, journal = {EUROPEAN JOURNAL OF NEUROSCIENCE}, volume = {25}, year = {2007}, pages = {2741{\textendash}2754}, keywords = {Bioengineering}, issn = {0953-816X}, author = {RESTA, V. and NOVELLI, E. and G. Vozzi and SCARPA, C. and CALEO, M. and A. Ahluwalia and SOLINI, A. and SANTINI, E. and PARISI, V. and DI VIRGILIO, F. and GALLI-RESTA, L.} } @conference {1470, title = {An Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery}, booktitle = {Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on}, year = {2007}, pages = {25{\textendash}30}, publisher = {IEEE}, organization = {IEEE}, keywords = {Haptics}, author = {N. Sgambelluri and G. Valenza and M. Ferro and G. Pioggia and E. P. Scilingo and D. De Rossi and A. Bicchi} } @article {DSSDLB07, title = {An atlas of physical human-robot interaction}, journal = {Mechanism and Machine Theory}, volume = {43}, number = {3}, year = {2007}, pages = {253-270}, abstract = {

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human-Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also {\textquoteleft}{\textquoteleft}cognitive

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {De Santis, A and B. Siciliano and A.De Luca and A. Bicchi} } @conference {1657, title = {Cardiac and Mesenchymal Stem Cell Growth and Selective Differentiation on Three Dimensional Bioerodable Scaffolds}, booktitle = {Termis Eu-Meeting London (UK) 4-7 September 2007 Tissue Engineering 2007, 13 (7): 1647}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Forte and CAROTENUTO, F and G. Vozzi and COSSA, P and FIACCAVENTO, R and M. Minieri and F. Pagliari and S. Pagliari and Romano, R. and A. Ahluwalia and E. Traversa and P. Di Nardo} } @conference {BDSP:ECC07, title = {A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems}, booktitle = {Proc. European Control Conference (ECC)}, year = {2007}, month = {July}, pages = {4285-4292}, abstract = {

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

}, keywords = {Embedded Control, Robotics}, author = {P. Alriksson and J. Nordh and K -E Arz{\'e}n and A. Bicchi and A. Danesi and R. Schiavi and L. Pallottino} } @article {arz+07ejc, title = {A component-based approach to the design of networked control systems}, journal = {European Journal of Control}, volume = {13}, number = {2{\textendash}3}, year = {2007}, note = {

Invited paper

}, pages = {261-279}, abstract = {

Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and lowlevel software implementation and vice versa. Components provide many benefits that have led to their wide adoption in software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.

}, keywords = {Embedded Control, Robotics}, author = {K -E Arz{\'e}n and A. Bicchi and G. Dini and S. Hailes and K. H. Johansson and J. Lygeros and A. Tzes} } @conference {FVPDB:CDC07, title = {Decentralized Intrusion Detection for Secure Cooperative Multi-Agent Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, pages = {1553-1558}, abstract = {

In this paper we address the problem of detecting faulty behaviors of cooperative mobile agents. A novel decentralized and scalable architecture that can be adopted to realize a monitor of the agents

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @booklet {FPD{\textquoteright}07, title = {Decentralized Intrusion Detection in Cooperative Multi-Agent Systems}, year = {2007}, note = {

Poster Presentation

}, month = {April}, abstract = {

We address the problem of detecting faulty behaviors of robots belonging to a multi-agent system. Our objective is to develop a scalable architecture that can be adopted to realize a completely decentralized intrusion detector monitoring the agents{\textquoteright} behavior. We want the solution to be independent from the set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} describing the interaction among the agents, and from their dynamics; (non-invasive) mainly based on HW/SW components that are already present on-board of each agent. We focus on systems with decentralized cooperation schemes where cooperation is obtained by sharing a set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} by which each agent plans its next {\textquoteleft}{\textquoteleft}action{\textquoteright}{\textquoteright} and where some of the agents may act not according to the rules due to spontaneous failure, tampering, or malicious introduction.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Pallottino and G. Dini} } @article {1652, title = {La rigenerazione nervosa negli innesti a polarit{\`a}~ invertita: dati a confronto tra applicazione sull{\textquoteright}uomo e analisi sperimentale su modello animale}, journal = {RIVISTA DI CHIRURGIA DELLA MANO}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {D. S. POGGI and Massarella, M. and Cerulli, G. and Caraffa, A. and S. Burchielli and Modenato, M. and Cantile, C. and G. Vozzi and C. De Maria and Lisanti, M. and Bonicoli, E. and Cantini, G.} } @conference {FVPDB:CASE07, title = {Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi-Agent Systems}, booktitle = {3rd IEEE Conference on Automation Science and Engineering}, year = {2007}, pages = {454{\textendash}459}, abstract = {

This paper focuses on the detection of misbehaving agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possibly different independent tasks, but cooperate to guarantee the entire system

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @conference {VHTZSTRSBPDRL07, title = {An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration}, booktitle = {The 10th Annual International Workshop on Presence}, year = {2007}, pages = {79-83}, keywords = {Haptics}, author = {N. Vanello and V. Hartwig and M. Tesconi and G. Zupone and N. Sgambelluri and A. Tognetti and E. Ricciardi and E. P. Scilingo and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini}, editor = {Laura Moreno, Starlab Barcelona, S.L.} } @conference {LSFD-06, title = {Bi-modal Transducer-based Wearable System for Cardiac Monitoring}, booktitle = {Fourth IASTED International Conference on Biomedical Engineering}, year = {2006}, month = {February}, pages = {92-97}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A Lanata and E. P. Scilingo and R. Francesconi and D. De Rossi} } @conference {ricciardi05:_brain, title = {Brain response to visual, tactile and auditory flow in sighted and blind individuals supports a supramodal functional organization in hMT complex}, booktitle = {Proc. 12th International Conference on Functional Mapping of Human Brain Mapping}, volume = {31}, number = {1}, year = {2006}, note = {

Florence

}, pages = {512 TH-P}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and D. Bonino and N. Vanello and J. V. Haxby and E. Seifritz and M. Guazzelli and L. Landini and A. Bicchi and Di Salle, F and P. Pietrini} } @inbook {SSB06, title = {Minimally Invasive Therapies \& Novel Embedded Technology Systems}, booktitle = {ARISER 2006 Augmented Reality in Surgery}, year = {2006}, pages = {133-142}, abstract = {

Recent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {S. Casciaro and A. Distante} } @conference {PHRI06, title = {Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges}, booktitle = {Proc. IROS{\textquoteright}06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains}, year = {2006}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, author = {R. Alami and A Albu-Schaeffer and A. Bicchi and R. Bischoff and R. Chatila and A. De Luca and De Santis, A and G. Giralt and J. Guiochet and G. Hirzinger and F. Ingrand and V. Lippiello and R. Mattone and D. Powell and S. Sen and B. Siciliano and G. Tonietti and L. Villani}, editor = {A. Bicchi and A. De Luca} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {DSSBG06, title = {Security and Advanced Control Issues in a Robotic Platform for Monitoring and Relief}, booktitle = {Proc. of EWSN 2006 February 13-15, ETH Zurich}, year = {2006}, abstract = {

This paper provides an architectural overview and a first implementation of an heterogeneous agent network composed by mobile robots of di

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and I. M. Savino and R. Schiavi and A. Bicchi and G. Dini} } @inbook {DS06, title = {Skin-like sensor arrays}, booktitle = {Encyclopedia of Sensors}, year = {2006}, pages = {535-556}, publisher = {American Scientific Publishers}, organization = {American Scientific Publishers}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and E. P. Scilingo} } @inbook {DLMS01, title = {Wearable Mechanosensing and Emerging Technologies in Fabric-based Actuation}, booktitle = {Intelligent Textiles for Personal Protection and Safety}, volume = {3}, year = {2006}, pages = {55-64}, publisher = {IOS Press}, organization = {IOS Press}, edition = { }, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @conference {DSSB-WH05, title = {Does Active Exploration Suppress Tactile Flow Perception?}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {660-661}, abstract = {

In this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.

}, keywords = {Haptics}, author = {D. Dente and E. P. Scilingo and N. Sgambelluri and A. Bicchi} } @inbook {DCLPST05, title = {Electroactive fabrics and wearable man-machine interfaces}, booktitle = {Wearable Electronics and Photonics}, year = {2005}, pages = {59-80}, publisher = {Woodhead Publishing Ltd}, organization = {Woodhead Publishing Ltd}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {1268, title = {Functional and Pharmacological testing of endothelial cells cultured in dynamic conditions}, booktitle = {Proceedings of: XIV Edizione del Congresso della Fisiologia Clinica-CNR}, year = {2005}, pages = {82-96}, keywords = {Bioengineering}, author = {Vozzi, F. and Gentile, C. and D. Mazzei and G. Vozzi and C. Domenici and A. Ahluwalia} } @article {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @conference {MOCHLOBEifac05, title = {Output feedback control via adaptive observers with persistency of excitation}, booktitle = {Proc. 16th. IFAC World Congress}, year = {2005}, month = {July}, address = {Praha, Tcheck Republic}, abstract = {

We address the problem of adaptive observer design for nonlinear time-varying systems which can be transformed in the so-called output feedback form (linear in the unmeasured variables). The observer design follows up previous work on adaptive observers for linear systems and has the form of the classical Luenberger observers for linear systems except that the observer gain is time-varying. A specific form of persistency of excitation is imposed to guarantee the convergence of the (state and parameter) estimation errors. As for the output feedback loop, we proceed using a cascade approach, i.e., we impose the appropriate conditions so that the closed loop system has a cascaded structure. Uniform global asymptotic stability may then be concluded based on cascaded systems theory.

}, keywords = {Robotics}, author = {De Leon Morales, J. and A. Chaillet and A. Lor and G. Besancon} } @conference {BDSS-WH05, title = {Perceptual Bias in Tactile Flow}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {17-20}, abstract = {

In this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo and N. Sgambelluri} } @article {SGPTGD05, title = {Performance evaluation of Sensing Fabrics for Monitoring Physiological and Biomechanical Variables}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {345-352}, keywords = {Bioengineering}, author = {E. P. Scilingo and A. Gemignani and R. Paradiso and N. Taccini and B. Ghelarducci and D. De Rossi} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

In this paper we describe the motivations and the aim ofthe EURON-2 research project {\textquoteleft}{\textquoteleft}\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains{\textquoteright}{\textquoteright} (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about {\textquoteleft}{\textquoteleft}charting{\textquoteright}{\textquoteright} the new {\textquoteleft}{\textquoteleft}territory{\textquoteright}{\textquoteright} of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @article {DCS05, title = {Polymers based interfaces as bioninspired {\textquoteright}smart skins{\textquoteright}}, journal = {Advances in Colloids and Interface Science}, volume = {116}, year = {2005}, month = {August}, pages = {165-178}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and E. P. Scilingo} } @article {LSTTD05, title = {Strain sensing fabric for hand posture and gesture monitoring}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {372-381}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti and D. De Rossi} } @inbook {BSDDS05, title = {Tactile Flow and Haptic Discrimination of Softness}, booktitle = {Multi-point Interaction with Real and Virtual Objects}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {18}, year = {2005}, pages = {165-176}, publisher = {Springer Verlag}, organization = {Springer Verlag}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri}, editor = {F. Barbagli and D Prattichizzo and K. Salisbury} } @inbook {DLSCTT04, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {Wearable eHealth Systems for Personalised Health Management}, year = {2004}, pages = {209-213}, publisher = {IOS Press}, organization = {IOS Press}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and Carpi, F and A. Tognetti and Tesconi, M} } @conference {CPTSLDGGBVG-04, title = {Development of a Wearable System Based on Smart Textiles and GPRS Transmission for Remote Multiparametric Monitoring of Cardiac Patients: Preliminary Results of the WEALTHY Project}, booktitle = {THE 5th International Heart Health Conference}, year = {2004}, month = {June}, address = {Milan, Italy}, keywords = {Bioengineering}, author = {S. Coli and R. Paradiso and N. Taccini and E. P. Scilingo and G. Loriga and D. De Rossi and A. Gemignani and B. Ghelarducci and L. Bourdon and A. Ditmar and T. Vavouras and B. Gros and J. Luprano and M. Jaenecke and C. Coucke and G. Delhomme and D. Cianflone} } @conference {DPSB04, title = {Integration of Tactile Flow from Multi-Finger and Multi-Dimensional Information}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {282-289}, abstract = {

In this paper we pursue an investigation on the role of perceptual flow in the tactile domain, which appears to be a primary source for information such as shape, motion and softness. In this paper, we report on a set of psychophysical experiments involving how humans integrate incoherent tactile flow stimuli. Two experiments are reported, whereby discordant stimuli are conveyed to the subject by two different fingertips, or by two different families of mechanoreceptors in the same finger. Results from the first experiment show that, in these conditions, the tactile and the optic perceptive systems act in a very similar way. In the second experiment the interaction between tactile flow and friction generate an illusory phenomenon peculiar of the tactile system.

}, keywords = {Haptics}, author = {D. Dente and A. Pisani and E. P. Scilingo and A. Bicchi} } @conference {HBM04, title = {Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain}, booktitle = {10th Annual Meeting of the Organization for Human Brain Mapping}, year = {2004}, abstract = {

V5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.

}, keywords = {Haptics}, author = {N. Vanello and E. Ricciardi and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {RVDSSGSPSGHLBP04, title = {Perception of visual and tactile flow activates common cortical areas in the human brain.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {290-292}, abstract = {

We report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @inbook {BLMS03, title = {On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles}, booktitle = {Advances in Control of Articulated and Mobile Robots}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {10}, year = {2004}, pages = {223-239}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and F. Lorussi and P. Murrieri and V. G. Scordio}, editor = {B. Siciliano and A. De Luca and C. Melchiorri and G. Casalino} } @conference {GSLTPD-04, title = {A sensing shirt for monitoring behavioral and autonomic parameters}, booktitle = {55}, year = {2004}, month = {February}, pages = {83}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A. Gemignani and E. P. Scilingo and G. Loriga and N. Taccini and R. Paradiso and D. De Rossi and B. Ghelarducci} } @conference {DFB04, title = {Towards Cooperative Visual-Based Localization, Mapping, and Servoing}, year = {2004}, note = {

Proc. IEEE Mediterranean Conf.

}, abstract = {

In this paper we consider the problem of navigating an autonomous robot using primarily vision for localizing the robot, building a map of the environment, and navigating through viapoints to goals. A visual servo scheme is used that can steer the wheeled vehicle among images. Goal images do not necessarily correspond to images physically taken from the desired vehicle posture, as servoing to reconstructed virtual images is possible. A topological image map is constructed to support this, based on images grabbed by on-board cameras, along with a global feature-based metric map, using extended Kalman filter techniques. The method also enables a team of multiple vehicles to merge their information, and to coordinate navigation using each other{\textquoteright}s images. Realistic assumptions on limited communication bandwidth between agents and available memory storage are taken into account considering informative, memory-safe maps. Simulations and preliminary experimental results on a laboratory setup are reported.

}, keywords = {Embedded Control, Robics}, author = {A. Danesi and D. Fontanelli and A. Bicchi} } @conference {DLSCTTO-04, title = {An Upper Limb Kinesthetic-Like System For Tele-Rehabilitation}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and F. Carpi and M. Tesconi and A. Tognetti and P. Orsini} } @article {LRSTD04, title = {Wearable, Redundant Fabric-Based Sensor Arrays for Reconstruction of Body Segment Posture}, journal = {IEEE Sensors Journal}, volume = {4}, number = {6}, year = {2004}, month = {December}, pages = {807-818}, keywords = {Bioengineering}, author = {F. Lorussi and W. Rocchia and E. P. Scilingo and A. Tognetti and D. De Rossi} } @inbook {DLMOS03, title = {Active dressware: wearable kinesthetic systems}, booktitle = {Sensor and sensing in biology and engineering}, year = {2003}, pages = {379-392}, publisher = {Springer Wien}, organization = {Springer Wien}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLS-03, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {International Workshop in New generation of wearable systems for e-Health: towards a revolution of citizen{\textquoteright} health and life style management?}, year = {2003}, month = {December}, pages = {129-133}, address = {Lucca, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo} } @conference {DFMSB03, title = {Cooperative Simultaneous Localization and Map Building for Servoing}, booktitle = {Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference}, year = {2003}, month = {July}, address = {Padova}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and D. Fontanelli and P. Murrieri and V. G. Scordio and A. Bicchi} } @article {DCLMPS03, title = {Electroactive Fabrics And Wearable Biomonitoring Devices}, journal = {AUTEX Research Journal}, volume = {3}, number = {4}, year = {2003}, month = {December}, pages = {180-185}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {SSDRB03, title = {Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation}, booktitle = {Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2003}, pages = {10{\textendash}15}, abstract = {

In this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {BDS03, title = {Haptic Illusions Induced by Tactile Flow}, booktitle = {EuroHaptics Conference}, year = {2003}, pages = {2412-2417}, abstract = {

In this paper we report on a set of experiments involving perceptual illusions elicited by dynamic tactile stimulation of fingertips. These misperceptions are akin to some well studied optical illusions, which have been given an explanation in terms of the mechanisms of optic flow perception. We hypothesize that a similar perceptual mechanism exists for tactile flow, which is related to how humans perceive relative motion and pressure between the fingertips and objects in contact. We present a computational model of tactile flow, and discuss how it relates to accepted models of the neurophyisiology of touch. A particularly interesting phenomenon observed under some experimental circumstances, consisting of an incoherent tactile perception generating what we call a tactile vertigo, can be explained in terms of this model. The proposed tactile flow model also explains other phenomena observed in the past (namely, the Contact Area Spread Rate effect), and is of importance in designing simpler, more effective devices for artificial haptic sensing and displays.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo} } @conference {PGSD-03, title = {Knitted Bioclothes for Cardiopulmonary Monitoring}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3720-3723}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {R. Paradiso and A. Gemignani and E. P. Scilingo and D. De Rossi} } @article {SLMD03, title = {Strain-Sensing Fabrics for Wearable Kinaesthetic-Like Systems}, journal = {IEEE Sensors Journal}, volume = {3}, number = {4}, year = {2003}, month = {August}, pages = {460-467}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and A. Mazzoldi and D. De Rossi} } @conference {SSDRB03, title = {Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {2412-2417}, address = {Taipei, Taiwan}, abstract = {

In this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator{\textquoteright}s hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {LSTTD-03, title = {Wearable Sensing Garment For Posture Detection, Rehabilitation And Tele-Medicine}, booktitle = {4th International IEEE EMBS Special Topic Conference on Information Technology Applications in Biomedicine}, year = {2003}, month = {April}, pages = {287-290}, address = {Birmingham,UK}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti and D. De Rossi} } @conference {TCLMOSTD-03, title = {Wearable Sensory-Motor Orthoses for Tele-Rehabilitation}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3724-3727}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {A. Tognetti and F. Carpi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo and M. Tesconi and D. De Rossi} } @conference {DLMOS-02, title = {Active dressware: Wearable kinestetic system}, booktitle = {International Interactive Textiles for the Warrior Conference}, year = {2002}, month = {July}, address = {Boston, USA}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DCLMST-02, title = {Electroactive Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {The first IEEE International Conference on Sensors}, year = {2002}, month = {June}, pages = {1608-1613}, address = {Orlando, Florida}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {DCLMST-02, title = {Electroactive Fibers and Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {Proceedings of the First European Workshop on Structural Health Monitoring}, year = {2002}, month = {July}, address = {Cachan, France}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {BSSDR02, title = {Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc.2th Int. Conf. Eurohaptics 2002}, year = {2002}, month = {July}, pages = {6-11}, abstract = {

In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and N. Sgambelluri and D. De Rossi} } @conference {SLDPGPAGG-02, title = {A Sensing Shirt for Monitoring Body Kinematic and Vital Signs}, booktitle = {Symposium on Telemedicine In Care Delivery, Technology and Application}, year = {2002}, month = {June}, pages = {57-67}, address = {Pisa, Italy}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and D. De Rossi and R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and A. Gemignani and B. Ghelarducci} } @article {MDLSP02, title = {Smart textiles for wearable motion capture systems}, journal = {AUTEX Research Journal}, volume = {2}, number = {4}, year = {2002}, month = {December}, pages = {199-203}, keywords = {Bioengineering}, author = {A. Mazzoldi and D. De Rossi and F. Lorussi and E. P. Scilingo and R. Paradiso} } @inbook {MFB02, title = {Visual-servoed parking with limited view angle}, booktitle = {Experimental Robotics VIII}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {5}, year = {2002}, pages = {254-263}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi}, editor = {B. Siciliano and P. Dario} } @conference {PGPALSDO-02, title = {A wearable motion capture system for multimedia applications}, booktitle = {Avantex Symposium - International Forum for Textiles and Technology in the Future}, year = {2002}, month = {May}, address = {Frankfurt, Germany}, keywords = {Bioengineering}, author = {R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and F. Lorussi and E. P. Scilingo and D. De Rossi and P. Orsini} } @conference {DLMOS-01, title = {Active dressware: wearable haptics systems}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {155-158}, address = {Lucca, Italy}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLMSO-01, title = {Active dressware :wearable proprioceptive system based on electroactive polymers}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, pages = {161-162}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @conference {SBDR-01, title = {Haptic devices for minimally invasive surgery}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {194-198}, address = {Lucca, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi} } @conference {DLMPS-01, title = {Haptic smart skins: from biomimetics reasoning to wearing technology}, booktitle = {Fifth Workshop on Multifunctional Polymer and Smart Polymer Systems}, year = {2001}, month = {January}, address = {Wollongong, Australia}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo} } @inbook {BSB01, title = {Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {2034}, year = {2001}, pages = {133-146}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and P. Sou{\`e}res and A. Bicchi}, editor = {Di Benedetto, M. D. and A. L. Sangiovanni-Vincentelli} } @conference {ADLMOS-01, title = {Piezoresistive fabrics for monitoring body kinematics and gesture}, booktitle = {First International Symposium on Measurement, Analysis and Modeling of Human Functions}, year = {2001}, month = {September}, pages = {395-399}, address = {Sapporo, Japan}, keywords = {Biomechanics, Smart Textiles}, author = {A. Ahluwalia and D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {PPACGLSDGB-01, title = {Sensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs}, booktitle = {Fibres and Textiles for the Future}, year = {2001}, month = {August}, pages = {55-63}, address = {Tampere, Finland}, keywords = {Smart Textiles, Vital Signs}, author = {M. Pacelli and R. Paradiso and G. Anerdi and S. Ceccarini and M. Ghignoli and F. Lorussi and E. P. Scilingo and D. De Rossi and A. Gemignani and B. Ghelarducci} } @conference {DLMWS-01, title = {Strain-amplified electroactive polymer actuator for haptic interfaces}, booktitle = {Proceedings of SPIE}, year = {2001}, month = {July}, pages = {43-53}, address = {Newport Beach, USA}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and W. Rocchia and E. P. Scilingo} } @conference {PPDLMSO-01, title = {Wearable technology for multisensory expressive gesture applications}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {R. Paradiso and M. Pacelli and D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @inbook {DLMS01, title = {Wearable thermo- and piezoresistive sensors: realization and properties}, booktitle = {Sensors and Microsystems}, year = {2001}, pages = {195-200}, publisher = {World Scientific}, organization = {World Scientific}, keywords = {Piezoresistive sensor, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo} } @inbook {BSDR00, title = {Experimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel}, booktitle = {Robotics Research IX}, year = {2000}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and D. De Rossi} } @article {BDS00, title = {Haptic discrimination of softness in teleoperation: the role of the contact area spread rate}, journal = {IEEE Trans. on Robotics and Automation}, volume = {16}, number = {5}, year = {2000}, month = {October}, pages = {496-504}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen as the contact force increases. Devices for implementing such a perceptual channel are described, and a pratical application to a mini-invasive surgery tool is presented. Psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Haptic Sensing, Haptics, Tactile Flow}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {SBDRS-00, title = {A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues}, booktitle = {Proc. IEEE-EMBS Conference on Microtechnologies in Medicine and Biology}, year = {2000}, month = {October}, pages = {229-233}, address = {Lyon, France}, keywords = {Haptic Displays, Haptics, Tools for Minimally Invasive Surgery}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and A. Scotto} } @conference {DLMOS-00, title = {Monitoring Body Kinematics and Gesture Through Sensing Fabrics}, booktitle = {1st Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine AND Biology}, year = {2000}, month = {October}, pages = {587-592}, address = {Lyon, France}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @inbook {BP00-WAFR, title = {Optimal planning for coordinated vehicles with bounded curvature}, booktitle = {Algorithmic and Computational Robotics: New Directions}, volume = {1}, year = {2000}, note = {

The Workshop on Algorithmic Foundations of Robotics

}, pages = {167-172}, publisher = {A K Peters, MA}, organization = {A K Peters, MA}, abstract = {

In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and L. Pallottino}, editor = {B. Donald and K. Lynch and D. Rus} } @article {1411, title = {Parametric sonars for seafloor characterization}, journal = {MEASUREMENT SCIENCE \& TECHNOLOGY}, volume = {10}, year = {1999}, pages = {1105{\textendash}1115}, issn = {0957-0233}, doi = {10.1088/0957-0233/10/12/301}, url = {http://dx.medra.org/10.1088/0957-0233/10/12/301}, author = {A. Caiti and O. Bergem and J. Dybedal} } @conference {BDRS99, title = {Psychophysical Evaluation of Simplified Haptic Perception Media}, booktitle = {Proc. Int. Workshop on Robot and Human Interaction}, year = {1999}, month = {September}, address = {Pisa}, abstract = {

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficlt and costly. In this paper we discuss a simplified model of haptic detection of softness (whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted). We provide a thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {ABDRS99, title = {The Role of Contact Area Spread Rate in Haptic Discrimination of Softness}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {305-310}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen. Devices for implementing this new perceptual channel are described, and some preliminary psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {G. Ambrosi and A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {SBDRI-98, title = {Haptic display able to replicate the rheological behaviour of surgical tissues}, booktitle = {Proc. 20th International Conference IEEE/EMBS}, year = {1998}, pages = {1738-1741}, address = {Hong Kong}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and P. Iacconi} } @conference {SDRBI97-ASME, title = {Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments}, booktitle = {Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {1997}, address = {Dallas}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @conference {SDRBI97-EMB, title = {Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons{\textquoteright} haptic percetion of manipulated tissues}, booktitle = {Proc. IEEE Int. Conf. Engineering in Medicine and Biology}, year = {1997}, address = {Chicago}, keywords = {Haptics, Sensors}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @conference {BCDRIS96, title = { A sensor-based minimally invasive surgery tool for detecting tissue elastic properties }, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, pages = {884-888}, keywords = {Haptics, Tools for Minimally Invasive Surgery}, author = {A. Bicchi and G. Canepa and D. De Rossi and P. Iacconi and E. P. Scilingo} } @article {1417, title = {TOWARDS THE REALIZATION OF AN ARTIFICIAL TACTILE SYSTEM - FINE-FORM DISCRIMINATION BY A TENSORIAL TACTILE SENSOR ARRAY AND NEURAL INVERSION ALGORITHMS}, journal = {IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS}, volume = {25}, year = {1995}, pages = {933{\textendash}946}, issn = {0018-9472}, doi = {10.1109/21.384256}, url = {http://dx.medra.org/10.1109/21.384256}, author = {A. Caiti and G. Canepa and D. De Rossi and F. Germagnoli and G. Magenes and T. Parisini} } @article {1422, title = {Skin-like tactile sensor arrays for contact stress field extraction}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {1993}, pages = {23{\textendash}36}, issn = {0928-4931}, author = {D. De Rossi and G. Canepa and G. Magenes and F. Germagnoli and A. Caiti and T. Parisini} } @inbook {VB93, title = {Whole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity}, booktitle = {Robots and Biological Systems}, series = {NATO-ASI Series F: Computer and Systems Sciences, vol. 102}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Vassura and A. Bicchi}, editor = {P. Dario and P. Aebischer and G. Sandini} } @conference {1879, title = {Adaptive neural state observer for unknown non linear plants}, booktitle = {IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems}, year = {1992}, address = {Kobe, Japan, Sep 16-20 1992}, keywords = {Robotics}, author = {Bini Verona, F and A. Bicchi and De Gasperis, G. and A. Landi and G. Silvestri} } @inbook {DBBF92, title = {Multiple Sensing for Dexterous End Effectors}, booktitle = {Robots with redundancy: design, sensing and control}, year = {1992}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {P. Dario and M. Bergamasco and A. Bicchi and A. Fiorillo}, editor = {A. K. Bejczy} } @inbook {BM92, title = {Quasi-Static Compensation of Force Errors for Flexible Manipulators}, booktitle = {Selected papers from the Third IFAC/IFIS/IMAC Symposium on Robot Control}, year = {1992}, pages = {381-385}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U.K.}, keywords = {Robotics}, author = {A. Bicchi and C. Melchiorri}, editor = {I. Troch and K. Desoer and P. Kopacek} } @inbook {BBD92, title = {Robot Tactile Perception}, booktitle = {Sensor Based Robots: Algorithms and Architectures}, year = {1992}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Buttazzo and A. Bicchi and P. Dario}, editor = {C. S. G. Lee} } @inbook {BDBB90, title = {Multi Sensor Integration for Fine Manipulation}, booktitle = {Highly Redundant Sensing in Robotic Systems}, series = {NATO-ASI Series F: Computer and Systems Sciences, vol. 58}, volume = {58}, number = {NATO ASI Series}, year = {1990}, pages = {55-66}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {M. Bergamasco and P. Dario and A. Bicchi and G. Buttazzo}, editor = {J. T. Tou and J. G. Balchen} } @conference {BSD89, title = {Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing}, booktitle = {Proc. IEEE Conf. on Robotics and Automation}, year = {1989}, address = {Scottsdale, AZ, USA}, keywords = {Grasping, Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and P. Dario} } @conference {BBDGMP89, title = {Leg-Ankle-Foot System for Investigating Sensor Based Legged Locomotion}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1989}, address = {Tsukuba, Japan}, keywords = {Embedded Control, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=637970}, author = {A. Bicchi and L. Bosio and P. Dario and M. Guiggiani and E. Manfredi and P. C. Pinotti} } @article {1777, title = {Need better sensor: try using polymers}, journal = {RESEARCH \& DEVELOPMENT}, year = {1989}, pages = {66{\textendash}70}, keywords = {Bioengineering}, issn = {0746-9179}, author = {D. De Rossi} } @conference {BBBD89, title = {A Robot Workstation for Autonomous Assembling}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1989}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Stuttgard, Germany}, keywords = {Robot Hands}, author = {G. Buttazzo and M. Bergamasco and A. Bicchi and P. Dario} } @article {1776, title = {Shear stress detection in an elastic layer by a piezoelectric polymer tactile sensor}, journal = {IEEE TRANSACTIONS ON ELECTRICAL INSULATION}, volume = {24}, year = {1989}, pages = {1077{\textendash}1081}, keywords = {Bioengineering}, issn = {0018-9367}, author = {C. Domenici and D. De Rossi and A. Bacci and S. Bennati} } @article {1775, title = {Tactile sensing by an electromechanochemical skin analog}, journal = {SENSORS AND ACTUATORS}, volume = {17}, year = {1989}, pages = {107{\textendash}114}, keywords = {Bioengineering}, issn = {0250-6874}, author = {D. De Rossi and L. Lazzeri and C. Domenici and A. Nannini and P. Basser} } @conference {DBSBB88, title = {Advanced Rehabilitative Robots}, booktitle = {Proc. ISIR Int. Symposium and Exposition on Robots}, year = {1988}, address = {Sydney, Australia}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {P. Dario and M. Bergamasco and A. Sabatini and A. Bicchi and G. Buttazzo} } @article {1774, title = {Artificial sensing skin mimicking mechanoelectrical conversion properties of human dermis}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING}, volume = {35}, year = {1988}, pages = {83{\textendash}92}, keywords = {Bioengineering}, issn = {0018-9294}, author = {D. De Rossi and A. Nannini and C. Domenici} } @article {1773, title = {Determination of mechanical parameters related to the kinetics of swelling in an electrically activated contractile gel}, journal = {PROGRESS IN COLLOID \& POLYMER SCIENCE}, volume = {78}, year = {1988}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {0340-255X}, author = {Chiarelli, P and D. De Rossi} } @conference {BBDF88, title = {Integrated Tactile Sensing for Gripper Fingers}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1988}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Zuerich, Switzerland}, keywords = {Haptics, Robot Hands, Tactile Sensors}, author = {A. Bicchi and M. Bergamasco and P. Dario and A. Fiorillo} } @inbook {BD88, title = {Intrinsic Tactile Sensing for Artificial Hands}, booktitle = {Robotics Research - IV}, year = {1988}, pages = {83-90}, publisher = {MIT Press}, organization = {MIT Press}, address = {Cambridge, MA, USA}, keywords = {Haptics, Robotics}, author = {A. Bicchi and P. Dario}, editor = {R. Bolles and B. Roth} } @article {1772, title = {Sensori per applicazioni biomediche}, journal = {FISICA E TECNOLOGIA}, volume = {11}, year = {1988}, pages = {{\textendash}}, issn = {0391-9757}, author = {P. Dario and D. De Rossi} } @article {1770, title = {A Biomimetic tactile array with stress-component-selective sensing capabilities}, journal = {MATERIALS SCIENCE}, volume = {13}, year = {1987}, pages = {47{\textendash}50}, keywords = {Bioengineering}, issn = {0137-1339}, author = {D. De Rossi and C. Domenici and A. Nannini and R. Francesconi} } @article {1769, title = {Biomimetic tactile sensor with stress-component-discrimination capability}, journal = {JOURNAL OF MOLECULAR ELECTRONICS}, volume = {3}, year = {1987}, pages = {173{\textendash}181}, keywords = {Bioengineering}, issn = {0748-7991}, author = {D. De Rossi and A. Nannini and C. Domenici} } @article {1768, title = {Measurement of the hydrostatic piezoelectric, coefficient using a {\^A}{\textmu}P based apparatus}, journal = {FERROELECTRICS}, volume = {76}, year = {1987}, pages = {283{\textendash}290}, keywords = {Bioengineering}, issn = {0015-0193}, author = {C. Domenici and A. Nannini and D. De Rossi} } @conference {DBFF87, title = {Multiple Sensing Fingertip for Robot Active Touch}, booktitle = {Proc. Int. Conf. on Advanced Robotics}, year = {1987}, address = {Versailles, France}, keywords = {Haptics, Robot Hands, Sensors}, author = {P. Dario and A. Bicchi and D. Femi and A. Fiorillo} } @article {1771, title = {NTIR Optical Immunosensor}, journal = {MEDICINE BIOLOGIE ENVIRONMENT}, volume = {15}, year = {1987}, pages = {49{\textendash}54}, keywords = {Bioengineering}, author = {M. Monici and A. Nannini and D. De Rossi} } @conference {DBBB87, title = {A Shape Memory Alloy Actuating Module for Fine Manipulation}, booktitle = {Proc. IEEE Workshop on Microrobots and Teleoperators}, year = {1987}, address = {Hyannis, MA, USA}, keywords = {Robot Hands}, author = {P. Dario and M. Bergamasco and L. Bernardi and A. Bicchi} } @article {1765, title = {Approccio bionico allo sviluppo di trasduttori tattili ed attuatori lineari per robotica avanzata}, journal = {ALTA FREQUENZA}, volume = {55}, year = {1986}, pages = {55{\textendash}62}, keywords = {Bioengineering}, issn = {0002-6557}, author = {D. De Rossi and C. Domenici and Chiarelli, P} } @article {1763, title = {Contractile behaviour of electrically activated mechanochemical polymer actuators}, journal = {ASAIO TRANSACTIONS}, volume = {32}, year = {1986}, pages = {157{\textendash}162}, keywords = {Robotics}, issn = {0889-7190}, author = {D. De Rossi and Chiarelli, P and G. Buzzigoli and C. Domenici and L. Lazzeri} } @inbook {BDP86, title = {On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects}, booktitle = {Robot Control}, series = {IFAC Proceedings Series, vol.9}, year = {1986}, pages = {251-256}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U. K.}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and P. Dario and P. C. Pinotti}, editor = {L. Basanez and G. Ferrate and G. N. Saridis} } @article {1764, title = {Design criteria for ferroelectric polymer sensors and their applications to artificial organ technology}, journal = {ASAIO TRANSACTIONS}, volume = {32}, year = {1986}, pages = {697{\textendash}701}, keywords = {Bioengineering}, issn = {0889-7190}, author = {D. De Rossi} } @article {1766, title = {Effetti di osteosintesi endomidollari a polimeri piezoelettrico: ricerca sperimentale}, journal = {ORTOPEDIA E TRAUMATOLOGIA OGGI}, volume = {4}, year = {1986}, pages = {229{\textendash}232}, keywords = {Bioengineering}, issn = {0392-1417}, author = {F. Carlucci and P. Puntoni and ARISPICI, M and M. Cecconi and C. Domenici and P. Dario and D. De Rossi} } @article {1762, title = {Indwelling acoustic sensors for early detection of total artificial heart failure}, journal = {LIFE SUPPORT SYSTEMS}, volume = {4}, year = {1986}, pages = {239{\textendash}248}, keywords = {Bioengineering}, issn = {0261-989X}, author = {Y. L. Sheng and D. De Rossi and P. Dario and P.M. Galletti} } @article {1767, title = {Piezoelectric properties of dry human skin}, journal = {IEEE TRANSACTIONS ON ELECTRICAL INSULATION}, volume = {EI-21}, year = {1986}, pages = {511{\textendash}517}, keywords = {Bioengineering}, issn = {0018-9367}, author = {D. De Rossi and C. Domenici and P. Pastacaldi} } @inbook {DBFBF86, title = {A Sensorized Scenario for Basic Investigation on Active Touch}, booktitle = {Robot Sensors: Tactile and Non-Vision}, series = {International Trends in Manufacturing Technology Series, vol. 2}, year = {1986}, pages = {237-245}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Kempston, Bedford, U. K.}, keywords = {Haptics, Robotics}, author = {P. Dario and A. Bicchi and A. Fiorillo and G. Buttazzo and R. Francesconi}, editor = {Alan Pugh} } @conference {1880, title = {On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects}, booktitle = {IFAC Symposium on Robot Control (SYROCO85)}, year = {1985}, address = {Barcelona, Spain, 6-8 November 1985}, keywords = {Haptics, Robotics}, author = {A. Bicchi and P. Dario and P. C. Pinotti} } @article {1749, title = {Electrically induced contractile phenomena in charged polymer networks: preliminary study on the feasibility of muscle-like structures}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {31}, year = {1985}, pages = {60{\textendash}65}, keywords = {Bioengineering}, issn = {0066-0078}, author = {D. De Rossi and P. Parrini and Chiarelli, P and G. Buzzigoli} } @article {1750, title = {Tactile sensors and the gripping challenge}, journal = {IEEE SPECTRUM}, volume = {22}, year = {1985}, pages = {46{\textendash}52}, keywords = {Bioengineering}, issn = {0018-9235}, author = {P. Dario and D. De Rossi} } @conference {DBVP85, title = {Tendon Actuated Exploratory Finger With Polymeric, Skin-like Tactile Sensor}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1985}, address = {St. Louis, MO, USA.}, keywords = {Haptics, Robot Hands, Robotics, Sensors}, author = {P. Dario and A. Bicchi and F. Vivaldi and P. C. Pinotti} } @article {1747, title = {Alcuni fenomeni di traduzione meccanoelettrica in materiali organici di sintesi: propriet{\~A} e analogie con meccanismi di origine biologica}, journal = {L{\textquoteright}ELETTROTECNICA}, volume = {80}, year = {1984}, pages = {619{\textendash}631}, keywords = {Bioengineering}, issn = {0013-6131}, author = {D. De Rossi and P. Dario and C. Domenici and P. Parrini} } @article {1743, title = {Ferroelectric polymer tactile sensors for prostheses}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {199{\textendash}214}, keywords = {Bioengineering}, issn = {0015-0193}, author = {P. Dario and D. De Rossi and C. Giannotti and F. Vivaldi and P. C. Pinotti} } @article {1744, title = {Multisensor piezoelectric polymer insole for pedobarography}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {163{\textendash}174}, keywords = {Bioengineering}, issn = {0015-0193}, author = {A. Pedotti and R. Assente and G. Fusi and D. De Rossi and P. Dario and C. Domenici} } @article {1741, title = {Piezoelectric properties and dielectric losses in PVDF-PMMA blends}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {61{\textendash}70}, keywords = {Bioengineering}, issn = {0015-0193}, author = {C. Domenici and D. De Rossi and A. Nannini and R. Verni} } @article {1742, title = {Prime esperienze sull{\textquoteright}impiego di un polimero piezoelettrico (PVF2) nella riparazione di fratture sperimentali nel ratto}, journal = {ANNALI DELLE FACOLT{\~A}? DI MEDICINA VETERINARIA}, volume = {34}, year = {1984}, pages = {47{\textendash}60}, keywords = {Bioengineering}, issn = {0390-4660}, author = {F. Carlucci and P. Puntoni and ARISPICI, M and M. Cecconi and C. Domenici and P. Dario and D. De Rossi} } @article {1740, title = {Prosthetic vascular graft monitoring by ultrasound using piezoelectric polymers (PZP)}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {30}, year = {1984}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0066-0078}, author = {P. Dario and P.D. Richardson and M. Bertoncini and D. De Rossi and L.A. Trudell and P.M. Galletti} } @article {1745, title = {PVF2 Catheter-tip transducers for pressure, sound and flow measurement}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {149{\textendash}162}, keywords = {Bioengineering}, issn = {0015-0193}, author = {P. Dario and D. De Rossi and R. Bedini and R. Francesconi and M.G. Tivella} } @article {1748, title = {Pyroelectric sensing station for automatic recognition of position and orientation of objects}, journal = {INTERNATIONAL JOURNAL OF MACHINE TOOL DESIGN \& RESEARCH}, volume = {24}, year = {1984}, pages = {145{\textendash}160}, keywords = {Bioengineering}, issn = {0020-7357}, author = {L.R Wang and P. Dario and D. De Rossi and R. Francesconi and P. C. Pinotti} } @article {1746, title = {Sensori tattili a polimeri ferroelettrici}, journal = {TECNICHE DELL{\textquoteright}AUTOMAZIONE \& ROBOTICA}, volume = {7-8}, year = {1984}, pages = {25{\textendash}29}, keywords = {Bioengineering}, issn = {1721-7563}, author = {P. Dario and D. De Rossi and C. Domenici and P. C. Pinotti} } @article {1738, title = {Biomedical applications of piezoelectric and pyroelectric polymers}, journal = {FERROELECTRICS}, volume = {49}, year = {1983}, pages = {49{\textendash}58}, keywords = {Bioengineering}, issn = {0015-0193}, author = {D. De Rossi and P. Dario} } @article {1739, title = {The electromechanical connection: piezoelectric polymers in artificial organs}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {6}, year = {1983}, pages = {1{\textendash}11}, keywords = {Bioengineering}, issn = {0066-0078}, author = {D. De Rossi and P.M. Galletti and P. Dario and P.D. Richardson} } @article {1737, title = {Method of evaluating the thermal stability of the pyroelectric properties of polyvinylidene fluoride: effects of poling temperature and field}, journal = {JOURNAL OF APPLIED PHYSICS}, volume = {53}, year = {1982}, pages = {6520{\textendash}6525}, keywords = {Bioengineering}, issn = {0021-8979}, author = {D. De Rossi and A. S. De Reggi and M. G. Broadhurst and S. C. Roth and G. T. Davis} } @article {1735, title = {Recent developments in biomedical signal transduction techniques}, journal = {ELETTROMEDICALI}, volume = {2}, year = {1982}, pages = {76{\textendash}91}, keywords = {Bioengineering}, issn = {0393-7070}, author = {P. Dario and D. De Rossi} } @article {1736, title = {Techniques and transducers for non-invasive measurement of physiological parameters}, journal = {ELETTROMEDICALI}, volume = {2}, year = {1982}, pages = {59{\textendash}75}, keywords = {Bioengineering}, issn = {0393-7070}, author = {D. De Rossi} } @article {1733, title = {Touch-sensitive polymer skin uses piezoelectric properties to recognize orientation of objects}, journal = {SENSOR REVIEW}, volume = {4}, year = {1982}, pages = {194{\textendash}198}, keywords = {Bioengineering}, issn = {0260-2288}, author = {P. Dario and R. Bardelli and D. De Rossi and L.R Wang and P. C. Pinotti} } @article {1734, title = {Trasduttori acustici a polimeri piezoelettrici}, journal = {RIVISTA ITALIANA DI ACUSTICA}, volume = {4}, year = {1982}, pages = {121{\textendash}141}, keywords = {Bioengineering}, issn = {0393-1110}, author = {D. De Rossi and R. Bardelli and P. Dario and C. Domenici and F. Pedrini} } @article {1732, title = {Modular hydropneumatic mock circulatory system for the evaluation of cardiovascular prostheses,}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {4}, year = {1981}, pages = {139{\textendash}148}, keywords = {Bioengineering}, issn = {0066-0078}, author = {G. Nardi and S. Cicconardi and P. Dario and D. De Rossi} } @article {1731, title = {A new fibre-optic liquid crystal catheter for oxygen saturation and blood flow measurement in the coronary sinus}, journal = {JOURNAL OF BIOMEDICAL ENGINEERING}, volume = {2}, year = {1980}, pages = {257{\textendash}264}, keywords = {Bioengineering}, issn = {0141-5425}, author = {D. De Rossi and A. Benassi and A. L{\textquoteright}Abbate and P. Dario} } @article {1730, title = {A liquid crystal fiberoptic catheter for blood flow measurement by thermodilution}, journal = {JOURNAL OF NUCLEAR MEDICINE AND ALLIED SCIENCES}, volume = {23}, year = {1979}, pages = {173{\textendash}177}, keywords = {Bioengineering}, issn = {0392-0208}, author = {P. Dario and D. De Rossi and A. Riva and A. Benassi and A. L{\textquoteright}Abbate} } @article {1728, title = {Dispositivo a cristalli liquidi per la realizzazione di maschere ad oscuramento pilotato nella saldatura elettrica}, journal = {RIVISTA ITALIANA DELLA SALDATURA}, volume = {6}, year = {1978}, pages = {359{\textendash}366}, keywords = {Bioengineering}, issn = {0035-6794}, author = {R. Bedini and D. De Rossi} } @article {1729, title = {Electro-optic behaviour of a field-induced twisted structure with quasi homeotropic boundary conditions}, journal = {JOURNAL OF APPLIED PHYSICS}, volume = {49}, year = {1978}, pages = {1139{\textendash}1142}, keywords = {Bioengineering}, issn = {0021-8979}, author = {D. De Rossi and J. Robert} } @article {1727, title = {An introduction to medical thermography}, journal = {JOURNAL OF NUCLEAR MEDICINE AND ALLIED SCIENCES}, volume = {21}, year = {1977}, pages = {5{\textendash}6}, keywords = {Bioengineering}, issn = {0392-0208}, author = {D. De Rossi} }