@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 = {<p>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.</p>
},
	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 = {<p>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.</p>
},
	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}
}
