@article {3717, title = {Analysis of series elasticity in locomotion of a planar bipedal robot}, journal = { INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, year = {2019}, author = {S. Manara and G M Gasparri and M. Garabini and D. Caporale and M Gabiccini and A. Bicchi} } @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 {3678, title = {Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates}, journal = {Biomedical Signal Processing and Control}, volume = {51}, year = {2019}, month = {05/2019}, chapter = {42}, doi = {https://doi.org/10.1016/j.bspc.2019.02.007}, url = {https://www.sciencedirect.com/science/article/pii/S1746809419300436}, author = {A. Greco and G. Valenza and A. Bicchi and M. Bianchi and E. P. Scilingo} } @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 {2814, title = {Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations}, journal = {IEEE Transactions on Robotics}, volume = {34}, year = {2017}, month = {11/2017}, chapter = {264}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.1109/TRO.2017.2765334}, url = {https://ieeexplore.ieee.org/document/8103340}, author = {Z. Li and Z. Chen and A. Ajoudani and C. Yang and C. Su and A. Bicchi} } @inbook {2819, title = {Actuators for Soft Robotics}, booktitle = {Springer Handbook of Robotics}, volume = {B}, year = {2016}, pages = {499-530}, publisher = {Springer}, organization = {Springer}, abstract = {

Although we do not know as yet how robots of the future will look like exactly, most of us are sure that they will not resemble the heavy, bulky, rigid machines dangerously moving around in old-fashioned industrial automation. There is a\ growing consensus, in the research community as well as in expectations from the public, that robots of the next generation will be physically compliant and adaptable machines, closely interacting with humans and moving safely, smoothly and efficiently\ {\textendash} in other terms, robots will be soft.

This chapter discusses the design, modeling and control of actuators for the new generation of soft robots, which can replace conventional actuators in applications where rigidity is not the first and foremost concern in performance. The chapter focuses on the technology, modeling, and control of lumped parameters of soft robotics, that is,\ systems of discrete, interconnected, and compliant elements. Distributed parameters, snake-like and continuum soft robotics, are presented in Chap.\ 20, while Chap.\ 23 discusses in detail the biomimetic motivations that are often behind soft robotics.

}, keywords = {Robotics}, issn = {978-3-319-32550-7}, doi = {10.1007/978-3-319-32552-1_21}, url = {http://link.springer.com/chapter/10.1007/978-3-319-32552-1_21}, author = {A Albu-Schaeffer and A. Bicchi} } @article {2844, title = {Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications}, journal = {Frontiers in Neurorobotics}, volume = {10}, year = {2016}, month = {10/2016}, abstract = {

Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step towards a more effective and intuitive control of myoelectric hand prostheses.

}, keywords = {Haptics, Robotics}, doi = {10.3389/fnbot.2016.00011}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/}, author = {S. Fani and M. Bianchi and S. Jain and J. Pimenta Neto and S. Boege and G. Grioli and A. Bicchi and M. Santello} } @conference {2121, title = {Active gathering of frictional properties from objects}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {3982 - 3987 }, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, USA}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6943122}, author = {C. Rosales and A. Ajoudani and M Gabiccini and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @conference {1241, title = {Adaptive Synergies: an approach to the design of under-actuated robotic hands}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1251 - 1256 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, doi = {10.1109/IROS.2012.6385881 }, author = {G. Grioli and M. G. Catalano and E. Silvestro and S. Tono and A. Bicchi} } @conference {1188, title = {Adaptive Synergies for a Humanoid Robot Hand}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, note = {

Best Paper Award

}, pages = {7-14}, address = {Osaka, Japan}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and A. Serio and E. Farnioli and C. Piazza and A. Bicchi} } @inbook {1237, title = {Artificially Rendered Cutaneous Cues for a New Generation of Haptic Displays}, booktitle = {Springer Series on Touch and Haptic Systems - part 2}, volume = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {171 - 188}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, doi = {10.1007/978-1-4471-2754-3_10}, author = {E. P. Scilingo and M. Bianchi and N. Vanello and V. Hartwig and L. Landini and A. Bicchi} } @conference {GFB08, title = {Anytime Control Algorithms for Real-Time Embedded Systems}, booktitle = {Int Conf of Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981/2008}, year = {2008}, pages = {158 - 171}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {St. Louis, MO}, abstract = {

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an {\textquoteleft}{\textquoteleft}anytime control{\textquoteright}{\textquoteright} design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi}, editor = {M. Egerstedt and B. Mishra} } @conference {GFB07, title = {Almost Sure Stability of Anytime Controllers via Stochastic Scheduling}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, month = {December}, pages = {5640-5645}, abstract = {

In this paper we consider scheduling the execution of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant. Controllers are considered to be given and ordered according to a measure of the performance they provide. Software tasks implementing higher-performance controllers are assumed to require a larger worst-case execution time. Control tasks are to be scheduled within given availability limits on execution time, which change stochastically in time. The ensuing switching system is prone to instability, unless a very conservative policy is enforced of always using the simplest, least performant controller. The presented method allows to condition the stochastic scheduling of control tasks so as to obtain a better exploitation of computing capabilities, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {L. Greco and D. Fontanelli and A. Bicchi} } @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 {GVetal06, title = {Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {3832-3837}, abstract = {

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI), are critical tools to study perceptual and cognitive processes. In order to develop complex and well controlled fMRI paradigms, researchers are interested in using active interfaces with electrically powered actuators and sensors. Due to the particularity of the MR environment, safety and compatibility criteria have to be strictly followed in order to avoid risks to the subject under test, to the operators or to the environment, as well as to avoid artifacts in the images. This paper describes the design of an fMRI compatible mechatronic interface based on MR compatibility tests of materials and actuators. In particular, a new statistical test looks at the mean and variations of activity as a time series. The device with two degrees of freedom, allowing one translation with positionfeedback along a horizontal axis and one rotation about a vertical axis linked to the translation, was realized to investigate the brain mechanisms of dynamic tactile perception tasks. It can be used to move and orient various objects below the finger for controlled tactile stimulation. The MR compatibility of the complete interface is shown using the same statistical test as well as a functional study with a human subject.

}, keywords = {Haptics}, author = {R. Gassert and N. Vanello and D. Chapuis and V. Hartwig and E. P. Scilingo and A. Bicchi and L. Landini and E. Burdet and H. Bleuler} } @conference {FontanelliVGCB06, title = {Adaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty}, booktitle = {Int. IFAC Symp. on Robot Control}, year = {2006}, month = {September}, address = {Bologna, Italy}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and R. Viviani and L. Greco and A. Caiti and A. Bicchi} } @conference {SSBRR, title = {Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06}, year = {2006}, month = {October}, pages = {1558-1563}, abstract = {

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

}, keywords = {Haptics}, author = {N. Sgambelluri and E. P. Scilingo and A. Bicchi and R. Rizzo and M. Raugi} } @booklet {BCFGV05, title = {Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty}, year = {2005}, publisher = {Dipartimento di Sistemi Elettrici e Automazione, Universit\à di Pisa}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Caiti and D. Fontanelli and L. Greco and R. Viviani} } @article {BRRS-TM, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, journal = {IEEE Transactions on Magnetics}, volume = {41}, number = {5}, year = {2005}, pages = {1876 - 1879}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @conference {SRSRB04, title = {Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids}, booktitle = {Proc. Int. Conf. Eurohaptics 2004}, year = {2004}, month = {June}, pages = {442-445}, address = {Munich, Germany}, abstract = {

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {BRRS, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, booktitle = {Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004).}, year = {2004}, month = {June}, address = {Seoul, Korea}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @conference {TB02, title = {Adaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm}, booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems}, year = {2002}, month = {October}, pages = {1992-1997}, abstract = {

In this paper, an independent joint position and stiffness adaptive control for a robot arm actuated by McKibbenartificial muscles is reported. In particular, {\em muscular} nd {\em dynamic} parameters of the system are supposed unknown. Adaptive control performance is tested in a one degree of freedom experimental setup and compared with PID control performance. The adaptive control scheme is then applied to a robot arm that is conceived to perform tasks in an anthropic environment. The adaptive control developed is such that performance of the robot arm is very similar to this of human arm. Experimental results are reported.

}, keywords = {Robotics}, author = {G. Tonietti and A. Bicchi} } @article {BP00-Robotica, title = {Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems}, journal = {Robotica}, volume = {18}, year = {2000}, month = {January}, pages = {23-31}, keywords = {Haptics, Physical Human-Robot Interaction (pHRI), Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {PMBV98, title = {Active Suspensions Decoupling by Algebraic Output Feedback}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Embedded Control, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PPB94, title = {Articulated Structures with Tendon Actuation for Whole-Limb Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1994}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {P. Petreschi and D Prattichizzo and A. Bicchi} } @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} } @conference {B92-IFTOMM, title = {Algorithms for the Analysis of Form- and Force-Closure}, booktitle = {IFToMM Int. Symp. on Theory of Machines and Mechanisms}, year = {1992}, address = {Nagoya, Japan}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @conference {B91, title = {Analysis Control of Power Grasping}, booktitle = {Proc. IEEE/RSJ Workshop on Intelligent Robots and Systems}, year = {1991}, address = {Osaka, Japan}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @conference {BB89, title = {Adaptive Surface Following and Reconstruction Using Intrinsic Tactile Sensing}, booktitle = {Proc. IEEE Int. Works. on Sensorial Integration for Industrial Robots}, year = {1989}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {A. Balestrino and A. Bicchi} } @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 {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} }