@conference {3215,
	title = {Preliminary results toward a naturally controlled multi-synergistic prosthetic hand},
	booktitle = {International Conference on Rehabilitation Robotics (ICORR)},
	year = {2017},
	abstract = {<p>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.</p>
},
	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}
}
@conference {2478,
	title = {Potential merits for space robotics from novel concepts of actuation for soft robotics},
	booktitle = {Advanced Space Technologies for Robotics and Automation (ASTRA) },
	year = {2015},
	address = {Noordwijk, The Netherlands  May 11-13, 2015},
	keywords = {Robotics},
	author = {G. Mathijssen and S. Terryn and R. Funemont and M. Garabini and M. G. Catalano and G. Grioli and D. Lefeber and A. Bicchi and B. Vanderborght}
}
@conference {MGCGBB12,
	title = {Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator},
	booktitle = {International Conference of Robotics and Automation - ICRA 2012},
	year = {2012},
	month = {May 14 - 18},
	pages = {3335 - 3340 },
	address = {Saint Paul, MN, USA},
	keywords = {Robotics},
	doi = {10.1109/ICRA.2012.6225082 },
	author = {M. Mancini and G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Bicchi}
}
@conference {AMC08,
	title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance},
	booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control},
	year = {2008},
	pages = {9-14},
	abstract = {<p>In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.</p>
},
	keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics},
	author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti}
}
