@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} } @article {3377, title = {Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {July}, pages = {2577-2583}, keywords = {Admittance, Aerial systems: mechanics and control, distributed robot systems, Force, mobile manipulation, multi-robot systems, Robot kinematics, Stability criteria, Transportation}, doi = {10.1109/LRA.2018.2803811}, author = {M. Tognon and C. Gabellieri and L. Pallottino and A. Franchi} } @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} } @conference {3383, title = {Autonomous 3D exploration of large areas: A cooperative frontier-based approach}, booktitle = {International Conference on Modelling and Simulation for Autonomous Systems}, volume = {10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in }, year = {2018}, note = {

Cited By :1

}, pages = {18-39}, doi = {10.1007/978-3-319-76072-8_2}, author = {A. Mannucci and S. Nardi and L. Pallottino} } @article {2991, title = {On the adhesion-cohesion balance and oxygen consumption characteristics of liver organoids}, journal = {Plos One}, year = {2017}, month = {03/2017}, abstract = {

Liver organoids (LOs) are of interest in tissue replacement, hepatotoxicity and pathophysiological studies. However, it is still unclear what triggers LO self-assembly and what the optimal environment is for their culture. Hypothesizing that LO formation occurs as a result of a fine balance between cell-substrate adhesion and cell-cell cohesion, we used 3 cell types (hepatocytes, liver sinusoidal endothelial cells and mesenchymal stem cells) to investigate LO self-assembly on different substrates keeping the culture parameters (e.g. culture media, cell types/number) and substrate stiffness constant. As cellular spheroids may suffer from oxygen depletion in the core, we also sought to identify the optimal culture conditions for LOs in order to guarantee an adequate supply of oxygen during proliferation and differentiation. The oxygen consumption characteristics of LOs were measured using an O2 sensor and used to model the O2 concentration gradient in the organoids. We show that no LO formation occurs on highly adhesive hepatic extra-cellular matrix-based substrates, suggesting that cellular aggregation requires an optimal trade-off between the adhesiveness of a substrate and the cohesive forces between cells and that this balance is modulated by substrate mechanics. Thus, in addition to substrate stiffness, physicochemical properties, which are also critical for cell adhesion, play a role in LO self-assembly.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1371/journal.pone.0173206}, url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0173206}, author = {G. Mattei and C. Magliaro and S. Giusti and S. D. Ramachandran and S. Heinz and J. Braspenning and A. Ahluwalia} } @article {2928, title = {Allometric scaling in-vitro}, journal = {Scientific Reports}, volume = {7}, year = {2017}, month = {02/2017}, abstract = {

About two decades ago, West and coworkers established a model which predicts that metabolic rate follows a three quarter power relationship with the mass of an organism, based on the premise that tissues are supplied nutrients through a fractal distribution network. Quarter power scaling is widely considered a universal law of biology and it is generally accepted that were in-vitro cultures to obey allometric metabolic scaling, they would have more predictive potential and could, for instance, provide a viable substitute for animals in research. This paper outlines a theoretical and computational framework for establishing quarter power scaling in three-dimensional spherical constructs in-vitro, starting where fractal distribution ends. Allometric scaling in non-vascular spherical tissue constructs was assessed using models of Michaelis Menten oxygen consumption and diffusion. The models demonstrate that physiological scaling is maintained when about 5 to 60\% of the construct is exposed to oxygen concentrations less than the Michaelis Menten constant, with a significant concentration gradient in the sphere. The results have important implications for the design of downscaled in-vitro systems with physiological relevance.

}, keywords = {Bioengineering}, doi = {10.1038/srep42113}, url = {http://www.nature.com/articles/srep42113}, author = {A. Ahluwalia} } @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} } @conference {2880, title = {APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {139 - 157}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_11}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_11}, author = {A. Ferrarelli and D. Caporale and A Settimi and L. Pallottino} } @conference {2878, title = {Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {204 - 213}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A Serious Game (SG) system for the assessment of the potential of the multi-vehicle surveillance is presented. The SG system is applied to the problem of protection of strategic assets from underwater asymmetric threats. The SG platform integrates the active sonar performance evaluator able to estimate the real performance on the basis of the environmental conditions. The final goal is to provide new technology tools to realize a Decision Support System (DDS) to support the design phase of a naval unit. The SG system is developed in the framework of the ProDifCon project supported by the (DLTM) (Italy).

}, doi = {10.1007/978-3-319-47605-6_17}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_17}, author = {T. Fabbri and S. Nardi and L. Isgr{\`o} and L. Pallottino and A. Caiti} } @article {3231, title = {Assessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking}, journal = {ELECTRONICS}, volume = {5}, year = {2016}, pages = {1{\textendash}15}, keywords = {accelerometers, force sensors, gait cycle, gait phase, smart shoe, walking, wearable technology}, doi = {10.3390/electronics5040078}, url = {http://www.mdpi.com/2079-9292/5/4/78}, author = {N. Carbonaro and F. Lorussi and A. Tognetti} } @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} } @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 {2847, title = {An Attitude Estimation Algorithm for Mobile Robots under Unknown Magnetic Disturbances}, journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS}, volume = {21}, year = {2016}, pages = {1900-1911}, chapter = {1900}, abstract = {
Attitude estimation is a crucial aspect for navigation and motion control of autonomous vehicles. This concept is particularly true in the case of unavailability of localization sensors when navigation and control rely on dead reckoning strategies; in this case, indeed, the orientation estimate is also used along with speed measurements to update the position estimate. Among the different approaches proposed in the literature, the de facto state of the art in this field is represented by nonlinear complementary filters: they fuse the measurements of angular rate obtained through gyroscopes, and a measurement of gravity and Earth{\textquoteright}s magnetic field vectors respectively obtained through accelerometers and magnetometers. This paper is focused on an attitude estimation strategy for autonomous underwater vehicles (AUV). The proposed novelty includes the identification of some critical issues that arise when AUV attitude estimation algorithms are applied in practice.
They are mainly due to the use of low-accuracy low-cost microelectromechanical systems (MEMS) sensors and on different sources of magnetic disturbances. Some strategies to overcome the identified issues are proposed, including the integration of a single-axis fiber optic gyroscope (FOG) that ensures a considerable performance improvement with a moderate cost increase. The proposed strategies for detection of issues and sensor fusion have been experimentally tested and validated in a real application scenario estimating the attitude of an AUV performing a lawn mower path.
The expected performance improvement is confirmed; the obtained results are described and analyzed in this paper.
}, keywords = {Robotics}, doi = {10.1109/TMECH.2016.2559941}, url = {http://ieeexplore.ieee.org/document/7460980/}, author = {R. Costanzi and F. Fanelli and N. Monni and A. Ridolfi and B. Allotta} } @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} } @conference {2593, title = {Arousal recognition system based on heartbeat dynamics during auditory elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {6110{\textendash}6113}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319786}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @book {3240, title = {Autonomic Nervous System Dynamics for Mood and Emotional-State Recognition [electronic resource]: Significant Advances in Data Acquisition, Signal Processing and Classification}, series = {Series in BioEngineering}, year = {2015}, publisher = {Springer}, organization = {Springer}, keywords = {Bioengineering}, author = {G. Valenza and E. P. Scilingo} } @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} } @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} } @conference {2129, title = {ASCARI: a component based simulator for distributed mobile robot systems}, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, volume = { Lecture Notes in Computer Science, Volume 8906, 2014}, year = {2014}, pages = {152-163}, publisher = {Springer}, organization = {Springer}, address = {Rome, 5-6 May 2014}, keywords = {Embedded Control, Robotics}, author = {M. Ferrati and A Settimi and L. Pallottino} } @conference {2342, title = {Assessment of Dynamic Autonomic Changes with Posture using Instantaneous Entropy Measures}, booktitle = {Computers in Cardiology}, volume = { 41}, year = {2014}, note = {

Winner of a Mortara Fellowship

}, pages = {489-492}, address = {Cambridge (MA, USA)}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @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 {2278, title = {Autonomous bioreactor modules for disease models and detection of systemic toxicity}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {43}, address = {Prague, Czech Republic}, abstract = {

Advanced systems based on bioreactors and scaffolds are an essential step towards the development of more predictive and ethical alternatives to animal experiments. Size, modularity, automation, monitoring and essential design are crucial because these elements will ease the transition from old technology and accelerate their acceptance into mainstream research. Based on these requirements, the interconnected transparent sensorised {\^a}{\texteuro}{\oe}lego{\^a}{\texteuro} bioreactors designed in our labs have been used to generate physiologically relevant disease and toxicity models which recapitulate systemic responses impossible to observe in standard cell cultures. The disease model is an interconnected bioreactor circuit with i) adipose tissue in 3D in 3 different concentrations representing normo-weight, over weight and obese body mass indices, ii) human hepatocytes on porous collagen scaffolds and iii) monolayers of human endothelial cells. High adiposity and elevated glucose levels induce systemic and endothelial inflammation in the circuit, as observed in overweight and diabetic humans (Iori et al., 2012). Using similar technology a three-tissue circuit for monitoring the absorption, distribution, metabolism and toxicity of nanoparticles was developed in the context of the EU project InLiveTox (Ucciferri et al., 2014). The results were strikingly similar to those observed in animal experiments demonstrating that the dynamic 3D in-vitro models are ethical, meaningful and economically viable replacements.

}, keywords = {Bioengineering}, author = {A. Ahluwalia and S. Giusti and Sbrana, T. and M. Wilkinson and A. Misto and Lehr, C.-M. and M. Liley}, editor = {S. Horst and D. J{\'\i}rov{\'a}} } @article {1994, title = {An Activity Classifier based on Heart Rate and Accelerometer Data Fusion}, journal = {INTERNATIONAL JOURNAL OF BIOELECTROMAGNETISM}, volume = {15}, year = {2013}, pages = {7{\textendash}12}, issn = {1456-7857}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Magenes} } @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 {2148, title = {Advanced Technology Meets Mental Health: How smartphones, textile electronics, and signal processing can serve mental health monitoring, diagnosis, and treatment.}, journal = {IEEE pulse}, volume = {5}, year = {2013}, pages = {56{\textendash}59}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and R. Paradiso and E. P. Scilingo} } @article {2253, title = {An automatic method for myocardial T2(star) curve fitting in thalassemia patients with severe iron overload}, journal = {EUROPEAN HEART JOURNAL}, volume = {34}, year = {2013}, pages = { 837-837}, author = {Meloni, A. and V. Positano and Gulino, L. and L. Landini and M. F. Santarelli and Santamaria, V. and Restaino, G. and Renne, S. and Lombardi, M. and D. Pepe} } @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} } @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.} } @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} } @article {2000, title = {Assessment of Sensing Fire Fighters Uniforms for Physiological Parameter Measurement in Harsh Environment}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {16}, year = {2012}, pages = {501{\textendash}511}, issn = {1089-7771}, doi = {10.1109/TITB.2011.2182615}, url = {http://dx.medra.org/10.1109/TITB.2011.2182615}, author = {Curone, D. and Secco, E. L. and Caldani, L. and A Lanata and R. Paradiso and A. Tognetti and G. Magenes} } @inbook {1873, title = {Advances in PID Control}, year = {2011}, pages = {85{\textendash}100}, publisher = {INTECH}, organization = {INTECH}, chapter = {From Basic to Advanced PI Controllers: A Complexity vs. Performance Comparison}, keywords = {Robotics}, isbn = {9789533072678}, author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi and A. Landi} } @article {1291, title = {Autonomous underwater vehicle teams for adaptive ocean sampling: a data-driven approach}, journal = {OCEAN DYNAMICS}, volume = {61}, year = {2011}, pages = {{\textendash}}, keywords = {Embedded Control, Robotics}, issn = {1616-7341}, doi = {10.1007/s10236-011-0464-x}, url = {http://dx.medra.org/10.1007/s10236-011-0464-x}, author = {A. Munaf{\`o} and E. Simetti and A. Turetta and G. Casalino and A. Caiti} } @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 {1861, title = {Adaptive Cooperative Algorithms for AUV Networks}, booktitle = {Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @article {1520, title = {Automated software for analysis of ciliary beat frequency and metachronal wave orientation in Primary Ciliary Dyskinesia}, journal = {EUROPEAN ARCHIVES OF OTO-RHINO-LARYNGOLOGY}, year = {2010}, keywords = {Bioengineering}, issn = {0937-4477}, author = {G. MANTOVANI and M. PIFFERI and G. Vozzi} } @conference {1860, title = {AUV networks for adaptive area coverage with reliable acoustic communication links}, booktitle = {Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010}, year = {2010}, month = {Apr}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @conference {FontanelliP09, title = {An Algorithm for WSN Clock Synchronization: Uncertainty and Convergence Rate Trade Off}, booktitle = {Proc. IEEE Intl. Workshop on Advanced Methods for Uncertainty Estimation in Measurement (AMUEM)}, year = {2009}, month = {6-7 July}, pages = {74{\textendash}79}, address = {Bucarest, Romania}, keywords = {Robotics}, author = {D. Fontanelli and D. Petri} } @conference {1633, title = {Analisi del battito ciliare nella discinesia ciliare tramite algoritmi di motion detection}, booktitle = {Discinesie ciliarie e malattie respiratorie croniche del bambino: dalla diagnosi differenziale alla qualit{\`a}~ della vita}, year = {2008}, pages = {{\textendash}}, address = {14-15 March 2008, Pisa, Italy}, keywords = {Bioengineering}, author = {G. MANTOVANI and M. A. Guzzardi and RAGAZZO, V and M. PIFFERI and G. Vozzi} } @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} } @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.} } @article {1402, title = {Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {80}, year = {2007}, pages = {1151{\textendash}1168}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170701230973}, url = {http://dx.medra.org/10.1080/00207170701230973}, author = {A. Caiti and A. Munaf{\`o} and R. Viviani} } @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 {KRLOCHNIcdc06, title = {Adaptive output feedback control of spacecraft relative translation}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We address the problem of tracking relative translation in a leader-follower spacecraft formation using feedback from relative position only and under parameter uncertainty (spacecraft mass) and uncertainty in the leader variables (true anomaly rate and rate of change). We only assume boundedness of orbital perturbations and the leader control force but with unknown bounds. Under these conditions we propose a controller that renders the closed-loop system, uniformly semiglobally practically asymptotically stable. In particular, the domain of attraction can be made arbitrarily large by picking convenient gains, and the state errors in the closed-loop system are proved to converge from any initial condition within the domain of attraction to a ball in close vicinity of the origin in a stable way; moreover, this ball can be diminished arbitrarily by increasing the gains in the control law. Simulation results of a leader-follower spacecraft formation using the proposed controller are presented.

}, keywords = {Robotics}, author = {R. Kristiansen and A. Lor and A. Chaillet and P. J. Nicklasson} } @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 {FontanelliG-TR06, title = {Any Time Control}, year = {2006}, month = {March}, publisher = {Interdepartmental Research Center E. Piaggio, University of Pisa}, address = {Pisa, Italy}, abstract = {

It is widely accepted in the control community that the Computer Controlled Systems (briefly, CCSs), have a lot of advantages based primarily on the high reconfigurability of the controller platform and the ability of making complex yet fast decisions. Such positive features make the CCS a useful platform for multitasking control, i.e. using only one single-processor platform to control several plants. Within this framework, the computer has to share its computational time to solve several critical tasks, each one with its priority. Taking into account schedulability and real time operating systems problems, it is just a step forward to realize that tasks with low priority could be interrupted any time, with unpredictable distributions, and it is just a logical intuition that not all the tasks can be at the highest priority. From a control point of view, each control task should compute a control input to the controlled system to prevent instability or to ensure the performances. This field seems to be at the border between the control community and the computer science community and it has not been widely investigated. Some work has been presented introducing more general scheduling models and methods for control systems, where control design methodology takes the availability of computing resources into account and allows the trade{\textendash}offs between control performance and computer resources utilization, and also introducing the idea of any time CCS without solutions. In literature, the Control Server is introduced, allowing the separation between scheduling and control design by treating the controllers as scalable real{\textendash}time components. Jitter and latency is included in the model and cannot be taken over. Furthermore, the interrupt time, the I/O operations and the overrun handling are not taken into account, simply imposing only soft real time control tasks. Useful tools for the analysis of real time control performance are the Jitterbug and the True Time that analyze the control performance once the control tasks are implemented as soft real time tasks.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco} } @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 {BPMLSC-04, title = {Analysis Of Heart Rate And Respiration Variability Signals Obtained Through A Wearable System}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {R. Paradiso and M. O. Mendez and G. Loriga and E. P. Scilingo and S. Cerutti} } @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} } @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 {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 {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} } @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} } @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} } @article {1413, title = {Acoustic estimation of seafloor parameters: A radial basis functions approach}, journal = {THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA}, volume = {100}, year = {1996}, pages = {1473{\textendash}1481}, issn = {0001-4966}, doi = {10.1142/S0218396X96000088}, url = {http://dx.medra.org/10.1142/S0218396X96000088}, author = {A. Caiti and S. M. Jesus} } @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} } @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 {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 {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} }