@article {4376, title = {Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, year = {2022}, month = {05/2022}, abstract = {

Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree-of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its internal control signals. The validity of the approach is proven analytically for single and multiple degree-offreedom robots. The obtained estimators are first evaluated via simulations on articulated soft robots with different actuations and then tested in experiments with real robotic setups using antagonistic variable stiffness actuators.

}, keywords = {Calibration and Identification, Compliant Joints and Mechanisms, Flexible Robots, Safety in HRI}, author = {Maja Trumic and Giorgio Grioli and Kosta Jovanovic and Adriano Fagiolini} } @article {4218, title = {Functional linear and nonlinear brain{\textendash}heart interplay during emotional video elicitation: a maximum information coefficient study}, journal = {Entropy}, volume = {21}, year = {2019}, pages = {892}, author = {Catrambone, Vincenzo and Greco, Alberto and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @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 {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} } @article {2897, title = {A Fabric-based Approach for Wearable Haptics}, journal = { In: Electronics - Special Issue on Wearable Electronics and Embedded Computing Systems for Biomedical Application}, volume = {5}, year = {2016}, doi = {10.3390/electronics5030044}, author = {M. Bianchi} } @inbook {2886, title = {From Soft to Adaptive Synergies: The Pisa/IIT SoftHand}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, publisher = {Springer}, organization = {Springer}, chapter = {101 - 125}, abstract = {

Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_8}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and M. Bonilla and M. Garabini and C. Piazza and M Gabiccini and A. Bicchi} } @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.} } @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} } @inbook {2087, title = {A Fabric-based Approach for Softness Rendering}, booktitle = {Multisensory Softness: Perceived Compliance from Multiple Sources of Information}, volume = {Springer Series on Touch and Haptic Systems}, year = {2014}, pages = {219 - 240}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {11}, abstract = {

In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.

}, keywords = {Haptics, Robotics}, issn = {978-1-4471-6532-3}, doi = {10.1007/978-1-4471-6533-0_11}, url = {http://link.springer.com/chapter/10.1007\%2F978-1-4471-6533-0_11}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {2273, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Gruppo Nazionale Bioingegneria IV Congresso}, year = {2014}, address = {Pavia, 25-27 June}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on the cells and recreate a physiological environment for cardiomyocytes cultures. This work is focused on an innovative Sensorized Squeeze PRessure (S2PR) bioreactor, able to apply a periodic contactless hydrodynamic pressures on 3D porous constructs. The fluid-dynamic environment inside the bioreactor was fully characterized using computational models, focusing on the pressures and fluid velocity profiles generated in the porous scaffold during the cyclic stimulation.

}, keywords = {Bioengineering}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @conference {2277, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Proceedings of ICMMB2014}, year = {2014}, pages = {363{\textendash}68}, keywords = {Bioengineering}, doi = {10.6092/unibo/amsacta/4085. In: Proceedings ICMMB A cura di: Zannoli, Romani ; Corazza, Ivan ; Stagni, Rita.}, url = {http://amsacta.unibo.it/4085/1/Proceedings{\.I}CMMB2014.pdf}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @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 {2250, title = {FDTD Analysis of a Radiofrequency Knee Coil for Low-Field MRI: Sample-Induced Resistance and Decoupling Evaluation }, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1393 - 1403}, doi = {10.1007/s00723-013-0488-0}, author = {Morelli, M. S. and V. Hartwig and Tassano, S. and N. Vanello and V. Positano and M. F. Santarelli and Carrozzi, A. and L. Landini and G. Giovannetti} } @conference {1506, title = {Finite element model for PAM scaffolds}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {74 - 75}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Pimentel, R and G. Vozzi} } @conference {1503, title = {Fluid dynamics characterization of a microfluidic concentration gradient maker}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {152 - 153}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {G. Orsi and G. Vozzi} } @article {1330, title = {Functionally Graded Materials (FGMs) with predictable and controlled gradient profiles: computational modelling and realisation}, journal = {International Journal for Computational Methods in Engineering Science \& Mechanics (CMES)}, year = {2012}, pages = {accepted}, keywords = {Bioengineering}, author = {G. Mattei and Tirella, A and A. Ahluwalia} } @inbook {1875, title = {Further Advances in Unmanned Marine Vehicles}, year = {2012}, pages = {309{\textendash}330}, publisher = {IET}, organization = {IET}, chapter = {The enhanced FOLAGA: a hybrid glider/propelled AUV capable of carrying universal payload modules}, address = {Londra}, keywords = {Robotics}, isbn = {9781849194792}, author = {A. Caffaz and A. Caiti and V. Calabr{\`o} and G. Casalino and A Maguer and A. Munaf{\`o} and J.R. Potter and H Tay and A. Turetta} } @article {1285, title = {A flexible bioreactor system for constructing in vitro tissue and organ models.}, journal = {Biotechnol Bioeng}, volume = {108}, year = {2011}, month = {Sep}, pages = {2129{\textendash}2140}, abstract = {

To develop in vitro models of cells, tissues and organs we have designed and realized a series of cell culture chambers. Each chamber is purpose designed to simulate a particular feature of the in vivo environment. The bioreactor system is user friendly, and the chambers are easy to produce, sterilize and assemble. In addition they can be connected together to simulate inter-organ or tissue cross-talk. Here we discuss the design philosophy of the bioreactor system and then describe its construction. Preliminary results of validation tests obtained with hepatocytes and endothelial cells are also reported. The results show that endothelial cells are extremely sensitive to small levels of shear stress and that the presence of heterotypic signals from endothelial cells enhances the endogenous metabolic function of hepatocytes.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/bit.23164}, author = {Vozzi, F. and D. Mazzei and Vinci, B. and G. Vozzi and Sbrana, T. and Ricotti, L. and Forgione, N. and A. Ahluwalia} } @conference {SPHB11, title = {From Optimal Planning to Visual Servoing with Limited FOV}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {2817-2824}, address = {S. Francisco, USA}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and S. Hutchinson and A. Bicchi} } @mastersthesis {SalarisPhD, title = {From Optimal Synthesis to Optimal Visual Servoing for Autonomous Vehicles}, year = {2011}, note = {

Supervisors: Prof. Antonio Bicchi and Dott.ssa Lucia Pallottino

}, school = {University of Pisa}, type = {phd}, keywords = {Robotics}, author = {P Salaris} } @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 {1332, title = {Finite element modelling and design of a concentration gradient generating bioreactor: Application to biological pattern formation and toxicology}, journal = {Toxicology in vitro}, volume = {24}, year = {2010}, pages = {1828{\textendash}1837}, abstract = {

This paper describes the use of a microfluidic gradient maker for the toxicological analysis of some conventional biomolecules such as hydrogen peroxide and a local anaesthetic, lidocaine on different cell cultures, human endothelial cells and myoblasts, respectively. The microfluidic device was designed and simulated using COMSOL Multiphysics(R) and the concentration gradient in the microfluidic network was analysed through a fluid-dynamic and mass-transport study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250mum deep. Hydrogen peroxide was tested on human endothelial cells, while lidocaine was tested on C2C12 myoblasts and an analysis was performed using propidium iodide staining followed by an imaging processing routine to obtain quantitative dose-response profiles in the gradient maker. The results show that the Gradient Maker (GM) bioreactor is a more sensitive method for detection of cell toxicity, and compared with testing of drug toxicity using microwells with individual cell cultures, allows one shot testing with a single cell culture exposed to a large number of concentrations. Moreover, the Gradient Maker was also modelled in order to realise biological pattern formation using two morphogenes acting as activator and inhibitor with varying diffusion rates.

}, keywords = {Bioengineering}, issn = {1879-3177}, doi = {10.1016/j.tiv.2010.05.010}, url = {http://www.ncbi.nlm.nih.gov/pubmed/20580814}, author = {G. Vozzi and D. Mazzei and Tirella, A and Vozzi, F. and A. Ahluwalia} } @conference {FontanelliMP09, title = {A Flexible Linear Control Algorithm for Wireless Sensor Networks Synchronization}, booktitle = {Proc. IEEE Intl. Instrumentation and Measurement Technology Conference (I2MTC)}, year = {2009}, month = {May 5-7}, pages = {384{\textendash}389}, address = {Singapore}, keywords = {Robotics}, author = {D. Fontanelli and D. Macii and D. Petri} } @article {1300, title = {Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities}, journal = {OCEAN ENGINEERING}, volume = {36}, year = {2009}, pages = {24{\textendash}38}, keywords = {Robotics}, issn = {0029-8018}, doi = {10.1016/j.oceaneng.2008.08.014}, url = {http://dx.medra.org/10.1016/j.oceaneng.2008.08.014}, author = {A. Alvarez and A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta and R. Viviani} } @article {1296, title = {F{\`o}laga: A low cost AUV/glider for coastal environmental sampling}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {151{\textendash}157}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.151}, url = {http://dx.medra.org/10.3723/ut.28.151}, author = {A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta} } @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 {1297, title = {From remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems}, journal = {IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS}, volume = {56}, year = {2009}, pages = {4817{\textendash}4825}, keywords = {Robotics}, issn = {0278-0046}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {FontanelliRS07, title = {A Fast RANSAC{\textendash}Based Registration Algorithm for Accurate Localization in Unknown Environments using LIDAR Measurements}, booktitle = {Proc. IEEE Int. Conf. on Automation Science and Engineering}, year = {2007}, month = {September}, address = {Scottsdale, AZ, USA}, abstract = {

The problem of accurate localization using only measurements from a LIDAR sensor is analyzed in this paper. The sensor is rigidly fixed on a generic moving platform, which moves on a plane. Practical on{\textendash}line applications of localization algorithms impose constraints on the execution time, problem that is addressed in this paper and compared with other existing solutions. Due to the nature of the sensor adopted, the localization algorithm is based on a fast and accurate {\em registration} algorithm, which is able to deal with noisy measurements, outliers and dynamic environments. The proposed solution relies on the RANSAC algorithm in combination with a Huber kernel in order to cope with typical nuisances in LIDAR measurements. The robust registration is successively used in combination with an Extended Kalman Filter to track the trajectory of the LIDAR over time, hence to solve the localization problem. Simulations and experimental results are reported to show the feasibility of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Ricciato and S. Soatto} } @article {BBMP-TAC06, title = {Feedback Encoding for Efficient Symbolic Control of Dynamical Systems}, journal = {IEEE Trans. on Automatic Control}, volume = {51}, number = {6}, year = {2006}, pages = {1-16}, abstract = {

The problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite{\textendash}length words constructed on a finite alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {SRSRB06, title = {Free Hand Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2006}, note = {

Poster presentation

}, month = {March}, pages = {367-371}, abstract = {

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended 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

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {LSFD-06, title = {Flusso tattile ed illusione sensoriale}, booktitle = {SINC, Congresso nazionale della Societ}, year = {2005}, month = {May}, pages = {245-249}, address = {Roma, Italy}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo} } @conference {BBCCCCPT05, title = {From tele-laboratory to e-learning in automation curricula at the university of Pisa}, booktitle = {Proc. IFAC World Congress}, year = {2005}, abstract = {

The design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and V. Calabr{\`o} and T. Cecchini and A. Coppelli and L. Pallottino and G. Tonietti} } @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 {BT03, title = {Fast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control}, journal = {IEEE Robotics and Automation Magazine}, volume = {11}, number = {2}, year = {2004}, note = {

PUBLISHER{\textquoteright}S NOTE: In this paper, there are three errors introduced during production. First, the correct title of the article is Fast and Soft Arm Tactics. Also, on formulae for GSI and HIC in page 23, the acceleration is measured in multiples of the acceleration of gravity (g) [not grams], while time is measured in seconds. Finally, within Figure 1, one should read Compliant Covering, and Mrob = Mrotor + Mlink [instead of Krob = Krotor + Klink]. Please visit http://www.ncsu.edu/IEEE-RAS/RAM/BicchiFigure1.pdf to see the original figure.

}, pages = {22{\textendash}33}, abstract = {

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. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis 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 our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti} } @conference {OVMB03, title = {From nominal to robust planning: The plate-ball manipulation system}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {3175-3180}, address = {Taipei, Taiwan}, abstract = {

Robotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.

}, keywords = {Embedded Control, Robotics}, author = {G. Oriolo and M. Vendittelli and A. Marigo and A. Bicchi} } @conference {BPM97, title = {Force and Dynamic Manipulability for Cooperating Robot Systems}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1997}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo and C. Melchiorri} } @conference {B94-SYROCO-1, title = {On the Force-Closure Property of Robotic Grasping}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Grasping, Robot Hands}, author = {A. Bicchi} } @conference {B93, title = {Force Distribution in Multiple Whole-Limb Manipulation}, booktitle = {Proc. IEEE Int. Conf. Robotics and Automation}, year = {1993}, pages = {196-201}, address = {Atlanta}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @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} }