@article {3002, title = {On the Minimum-Time Control Problem for Differential Drive Robots with Bearing Constraints}, journal = {Journal of Optimization Theory and Applications}, year = {2017}, month = {04/2017}, pages = {1-27}, abstract = {

This paper presents a study of analysis of minimum-time trajectories for a differential drive robot equipped with a fixed and limited field-of-view camera, which must keep a given landmark in view during maneuvers. Previous works have considered the same physical problem and provided a complete analysis/synthesis for the problem of determining the shortest paths. The main difference in the two cost functions (length vs. time) lays on the rotation on the spot. Indeed, this maneuver has zero cost in terms of length and hence leads to a 2D shortest path synthesis. On the other hand, in case of minimum time, the synthesis depends also on the orientations of the vehicle. In other words, the not zero cost of the rotation on the spot maneuvers leads to a 3D minimum-time synthesis. Moreover, the shortest paths have been obtained by exploiting the geometric properties of the extremal arcs, i.e.,\ straight lines, rotations on the spot, logarithmic spirals and involute of circles. Conversely, in terms of time, even if the extremal arcs of the minimum-time control problem are exactly the same, the geometric properties of these arcs change, leading to a completely different analysis and characterization of optimal paths. In this paper, after proving the existence of optimal trajectories and showing the extremal arcs of the problem at hand, we provide the control laws that steer the vehicle along these arcs and the time-cost along each of them. Moreover, this being a crucial step toward numerical implementation, optimal trajectories are proved to be characterized by a finite number of switching points between different extremal arcs, i.e.,\ the concatenations of extremal arcs with infinitely many junction times are shown to violate the optimality conditions.

}, keywords = {Robotics}, doi = { 10.1007/s10957-017-1110-7}, url = {http://download.springer.com/static/pdf/641/art\%253A10.1007\%252Fs10957-017-1110-7.pdf?originUrl=http\%3A\%2F\%2Flink.springer.com\%2Farticle\%2F10.1007\%2Fs10957-017-1110-7\&token2=exp=1492507070~acl=\%2Fstatic\%2Fpdf\%2F641\%2Fart\%25253A10.1007\%25252Fs10957-017-111}, author = {A. Cristofaro and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @conference {3158, title = {Modular One-to-many Clutchable Actuator for a Soft Elbow Exosuit}, booktitle = { International Conference on Rehabilitation Robotics (ICORR 2017)}, year = {2017}, month = {07/2017}, pages = {1679-1685}, address = {London, UK, July 17 - 20, 2017}, keywords = {Robotics}, doi = {10.1109/ICORR.2017.8009489}, author = {M. Canesi and M. Xiloyannis and A. Ajoudani and A. Bicchi and L. Masia} } @article {3223, title = {A Multimodal Perception Framework for Users Emotional State Assessment in Social Robotics}, journal = {FUTURE INTERNET}, volume = {9}, year = {2017}, keywords = {human-robot interaction, multimodality, perception framework, physiological signal acquisition, social robotics}, doi = {10.3390/fi9030042}, author = {Cominelli, L. and N. Carbonaro and D. Mazzei and R. Garofalo and A. Tognetti and D. De Rossi} } @conference {3727, title = {Muscle fatigue assessment through electrodermal activity analysis during isometric contraction}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2017}, doi = {10.1109/EMBC.2017.8036846}, author = {A. Greco and A. Guidi and F. Felici and A. Leo and E. Ricciardi and M. Bianchi and A. Bicchi and L. Citi and G. Valenza and E. P. Scilingo} } @inbook {2713, title = {Machine design for multimaterial processing}, booktitle = {Nanobiomaterials in Soft Tissue Engineering - Applications of Nanobiomaterials}, year = {2016}, publisher = {Elsevier}, organization = {Elsevier}, issn = {978-0-323-42865-1}, author = {C. De Maria and De Acutis, A and Carrabba, M. and G. Criscenti and G. Vozzi} } @conference {2545, title = {A Modular Compliant Actuator for Emerging High Performance and Fall-Resilient Humanoids}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2016}, note = {

This work is supported by the WALK-MAN FP7-ICT-2013-10 European Commission project.

}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7363567}, author = {F. Negrello and M. Garabini and M. G. Catalano and J. Malzahn and D. G. Caldwell and A. Bicchi and N. G. Tsagarakis} } @conference {2893, title = {Motion Primitive Based Random Planning for Loco{\textendash}Manipulation Tasks}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS 2016)}, year = {2016}, note = {
This work is supported by the European commission project Walk-Man EU FP7-ICT no. 611832 and the ECs Horizon 2020 robotics program ICT-23-2014 under grant agreement 644727 (CogIMon)
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Several advanced control laws are available for
complex robotic systems such as humanoid robots and mobile
manipulators. Controls are usually developed for locomotion or
for manipulation purposes. Resulting motions are usually executed
sequentially and the potentiality of the robotic platform
is not fully exploited.
In this work we consider the problem of loco{\textendash}manipulation
planning for a robot with given parametrized control laws
known as primitives. Such primitives, may have not been
designed to be executed simultaneously and by composing
them instability may easily arise. With the proposed approach,
primitives combination that guarantee stability of the system
are obtained resulting in complex whole{\textendash}body behavior.
A formal definition of motion primitives is provided and a
random sampling approach on a manifold with limited dimension
is investigated. Probabilistic completeness and asymptotic
optimality are also proved. The proposed approach is tested
both on a mobile manipulator and on the humanoid robot
Walk-Man, performing loco{\textendash}manipulation tasks.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = {10.1109/HUMANOIDS.2016.7803402}, url = {http://ieeexplore.ieee.org/document/7803402/}, author = {A Settimi and D. Caporale and P. Kryczka and M. Ferrati and L. Pallottino} } @article {2866, title = {A Multi-Modal Sensing Glove for Human Manual-Interaction Studies}, journal = {Electronics}, volume = { 5}, year = {2016}, note = {

This work is supported in part by the European Research Council under the Advanced Grant {\textquotedblleft}SoftHands: A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} (No. ERC-291166), by the EU H2020 projects {\textquotedblleft}SoftPro: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn{\textquotedblright} (No. 688857) and {\textquotedblleft}SOMA: Soft Manipulation{\textquotedblright} (No. 64559) and by the EU FP7 project (No. 601165) {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}.

}, abstract = {

We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation.

}, keywords = {Haptics}, doi = {10.3390/electronics5030042}, url = {http://www.mdpi.com/2079-9292/5/3/42/pdf}, author = {M. Bianchi and R. Haschke and G. B{\"u}scher and S. Ciotti and N. Carbonaro and A. Tognetti} } @conference {2810, title = {Multi{\textendash}object handling for robotic manufacturing}, booktitle = {IECON 2016: 42nd Annual Conference of the IEEE Industrial Electronics Society}, year = {2016}, month = {12/2016}, pages = {6887 - 6893}, publisher = {IEEE}, organization = {IEEE}, address = {Florence, Italy, October 24-27}, abstract = {

The purpose of this work is to move a step toward the automation of industrial plants through full exploitation of autonomous robots. A planning algorithm is proposed to move different objects in desired configurations with heterogeneous robots such as manipulators, mobile robots and conveyor belts.
The proposed approach allows different objects to be handled by different robots simultaneously in an efficient way and avoiding collisions with the environment and self{\textendash}collisions between robots. In particular, the integrated system will be capable of planning paths for a set of objects from various starting points in the environment (e.g. shelves) to their respective final destinations. The proposed approach unifies the active (e.g., grasping by a hand) and passive (e.g., holding by a table) steps involved in moving the objects in the environment by treating them as end{\textendash}effectors with constraints and capabilities.
Time varying graphs will be introduced to model the problem for simultaneous handling of objects by different end{\textendash}effectors.
Optimal exploration of such graphs will be used to determine paths for each object with time constraints. Results will be validated through simulations.

}, keywords = {Robotics}, doi = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, url = {http://ieeexplore.ieee.org/document/7793936/?reload=true}, author = {M. Ferrati and H. Marino and A Settimi and S. Nardi and L. Pallottino} } @article {2500, title = {Magnetic-Driven Pointing System: a Feasibility Study}, journal = {Sensors Journal}, volume = {15 (2)}, year = {2015}, month = {02/2015}, pages = {703 - 714}, keywords = {Bioengineering}, author = {G. Russo and C. De Maria and Cerulli, G. and G. Vozzi} } @article {2540, title = {A muscle-like recruitment actuator with modular redundant actuation units for soft robotics}, journal = {Robotics and Autonomous Systems}, volume = {74}, year = {2015}, note = {

This work was supported by\ ERC-291166-SOFTHANDS

}, month = {12/2015}, pages = {40-50}, keywords = {Robotics}, doi = {10.1016/j.robot.2015.06.010}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001384}, author = {G. Mathijssen and J. Schultz and B. Vanderborght and A. Bicchi} } @article {2716, title = {Music, clicks, and their imaginations favor differently the event-based timing component for rhythmic movements}, journal = {EXPERIMENTAL BRAIN RESEARCH}, volume = {233}, year = {2015}, pages = {1945{\textendash}1961}, keywords = {Bioengineering}, issn = {0014-4819}, doi = {10.1007/s00221-015-4267-z}, url = {http://dx.medra.org/10.1007/s00221-015-4267-z}, author = {Bravi, R. and E. Quarta and Del Tongo, C. and N. Carbonaro and A. Tognetti and Minciacchi, D.} } @conference {2159, title = {Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {664 - 670}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve{\textquoteright}s friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041434}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041434}, author = {A. Ajoudani and J. Lee and A. Rocchi and M. Ferrati and E. Mingo Hoffman and A Settimi and D. G. Caldwell and A. Bicchi and N G Tsagarakis} } @conference {2344, title = {Maximal-Radius Multiscale Entropy of Cardiovascular Variability: A Promising Biomarker of Pathological Mood States in Bipolar Disorders}, booktitle = {36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and G. Bertschy and A Lanata and R. Barbieri and E. P. Scilingo} } @conference {2180, title = {Method for supporting the selection of robot grippers}, booktitle = {24th CIRP Design Conference}, year = {2014}, address = {Milan, April 14 - 16}, keywords = {Robotics}, author = {G Fantoni and Capiferri, S. and Tilli, J.} } @conference {2221, title = {Micro-patterned gelatin-genipin hydrogel for skeletal muscle tissue engineering}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {351{\textendash}352}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, author = {Gattazzo, F. and G. Orsi and G. Vozzi} } @conference {2127, title = {A modular approach for remote operation of humanoid robots in search and rescue scenarios }, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, year = {2014}, address = {Rome, 5-6 May 2014}, keywords = {Robotics}, author = {A Settimi and C. Pavan and V. Varricchio and M. Ferrati and E. Mingo and A. Rocchi and K. Melo and N G Tsagarakis and A. Bicchi} } @article {2032, title = {Modulation of isochronous movements in a flexible environment: links between motion and auditory experience}, journal = {Experimental Brain Research}, volume = {232}, year = {2014}, month = {06/2014}, pages = {1663 - 1675}, keywords = {Bioengineering}, doi = {10.1007/s00221-014-3845-9}, author = {Bravi, R. and Del Tongo, C. and Cohen, E. J. and Dalle Mura, G. and A. Tognetti and Minciacchi, D.} } @conference {2198, title = {Multimaterial and multiscale biofabrication for smart scaffolds}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {470{\textendash}470}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, keywords = {Bioengineering}, author = {C. De Maria and Carrabba, M. and G. Criscenti and G. Orsi and F. Montemurro and G. Vozzi} } @conference {2280, title = {Multi-organ-on-plate system for in-vitro studies of intestinal drug absorption and hepatotoxicity}, booktitle = {ESTIV 2014}, year = {2014}, pages = {107}, address = {Egmond aan Zee, The Netherlands}, abstract = {

More meaningful in-vitro models which simulate the physiological conditions of native tissue are becoming essential in the pharmaceutical field, for early and rapid screening of drug candidates. Here, we describe a multi-organ-on-plate system based on single and double flow mini bioreactor modules for dynamic in-vitro studies of intestinal drug absorption, drug metabolism and more relevant toxicity studies. The double flow module for membrane culture was firstly characterized using computational fluid dynamic models and measurements of pressure gradients, in order to indentify the optimal flow rates for maximizing the passage of solutes through the membrane. Then, cell culture experiments were performed with fully differentiated Caco-2 cells seeded on the semi-permeable membrane as a dynamic model of the intestinal epithelium, connected to a single flow chamber with metabolically competent human upcyte{\^A}{\textregistered} hepatocytes (Medicyte GmbH, Germany) seeded on a 3D collagen cryogel. First we assessed the role of flow in modulating the passage of compounds across the epithelial barrier. Then toxicity tests were performed by administering different concentrations of hepatotoxic compounds (i.e. Diclofenac, Nimesulide, industrial nanoparticles) in the apical compartment of the MB, compared the data with cell cultures in transwells. Our results show: i) the presence of flow significantly increases translocation of all molecules tested across the membrane, ii) flow conditioned Caco-2 cells are more permeable to small hydrophilic compounds, despite having high TEER values iii) although they display higher levels of phenotypic markers (tight junctions, albumin expression etc), cells in the system are more susceptible to drug induced toxicity. In conclusion, the multi-organ-on-plate system predicts drug adsorption and toxicity better than traditional cell cultures and could be used to reduce, refine and eventually replace animal tests.

}, keywords = {Bioengineering}, author = {S. Giusti and Sbrana, T. and D. Giacopelli and V. Di Patria and A. Ahluwalia} } @article {2251, title = {Magnetic resonance butterfly coils: Design and application for hyperpolarized C-13 studies}, journal = {MEASUREMENT }, volume = {46}, year = {2013}, pages = {3282-3290}, doi = {10.1016/j.measurement.2013.06.031}, author = {G. Giovannetti and Frijia, F. and Attanasio, S. and Menichetti, L. and V. Hartwig and N. Vanello and Ardenkjaer-Larsen, J. H. and De Marchi, D. and V. Positano and Schulte, R. and L. Landini and Lombardi, M. and M. F. Santarelli} } @conference {1814, title = {A Mobile Biosensor to detect Cardiorespiratory Activity for Stress Tracking}, booktitle = {IEEE 7th International Conference on Pervasive Computing Technologies for Healthcare (PervasiveHealth)}, year = {2013}, pages = {440 - 445 }, address = {Venice, Italy}, abstract = {

Stress is an increasingly recognized phenomenon that has negative effects on growing numbers of people. Stress assessment is a complex issue, but different studies have shown that monitoring user psychophysiological parameter during daily life can be greatly helpful in stress evaluation. In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed wearable platform, in terms of hardware and processing algorithms, is described. Moreover the use of this wearable biosensor platform in combination with advanced simulation technologies, such as virtual reality offer interesting opportunities for innovative personal health-care solutions to stress. A recently founded European project, "INTERSTRESS - Interreality in the management and treatment of stress-related disorders," will take into account these relevant aspects.

}, keywords = {Bioengineering}, issn = {978-1-4799-0296-5 }, author = {N. Carbonaro and A. Tognetti and G. Anania and D. De Rossi and P. Cipresso and A. Gaggioli and G. Riva} } @article {1876, title = {Mobile underwater sensor networks for protection and security: field experience at the UAN11 experiment}, journal = {JOURNAL OF FIELD ROBOTICS}, volume = {30}, year = {2013}, pages = {237{\textendash}253}, keywords = {Robotics}, issn = {1556-4959}, doi = {10.1002/rob.21447}, url = {http://dx.medra.org/10.1002/rob.21447}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1808, title = {Modeling and Characterization of Extensible Wearable Textile-Based electrogoniometers}, journal = {IEEE Sensors Journal}, volume = {13}, year = {2013}, pages = {217 - 228}, abstract = {

Measuring and monitoring through wearable technology parameters related to human movement, posture, and gesture are gaining momentum because of their wide range of potential applications in daily-life conditions. In previous studies, carbon elastomers (CEs) have been used as strain sensors. Recent developments of CE sensors mathematical modeling demonstrated that the CEs can be used as electrogoniometers. It was proved that for small local curvatures of CE layers, the resistance of a strip constituting a layer depends only on the total curvature of the same layer and not on the particular shape that the sensor keeps in adherence with a surface. Further, it was proved, theoretically and experimentally, that a double-layer configuration provides better accuracy with respect to a single-layer configuration. These results have been obtained under the hypothesis that the device was bent, but not extended. In this paper, we substituted the inextensible insulating layer in the sensors with an elastic one, allowing the system to extend its length. This improvement required further study to make it fit for biomechanical applications following epithelial deformations produced by joint movements and minimizes skin motion artifacts.

}, keywords = {Bioengineering}, issn = {1530-437X}, doi = {10.1109/JSEN.2012.2211099}, author = {F. Lorussi and S. Galatolo and R. Bartalesi and D. De Rossi} } @article {2259, title = {Modified cine inversion recovery pulse sequence for the quantification of myocardial T1 and gadolinium partition coefficient}, journal = {JOURNAL OF MAGNETIC RESONANCE IMAGING}, volume = {37}, year = {2013}, pages = {109-118}, doi = {10.1002/jmri.23807}, author = {Milanesi, M. and Barison, A. and Positano, V. and Masci, P. G. and De Marchi, D. and Marinelli, L. and Hardy, C. J. and Foo, T. K. and L. Landini and Lombardi, M.} } @article {2136, title = {Mood recognition in bipolar patients through the PSYCHE platform: Preliminary evaluations and perspectives}, journal = {Artificial Intelligence In Medicine}, volume = {57}, year = {2013}, pages = {49{\textendash}58}, keywords = {Bioengineering}, author = {G. Valenza and C. Gentili and A Lanata and E. P. Scilingo} } @article {1683, title = {On Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies}, journal = {IEEE Transactions on Robotics}, volume = {29}, year = {2013}, month = {12/2013}, pages = {1440 - 1456 }, abstract = {

To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few {\textquotedblleft}postural synergies{\textquotedblright} explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or {\textquotedblleft}synergies{\textquotedblright} has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as {\textquotedblleft}soft synergies,{\textquotedblright} is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.

}, keywords = {Haptics, Robotics}, doi = {10.1109/TRO.2013.2273849}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @article {1233, title = {On Making Robots Understand Safety: Embedding Injury Knowledge into Control}, journal = {International Journal of Robotics Research}, volume = {31}, year = {2012}, pages = {1578-1602}, keywords = {Robotics}, doi = {10.1177/0278364912462256 }, author = {S. Haddadin and S. Haddadin and A. Khoury and T. Rokahr and S. Parusel and R. Burgkart and A. Bicchi and A Albu-Schaeffer} } @article {PMGB11, title = {On the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems}, journal = {Robotics and Autonomous Systems, special issue on Autonomous Grasping}, volume = {60}, year = {2012}, note = {

in press, Available online 17 August 2011

}, pages = {337 - 346}, keywords = {Haptics, Robotics}, doi = {10.1016/j.robot.2011.07.014}, author = {D Prattichizzo and M. Malvezzi and M Gabiccini and A. Bicchi} } @conference {1497, title = {Mathematical modelling of Endothelin-1 effect on hepatocytes,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {205 - 206}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Valvano, G and G. Orsi and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @conference {1804, title = {Monitoring cell culture 3D microenvironments: oxygen and pH nano-sensors within hydrogels}, booktitle = {National Conference of Bioengineering}, year = {2012}, address = {Rome, Italy}, abstract = {

Ratiometric pH and O2 nanosensors were fabricated independently using a fluorophore that produces a signal proportional to the concentration of the analyte of interest, and a second fluorophore that produces a reference signal, insensitive to the analyte of interest. These fluorophores emit at different wavelengths and were either entrapped or covalently bound, within an inert optically transparent polymeric matrix. In this work uniform sized 3D micro-scaled alginate hydrogel constructs of approximately 100-300 $μ$m were fabricated. Through dual incorporation of HepG2 cells and nanosensors within these alginate constructs we aim to have a real-time, non-invasive method to measure microenvironmental pH and O2 content. Ratiometric fluorescent output from the microenvironment is used to monitor O2 concentrations and pH during cell culture. Measurements show that 3D micro-scaled constructs are suitable for cell growth and proliferation. Moreover O2 and pH values within the hydrogel cellularised microspheres are shown to have physiological values that enable the maintenance of the hepatic phenotype

}, keywords = {Bioengineering}, author = {Tirella, A and Carroll, L. A. and Aylott, J and A. Ahluwalia} } @conference {1486, title = {Monitoring heartbeat nonlinear dynamics during general anesthesia by using the instantaneous dominant Lyapunov exponent}, booktitle = {2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2012}, pages = {3124{\textendash}3127}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {L. Citi and G. Valenza and Purdon, P.L. and Brown, E.N. and R. Barbieri} } @conference {1800, title = {{Monitoring microconstructs: cell and nanosensor encapsulation in alginate micro-beads}}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

Monitoring and controlling the microenvironment of cell cultures is an ongoing challenge for many researchers. Much research has been conducted characterising individual aspects such as 3D architecture, mechanical properties, biochemicals, etc. The biggest deficits in existing models for monitoring analytes within the cellular environment is the lack of appropriate means for non invasive, real-time and integrated monitoring of the cellular responses. Nanosensors can overcome these issues: they are porous polymeric nanoparticles that are sensitive to a range of analytes including pH and O2. Microfabrication techniques are innovative tools to obtain controlled microstructures with a defined 3D architecture. In this work uniform sized 3D micro-scaled hydrogel constructs of approximately 300-400 um diameter were fabricated. Through dual incorporation of cells and nanosensors within these constructs we aim to have a real-time, non invasive method to measure microenvironmental pH value and O2 content. Ratiometric fluorescent output from the microenvironment is used to monitor O2 and pH during cell culture. Measurements show that 3D micro-scaled constructs are suitable for cell growth and proliferation. Moreover O2 content and pH within hydrogel cellularised microspheres are shown to have physiological values which enable the maintenance of the hepatic phenotype.

}, keywords = {Bioengineering, Nanotools}, author = {Tirella, A and A. Ahluwalia and Aylott, J and Carroll, L. A.} } @conference {1874, title = {MOOS middleware and node adaptivity in underwater sensor networks: Results from the UAN11 sea trial}, booktitle = {Proceedings of Meetings on Acoustics}, year = {2012}, month = {2-6 July,}, pages = {1{\textendash}9}, publisher = {Acoustical Society of America}, organization = {Acoustical Society of America}, address = {Edinburgh}, keywords = {Robotics}, doi = {10.1121/1.4772678}, url = {http://dx.medra.org/10.1121/1.4772678}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Duca and A. Munaf{\`o}} } @conference {1244, title = {Motion Planning for Two 3D-Dubins Vehicles with Distance Contraint}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {4702 - 4707 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {H. Marino and M. Bonizzato and R. Bartalucci and P Salaris and L. Pallottino} } @conference {1803, title = {A multi-stimuli environment for cardiac tissue engineering}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

The identification of the ideal cell source to generate cardiac tissue able to integrate into the host myocardium and with the contractile system is crucial for cardiac engineering. Amongst different cell sources so far proposed, human adult Cardiac Progenitor Cells (hCPCs) show the ability to proliferate and differentiate toward cardiac lineages when grown in appropriate microenvironmental conditions. It is widely accepted that conventional 2D cultures may provide a physiological environment for growing cells. For this reason the need to have an engineered microenvironment, matching physiological requirements, is crucial. A 3D context with spatial and time varying distribution of regulatory factors using mechanically matched scaffolds and bioreactors could represent an in vitro cell culture model being able to more closely reflects the in vivo conditions. In the present study, the possibility of using biocompatible and biodegradable scaffolds of collagen based or derivatives hydrogels in combination with Linneg/Sca-1pos hCPCs gathered from human heart biopsies was investigated. Bio-constructs were placed in the low shear, high flow MCmB (MultiCompartment modular Bioreactor) and the combined effects of dynamic culture conditions and 3D scaffolds on cell morphology and differentiation were studied in order to investigate the possibility of fabricating stem cell-derived cardiac patches to replace infarcted tissue.

}, keywords = {Bioengineering, Bioreactors, Dynamic 3D Cultures}, author = {Tirella, A and A. Ahluwalia and P. Di Nardo and Gaudiello, E and S. Giusti and F. Pagliari} } @article {1287, title = {Multivariable constrained process control via Lyapunov R-functions}, journal = {JOURNAL OF PROCESS CONTROL}, year = {2012}, note = {

Available on line since Aug 10 2012 - paper version in press

}, keywords = {Robotics}, issn = {0959-1524}, doi = {10.1016/j.jprocont.2012.07.013}, url = {http://dx.medra.org/10.1016/j.jprocont.2012.07.013}, author = {A. Balestrino and A. Caiti and S Grammatico} } @article {1510, title = {Melt Extruded PU Hollow Fibers for Nerve Regeneration: In vivo Study}, journal = {VETERINARY RESEARCH}, year = {2011}, keywords = {Bioengineering}, issn = {0928-4249}, author = {G. Vozzi and F. Dini and S. Burchielli and C. Salvadori and C. De Maria and V. Chiono and G. Barsotti and G. Ciardelli and F. Carlucci and R. Roni} } @article {BGS11, title = {Modeling Natural and Artificial Hands with Synergies}, journal = {Philosophical Transactions of the Royal Society B}, volume = {366}, year = {2011}, pages = {3153 - 3161}, keywords = {Haptics, Robotics}, doi = {10.1098/rstb.2011.0152}, author = {A. Bicchi and M Gabiccini and M. Santello} } @conference {1805, title = {Modelling and realisation of smart graded hydrogel scaffolds}, booktitle = {Euromat-FEMS}, year = {2011}, address = {Montpellier, France}, abstract = {

European Congress and Exhibition on Advanced Materials and Processes - Poster F12-P-2-08

}, keywords = {Bioengineering}, author = {Tirella, A and G. Mattei and F. Montemurro and G. Vozzi and A. Ahluwalia} } @article {1466, title = {Motor imagery effectiveness for mirror reversed movements}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, volume = {11}, year = {2011}, pages = {22{\textendash}31}, keywords = {Bioengineering}, author = {Debarnot, U. and G. Valenza and Champely, S. and E. P. Scilingo and D. De Rossi and Guillot, A.} } @inbook {1286, title = {Multi-Compartmental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, booktitle = {Bioreactors: Design, Properties and Applications}, number = {978-1-62100-164-5}, year = {2011}, pages = {159 - 178}, publisher = {Nova Science Publishers, Inc}, organization = {Nova Science Publishers, Inc}, chapter = {Multi-Compartimental Modular Bioreactor as Innovative System for Dynamic Cell Cultures and Co-Cultures}, abstract = {

In this chapter, the design, fabrication process and preliminary tests of a Multi- Compartmental Modular Bioreactor used as a system for dynamic cell cultures and co-cultures is described. Although the microwell (MW) plate has become a standard in cell culture, the complexity of the physiological environment is not replicated in petri dishes or microplates. All cells are exquisitely sensitive to their micro-environment which is rich with cues from other cells and from mechanical stimuli due to flow, perfusion and movement. Microwells do not offer any form of dynamic chemical or physical stimulus to cells, such as concentration gradients, flow, pressure or mechanical stress. This is a major limitation in experiments investigating cellular responses in-vitro since the complex interplay of mechanical and biochemical factors is absent. Most researchers and industry have started to accept that classical in vitro experiments offer poor predictive value or mechanistic understanding and are shifting their interests to new technologies such as bioreactors. For this reason, a large number of bioreactor systems for cell culture have been recently designed and described. With the purpose of developing cell culture models to establish a physiological-like interaction between different cell types, a novel Multi-Compartmental Modular Bioreactor (MCmB)was realized. The modular chamber was designed with shape and dimensions similar to the 24-MultiWell allowing an easy transfer of microwell protocols. The MCmB consists of a cell culture chamber made of bio-compatible silicon polymer, with excellent self-sealing proprieties, transparency and flexibility. The modular chambers can be also connected together in series or in parallel as desired, in order to allow cell-cell cross-talk or replicate in vitro models of metabolism or diseases using allometric design principles. In this chapter we describe the bioreactor design process starting from a finite-element method (FEM) model, developed in order to study the shear stress and the oxygen concentration at the cell surface. A further version of the MCmB is also described, in which a semipermeable membrane is placed into the bioreactor allowing to create a double-chamber system (MCmB-dc) for biological barriers simulation like for example lung or intestine. Allometric methods for designing in-vitro organ models using combinations of different cell types or tissues cultured in different chambers are also presented. Allometric laws mathematically correlate non linear quantities such as organ mass, blood flow, blood retention time and metabolic rate. Using these laws the modules can be assembled in various configurations enabling organ and system physiology to be recapitulated in vitro. Preliminary experiments using the modules are also described.

}, keywords = {Bioengineering}, issn = {978-1-62100-164-5}, author = {D. Mazzei and S. Giusti and Sbrana, T. and A. Ahluwalia}, editor = {Antolli, P. G. and Zhiming Liu} } @conference {1533, title = {Mechanical characterization of polymer cartilage scaffold at different pH}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {S. Romiti and G. Vozzi and C. De Maria and F. Montemurro} } @article {1756, title = {Mechanism of Motor reduction with variable rigidity and rapidly controllable}, year = {2010}, address = {USA}, keywords = {Robotics}, issn = {US7699731}, author = {A. Bicchi and G. Tonietti} } @article {1282, title = {Modification of Pointing Performance in Altered Gravitational Environments}, journal = {Microgravity Science and Technology}, volume = {22}, year = {2010}, note = {

10.1007/s12217-009-9163-3

}, pages = {123-128}, abstract = {

The Fitts{\textquoteright} law describes a correlation between the time needed to complete basic tasks such as pointing movements and the level of knowledge of the specific target to be reached. While it has been largely proved in normal gravity, very few experiments have been carried out in altered gravitational conditions. In our experiment, four subjects were positioned in front of a panel where round targets were placed along a circumference. They carried out pointing movements towards the targets when these were switched on. The task time was acquired and processed off-line. In all the cases, the performance of each subject have been significantly modified in the altered gravitational environment and, in particular, hypergravity seems to affect motor performance more considerably than microgravity. Even if experiments involving several subjects and more complex tasks have to be carried out in order to confirm our findings, these results show that ergonomics could be strongly affected by the modification of gravity, especially during the first phase of exposure to gravity alteration.

}, keywords = {Bioengineering}, issn = {0938-0108}, doi = {http://dx.doi.org/10.1007/s12217-009-9163-3}, author = {Ciofani, G. and Migliore, A. and D. Mazzei and Carrozza, M. and P. Dario} } @conference {FBQB10, title = {A Modular and Layered Cosimulator for Networked Control Systems}, booktitle = {Mediterranean Conference on Control and Automation}, year = {2010}, month = {June, 23 - 25}, pages = {273 - 279}, address = {Marrakech, Morocco}, keywords = {Embedded Control, Robotics}, author = {S. Falasca and C Belsito and A. Quagli and A. Bicchi} } @article {1518, title = {Molecularly imprinted nanospheres for applications in a novel model biosensor-scaffold,}, journal = {SENSORS AND ACTUATORS. B, CHEMICAL}, year = {2010}, keywords = {Bioengineering}, issn = {0925-4005}, author = {MORELLI, I and V. Chiono and G. Vozzi and G. Ciardelli and SILVESTRI, D and P. Giusti} } @conference {PMB10, title = {On motion and force controllability of grasping hands with postural synergies}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and M. Malvezzi and A. Bicchi} } @conference {WPb_cdc10_2, title = {Motion planning for Formations of Dubins Vehicles}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {2263 - 2269}, keywords = {Embedded Control, Robotics}, author = {H. Wang and L. Pallottino and A. Bicchi} } @conference {2021, title = {A MR Compatible Sensing Glove for Brain Studies}, booktitle = {Proceedings of the 16th Annual Meeting of the Organization for Human Brain Mapping}, year = {2010}, month = {6-10 Giugno}, pages = {1262 MT{\textendash}PM{\textendash}}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and G. Zupone and A. Tognetti and D. Bonino and E. P. Scilingo and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @conference {MaciiFP09, title = {A Master{\textendash}Slave Synchronization Model for Enhanced Servo Clock Design}, booktitle = {Proc. IEEE Int. Symp. on Precision Clock Synchronization for Measurement, Control and Communication (ISPCS)}, year = {2009}, note = {

DOI: 10.1109/ISPCS.2009.5340199

}, month = {October 12-16}, pages = {1{\textendash}6}, address = {Brescia (Italy)}, keywords = {Robotics}, author = {D. Macii and D. Fontanelli and D. Petri} } @article {1539, title = {Melt-extruded guides for peripheral nerve regeneration. Part I: Poly(epsilon-caprolactone)}, journal = {BIOMEDICAL MICRODEVICES}, year = {2009}, pages = {1037-1050}, keywords = {Bioengineering}, issn = {1387-2176}, author = {V. Chiono and G. Vozzi and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and DI SCIPIO, F and GEUNA, S and FORNARO, M and TOS, P and Nicolino, S and Audisio, C and Perroteau, I and CHIARAVALLOTI, A and C. Domenici and P. Giusti and G. Ciardelli} } @conference {2028, title = {Music and non-musical timed information affect accuracy of motor performance in a task of synchronization}, booktitle = {Proceedings of the National Congress of the Italian Society for Neuroscience}, year = {2009}, pages = {{\textendash}}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @article {B08, title = {Macchine e Mani: Immagini, Immaginazione e Creazione}, journal = {Letteratura e Arte}, number = {6}, year = {2008}, pages = {13-21}, keywords = {Haptics, Robotics}, author = {A. Bicchi} } @conference {1640, title = {Microfabbricazione di scaffold in alginato con propriet{\`a}~ meccaniche modulabili}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {Orsini, A and Tirella, A and A. Ahluwalia and G. Vozzi} } @conference {1634, title = {Microfabrication of Hydrogels scaffolds including cells and mechanical characterization}, booktitle = {Congresso Nazionale di Bioingegneria 2008}, year = {2008}, pages = {367-368}, address = {Pisa, Italy}, keywords = {Bioengineering}, author = {Tirella, A and G. Vozzi} } @conference {1794, title = {Microfluidic Gradient Maker for Pattern Generation}, booktitle = {TERMIS-EU}, year = {2008}, pages = {879}, address = {Porto, Portugal}, abstract = {

poster

}, keywords = {Bioengineering}, author = {Tirella, A and D. Mazzei and G. Vozzi and A. Ahluwalia} } @article {1489, title = {A microfluidic gradient maker for toxicity testing of bupivacaine and lidocaine}, journal = {Toxicology in vitro}, volume = {22}, year = {2008}, pages = {1957{\textendash}64}, abstract = {

A great deal of effort is being dedicated to the development of new devices able to conduct effective in vitro toxicology analyses. This paper describes the use of a microfluidic gradient maker for the toxicological analysis of two conventional local anesthetics, bupivacaine and lidocaine on cell cultures. The microfluidic device was designed and simulated using COMSOL Multiphysics and the concentration gradient in the microfluidic network was analysed through a fluidodynamic and diffusive study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250 microm deep. Both drugs were 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 system was critically compared with microwell-based toxicity testing. The results show that the GM 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. However, the flow rates required to obtain a suitable concentration range across the device may damage shear sensitive cells.

}, keywords = {Bioengineering}, issn = {0887-2333}, doi = {10.1016/j.tiv.2008.09.016}, url = {http://www.ncbi.nlm.nih.gov/pubmed/18940244}, author = {Tirella, A and Marano, M and Vozzi, F. and A. Ahluwalia} } @article {1274, title = {MULTI-CAVITY BIOREACTOR CHAMBER}, year = {2008}, keywords = {Bioengineering}, issn = {P122454GB}, author = {A. Ahluwalia and D. Mazzei and Vinci, B.} } @article {1653, title = {Microfabrication for tissue engineering: rethinking the cells-on-a scaffold approach}, journal = {JOURNAL OF MATERIALS CHEMISTRY}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0959-9428}, author = {G. Vozzi and A. Ahluwalia} } @article {1656, title = {Microfabrication of fractal polymeric structures for capillary morphogenesis: applications in therapeutic angiogenesis and in the engineering of vascularized tissue}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART B, APPLIED BIOMATERIALS}, volume = {81}, year = {2007}, pages = {462{\textendash}468}, keywords = {Bioengineering}, issn = {1552-4981}, author = {BIANCHI, F and ROSI, M. and G. Vozzi and EMANUELI, C. and MADEDDU, P. and A. Ahluwalia} } @conference {1661, title = {Molecularly Imprinted Polymers with Recognition Properties Toward Fibronectin H-Gly-Arg-Gly-Asp-Ser-OH Sequence}, booktitle = {European Polymer Congress 2007}, year = {2007}, month = {2-6 July}, address = {Portoroz, Slovenia}, keywords = {Bioengineering}, author = {Rechichi, A and Rosellini, E and G. Ciardelli and Barbani, N and G. Vozzi and P. Giusti and Cristallini, C} } @conference {VHTZSTRSBPDRL07, title = {An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration}, booktitle = {The 10th Annual International Workshop on Presence}, year = {2007}, pages = {79-83}, keywords = {Haptics}, author = {N. Vanello and V. Hartwig and M. Tesconi and G. Zupone and N. Sgambelluri and A. Tognetti and E. Ricciardi and E. P. Scilingo and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini}, editor = {Laura Moreno, Starlab Barcelona, S.L.} } @inbook {SSB06, title = {Minimally Invasive Therapies \& Novel Embedded Technology Systems}, booktitle = {ARISER 2006 Augmented Reality in Surgery}, year = {2006}, pages = {133-142}, abstract = {

Recent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {S. Casciaro and A. Distante} } @article {PPBSV03, title = {Maximizing the stability radius of a set of systems under real-time scheduling constraints}, journal = {IEEE Trans. on Automatic Control}, volume = {50}, number = {11}, year = {2005}, month = {November 2005}, pages = {1790{\textendash}1795}, abstract = {

We address the problem of synthesising real-time embedded controllers taking into account constraints deriving from the implementation platform. Assuming a time-triggered model of computation for tasks controlling a set of independent systems and a real-time preemptive scheduling policy managing a single CPU processor board, we deal with two problems: 1- deciding whether a performance specification can be met on a given platform, 2- optimising performance on a platform. Decision variables of the design problems are the activation periods of the tasks , while the considered performance metric is the minimum stability radius attained over the different feedback loops, which is related to the technological feasibility of the controller and to the robustness of the controlled systems. The analytical formulation of the design problems enables efficient numerical solutions. The resulting control policies are directly implementable without performance degradation that may otherwise arise due to scheduling and execution delays.

}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and C. Pinello and A. Bicchi and A. L. Sangiovanni-Vincentelli} } @article {1755, title = {Meccanismo motoriduttore a rigidezza variabile e rapidamente controllabile}, year = {2004}, address = {Italy}, keywords = {Robotics}, issn = {PI2004A000077}, author = {A. Bicchi and G. Tonietti} } @conference {PPSB04, title = {Motion Planning through Symbols and Lattices}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2004}, pages = {3914-3919}, abstract = {

In this paper we propose a new approach to motion planning, based on the introduction of a lattice structure in the workspace of the robot, leading to efficient computations of plans for rather complex vehicles, and allowing for the implementation of optimization procedures in a rather straightforward way. The basic idea is the purposeful restriction of the set of possible inputfunctions to the vehicle to a finite set of symbols, or {\em control quanta},which, under suitable conditions, generate a regular lattice of reachable points. Once the lattice is generated and a convenient description computed, standard techniques in integer linear programming can be used to find a plan very efficiently. We also provide a correct and complete algorithm to the problem of finding an optimized plan (with respect e.g. to length minimization) consisting in a sequence of graph searches.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Pallottino and D. Salvadorini and A. Bicchi} } @unpublished {B02, title = {Machine hand design for dexterity, robustness of grasp, and interaction with humans}, year = {2001}, note = {

to appear (?) in Human and Machine Haptics

}, keywords = {Haptics, Robot Hands}, author = {A. Bicchi}, editor = {M. Cutkosky and R. Howe and J. K. Salisbury and M. Srinivasan} } @conference {PFB01-AIAA, title = {Mixed Integer Programming for Aircraft Conflict Resolution}, booktitle = {AIAA Guidance, Navigation and Control Conference and Exhibit}, year = {2001}, abstract = {

This paper considers the problem of solving conflicts between several aircraft. Considering the case when only aircraft heading changes are allowed, we propose a formulation of the multi-aircraft conflict avoidance problem as a mixed-integer linear program, whose solution may be obtained within seconds with standard optimization software. While such a problem formulation and solution is still unsuitable for operational implementation, it may be used as part of a real or fast-time simulation.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {L. Pallottino and E. Feron and A. Bicchi} } @conference {SBDRS-00, title = {A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues}, booktitle = {Proc. IEEE-EMBS Conference on Microtechnologies in Medicine and Biology}, year = {2000}, month = {October}, pages = {229-233}, address = {Lyon, France}, keywords = {Haptic Displays, Haptics, Tools for Minimally Invasive Surgery}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and A. Scotto} } @article {BP00, title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms}, journal = {IEEE Trans. Robotics and Automation}, volume = {16}, number = {4}, year = {2000}, month = {August}, pages = {336-345}, keywords = {Grasping, Manipulability, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {DLMOS-00, title = {Monitoring Body Kinematics and Gesture Through Sensing Fabrics}, booktitle = {1st Annual International IEEE-EMBS Special Topic Conference on Microtechnologies in Medicine AND Biology}, year = {2000}, month = {October}, pages = {587-592}, address = {Lyon, France}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {BP98, title = {Manipulability of Cooperating Robots with Passive Joints}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1998}, pages = {1038-1043}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @conference {MCB97, title = {Manipulation of polyhedral parts by rolling}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and Y. Chitour and A. Bicchi} } @article {1412, title = {A multiquadrics-based algorithm for the acceleration of simulated annealing optimization procedures}, journal = {IEEE TRANSACTIONS ON MAGNETICS}, volume = {32}, year = {1996}, pages = {1198{\textendash}1201}, issn = {0018-9464}, doi = {10.1109/20.497458}, url = {http://dx.medra.org/10.1109/20.497458}, author = {P. Alotto and A. Caiti and G. Molinari and M. Repetto} } @article {BMB95, title = {On the Mobility and Manipulability of General Multiple Limb Robotic Systems}, journal = {IEEE Trans. Robotics and Automation}, volume = {11}, number = {2}, year = {1995}, month = {April}, pages = {215-228}, keywords = {Grasping, Manipulability, Robot Arms, Robot Hands}, author = {A. Bicchi and C. Melchiorri and D. Balluchi} } @article {1421, title = {MAPPING OCEAN SEDIMENTS BY RBF NETWORKS}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {19}, year = {1994}, pages = {577{\textendash}582}, issn = {0364-9059}, doi = {10.1109/48.338393}, url = {http://dx.medra.org/ 10.1109/48.338393}, author = {A. Caiti and T. Parisini} } @conference {BM93, title = {Manipulability Measures of Cooperating Arms}, booktitle = {Proc. American Control Conference}, year = {1993}, keywords = {Haptics, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=4792867}, author = {A. Bicchi and C. Melchiorri} } @conference {BM92-ICRA, title = {Mobility and Kinematic Analysis of General Cooperating Robotic Systems}, booktitle = {Proc. IEEE Conf. on Robotics and Automation}, year = {1992}, pages = {421-426}, keywords = {Robot Arms, Robot Hands}, author = {A. Bicchi and C. Melchiorri} } @inbook {DBBF92, title = {Multiple Sensing for Dexterous End Effectors}, booktitle = {Robots with redundancy: design, sensing and control}, year = {1992}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {P. Dario and M. Bergamasco and A. Bicchi and A. Fiorillo}, editor = {A. K. Bejczy} } @inbook {BDBB90, title = {Multi Sensor Integration for Fine Manipulation}, booktitle = {Highly Redundant Sensing in Robotic Systems}, series = {NATO-ASI Series F: Computer and Systems Sciences, vol. 58}, volume = {58}, number = {NATO ASI Series}, year = {1990}, pages = {55-66}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {M. Bergamasco and P. Dario and A. Bicchi and G. Buttazzo}, editor = {J. T. Tou and J. G. Balchen} } @article {1768, title = {Measurement of the hydrostatic piezoelectric, coefficient using a {\^A}{\textmu}P based apparatus}, journal = {FERROELECTRICS}, volume = {76}, year = {1987}, pages = {283{\textendash}290}, keywords = {Bioengineering}, issn = {0015-0193}, author = {C. Domenici and A. Nannini and D. De Rossi} } @conference {DBFF87, title = {Multiple Sensing Fingertip for Robot Active Touch}, booktitle = {Proc. Int. Conf. on Advanced Robotics}, year = {1987}, address = {Versailles, France}, keywords = {Haptics, Robot Hands, Sensors}, author = {P. Dario and A. Bicchi and D. Femi and A. Fiorillo} } @article {1744, title = {Multisensor piezoelectric polymer insole for pedobarography}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {163{\textendash}174}, keywords = {Bioengineering}, issn = {0015-0193}, author = {A. Pedotti and R. Assente and G. Fusi and D. De Rossi and P. Dario and C. Domenici} } @article {1737, title = {Method of evaluating the thermal stability of the pyroelectric properties of polyvinylidene fluoride: effects of poling temperature and field}, journal = {JOURNAL OF APPLIED PHYSICS}, volume = {53}, year = {1982}, pages = {6520{\textendash}6525}, keywords = {Bioengineering}, issn = {0021-8979}, author = {D. De Rossi and A. S. De Reggi and M. G. Broadhurst and S. C. Roth and G. T. Davis} } @article {1732, title = {Modular hydropneumatic mock circulatory system for the evaluation of cardiovascular prostheses,}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {4}, year = {1981}, pages = {139{\textendash}148}, keywords = {Bioengineering}, issn = {0066-0078}, author = {G. Nardi and S. Cicconardi and P. Dario and D. De Rossi} }