02286nas a2200205 4500008004100000245008500041210006900126260001200195520165200207653001401859653001401873653001801887653001701905653001401922100001701936700002001953700002501973700002001998856006202018 2019 eng d00aUnifying bilateral teleoperation and tele-impedance for enhanced user experience0 aUnifying bilateral teleoperation and teleimpedance for enhanced  c12/20193 a

Usability is one of the most important aspects of teleoperation. Ideally, the operator’s experience should be one of complete command over the remote environment, but also be as close as possible to what s/he would have if physically present at the remote end - i.e. transparency in terms of both action and perception. These two aspects may coincide in favorable conditions, where classic approaches such as the four-channel architecture ensures transparency of the control framework. In presence of substantial delays between the user and the slave, however, the stability-performance trade-off inherent to bilateral teleoperation deteriorates not only transparency, but also command. An alternative, unilateral approach is given by tele-impedance, which controls the slave-environment interaction by measuring and remotely replicating the user’s limb endpoint position and impedance. Not including force feedback to the operator, tele-impedance is absolutely robust to delays, while it completely lacks transparency.

This paper introduces a novel control framework which integrates a new, fully transparent, two-channel bilateral architecture with the tele-impedance paradigm. The result is a unified solution that mitigates problems of classical approaches, and provides the user with additional tools to modulate the slave robot’s physical interaction behavior, resulting in a better operator experience in spite of time inconsistencies. The validity and effectiveness of the proposed solution is demonstrated in terms of performance in the interaction tasks, of user fatigue and overall experience.

10abilateral10astability10aTeleoperation10atransparency10ausability1 aLaghi, Marco1 aAjoudani, Arash1 aCatalano, Manuel, G.1 aBicchi, Antonio uhttps://journals.sagepub.com/doi/10.1177/027836491989177300460nas a2200157 4500008004100000245003100041210003100072260001000103100001500113700001800128700002000146700001400166700001500180700001500195856009200210 2018 eng d00aUnderactuated robotic hand0 aUnderactuated robotic hand c11/011 aBicchi, A.1 aDella Santina1 aCatalano, M. G.1 aPiazza, C1 aGrioli, G.1 aBrando, A. uhttps://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf01930nas a2200181 4500008004100000245009200041210006900133300000700202490000600209520129800215100001501513700001801528700001801546700001501564700001601579700001501595856013801610 2017 eng d00aUnvealing the principal modes of human upper limb movements through functional analysis0 aUnvealing the principal modes of human upper limb movements thro a370 v43 a

The rich variety of human upper limb movements requires an extraordinary coordination of different joints according to specific spatio-temporal patterns. However, unvealing these motor schemes is a challenging task. Principal components have been often used for analogous purposes, but such an approach relies on hypothesis of temporal uncorrelation of upper limb poses in time. To overcome these limitations, in this work, we leverage on functional principal component analysis (fPCA). We carried out experiments with 7 subjects performing a set of most significant human actions, selected considering state-of-the-art grasp taxonomies and human kinematic workspace. fPCA results show that human upper limb trajectories can be reconstructed by a linear combination of few principal time-dependent functions, with a first component alone explaining around 60/70% of the observed behaviors. This allows to infer that in daily living activities humans reduce the complexity of movement by modulating their motions through a reduced set of few principal patterns. Finally, we discuss how this approach could be profitably applied in robotics and bioengineering, opening fascinating perspectives to advance the state of the art of artificial systems, as it was the case of hand synergies.

1 aAverta, G.1 aDella Santina1 aBattaglia, E.1 aFelici, F.1 aBianchi, M.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/unvealing-principal-modes-human-upper-limb-movements-through-functional-analysis.html02368nas a2200229 4500008003900000245009500039210006900134260004200203300001400245520165100259653001301910100001101923700001701934700001901951700001401970700001501984700001601999700001502015700002002030700002002050856006802070 2014 d00aUpper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task0 aUpperbody Impedance Control with an Intuitive Stiffness Emulatio aMadrid, Spain, November 18 - 20bIEEE a713 - 7193 a

The advent of humanoids has brought new challenges in the real-world application. As a part of ongoing efforts to foster functionality of the robot accommodating a real environment, this paper introduces a recent progress on a door opening task with our compliant humanoid, CoMan. We presents a task-prioritized impedance control framework for an upper body system that includes a dual-arm, a waist, two soft hands, and 3D camera. Aimed to create desired responses to open the door, a novel stiffness modulation method is proposed, incorporating a realtime optimization. As a preliminary experiment, a full door-opening scenario (approaching to the door and reaching, grasping, rotating and pulling the door handle) is demonstrated under a semi-autonomous operation with a pilot. The experimental result shows the effectiveness and efficacy of the proposed impedance control approach. Despite of uncertainties from sensory data, the door opening task is successfully achieved and safe and robust interaction is established without creating excessive forces.

10aRobotics1 aLee, J1 aAjoudani, A.1 aHoffman, Mingo1 aRocchi, A1 aSettimi, A1 aFerrati, M.1 aBicchi, A.1 aTsagarakis, N G1 aCaldwell, D. G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=704144100639nas a2200181 4500008004100000245007900041210006900120260003500189300001200224653001200236653001300248100001600261700001500277700001300292700001800305700001500323856011900338 2012 eng d00aOn the Use of Postural Synergies to Improve Human Hand Pose Reconstruction0 aUse of Postural Synergies to Improve Human Hand Pose Reconstruct aVancouver, CanadacMarch 4 - 7 a91 - 9810aHaptics10aRobotics1 aBianchi, M.1 aSalaris, P1 aTurco, A1 aCarbonaro, N.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/use-postural-synergies-improve-human-hand-pose-reconstruction.html00346nas a2200109 4500008004100000022001200041245003500053210003500088260001000123100001500133856008800148 1987 eng d a121136200aUniversal Cylindrical Loadcell0 aUniversal Cylindrical Loadcell aItaly1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/universal-cylindrical-loadcell.html