02465nas a2200217 4500008004500000245006700045210006600112260002800178300001600206520181400222653001202036653001302048100001702061700001702078700001702095700001402112700001802126700002002144700001502164856006802179 2016 engldsh 00aReflex Control of the Pisa/IIT SoftHand during Object Slippage0 aReflex Control of the PisaIIT SoftHand during Object Slippage aStockholm, SwedenbIEEE a1972 - 19793 a
In this work, to guarantee the Pisa/IIT SoftHand’s
grasp robustness against slippage, three reflex control modes,
namely Current, Pose and Impedance, are implemented and
experimentally evaluated. Towards this objective, ThimbleSense
fingertip sensors are designed and integrated into the thumb
and middle fingers of the SoftHand for real-time detection and
control of the slippage. Current reflex regulates the restoring
grasp forces of the hand by modulating the motor’s current
profile according to an update law. Pose and Impedance reflex
modes instead replicate this behaviour by implementing an
impedance control scheme. The difference between the two
latter is that the stiffness gain in Impedance reflex mode is
being varied in addition to the hand pose, as a function of
the slippage on the fingertips. Experimental setup also includes
a seven degrees-of-freedom robotic arm to realize consistent
trajectories (e.g. lifting) among three control modes for the sake
of comparison. Different test objects are considered to evaluate
the efficacy of the proposed reflex modes in our experimental
setup. Results suggest that task-appropriate restoring forces
can be achieved using Impedance reflex due to its capability
in demonstrating instantaneous and rather smooth reflexive
behaviour during slippage. Preliminary experiments on five
healthy human subjects provide evidence on the similarity of the
control concepts exploited by the humans and the one realized
by the Impedance reflex, highlighting its potential in prosthetic
applications.
10aHaptics10aRobotics1 aAjoudani, A.1 aHocaoglu, E.1 aAltobelli, A1 aRossi, M.1 aBattaglia, E.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=748734400664nas a2200169 4500008003900000245010600039210006900145260003000214300001600244653001300260100001600273700001700289700001100306700002000317700002000337856013700357 2015 d00aKinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders0 aKinematic Analysis and Design Considerations for Optimal Base Fr aSeattle, USA, 25 - 30 May a2710 - 271510aRobotics1 aBagheri, M.1 aAjoudani, A.1 aLee, J1 aCaldwell, D. G.1 aTsagarakis, N G uhttps://www.centropiaggio.unipi.it/publications/kinematic-analysis-and-design-considerations-optimal-base-frame-arrangement-humanoid02477nas a2200181 4500008004500000245010600045210006900151260004900220300001600269520185200285653001202137653001302149100001702162700001302179700002002192700001502212856006802227 2015 engldsh 00aA Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control0 aReducedComplexity Description of Arm Endpoint Stiffness with App aHamburg, Germany, 28 Sept - 2 Oct 2015bIEEE a1017 - 10233 aEffective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.
10aHaptics10aRobotics1 aAjoudani, A.1 aFang, C.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=735349500539nas a2200145 4500008003900000245007000039210006300109260003000172300001600202653001300218100001700231700002000248700001500268856011000283 2015 d00aOn the Role of Robot Configuration in Cartesian Stiffness Control0 aRole of Robot Configuration in Cartesian Stiffness Control aSeattle, USA, 25 - 30 May a1010 - 101610aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/role-robot-configuration-cartesian-stiffness-control.html02901nas a2200205 4500008004100000245012300041210006900164260001200233300001000245490001400255520224500269653001302514100001502527700001702542700002002559700001402579700001502593700001602608856007102624 2015 eng d00aTele- Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance0 aTele Impedance based Assistive Control for a Compliant Knee Exos c11/2015 a78-900 v73 part A3 aThis paper presents a tele-impedance based assistive control scheme for a knee exoskeleton device. The proposed controller captures the user’s intent to generate task-related assistive torques by means of the exoskeleton in different phases of the subject’s normal activity. To do so, a detailed musculoskeletal model of the human knee is developed and experimentally calibrated to best match the user’s kinematic and dynamic behavior. Three dominant antagonistic muscle pairs are used in our model, in which electromyography (EMG) signals are acquired, processed and used for the estimation of the knee joint torque, trajectory and the stiffness trend, in real time. The estimated stiffness trend is then scaled and mapped to a task-related stiffness interval to agree with the desired degree of assistance. The desired stiffness and equilibrium trajectories are then tracked by the exoskeleton’s impedance controller. As a consequence, while minimum muscular activity corresponds to low stiffness, i.e. highly transparent motion, higher co-contractions result in a stiffer joint and a greater level of assistance. To evaluate the robustness of the proposed technique, a study of the dynamics of the human–exoskeleton system is conducted, while the stability in the steady state and transient condition is investigated. In addition, experimental results of standing-up and sitting-down tasks are demonstrated to further investigate the capabilities of the controller. The results indicate that the compliant knee exoskeleton, incorporating the proposed tele-impedance controller, can effectively generate assistive actions that are volitionally and intuitively controlled by the user’s muscle activity.
10aRobotics1 aKaravas, N1 aAjoudani, A.1 aTsagarakis, N G1 aSaglia, J1 aBicchi, A.1 aCaldwell, D uhttp://www.sciencedirect.com/science/article/pii/S092188901400212700922nas a2200325 4500008004100000245006100041210005800102260001200160300001200172490000700184653001300191100001500204700001200219700001700231700002000248700001400268700002000282700001500302700001400317700001900331700001800350700001500368700001900383700002000402700001800422700002000440700002200460700001500482856009900497 2015 eng d00aVariable Stiffness Actuators: the user’s point of view0 aVariable Stiffness Actuators the user s point of view c05/2015 a727-7430 v3410aRobotics1 aGrioli, G.1 aWolf, S1 aGarabini, M.1 aCatalano, M. G.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aFriedl, W1 aGrebenstein, M1 aLaffranchi, M1 aLefeber, D1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A. uhttp://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP&keytype=finite00647nas a2200205 4500008004100000245009600041210006900137300001400206490000600220653001200226653001300238100001700251700001900268700002000287700001600307700001500323700002000338700001500358856006800373 2014 eng d00aExploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand0 aExploring Teleimpedance and Tactile Feedback for Intuitive Contr a203 - 2150 v710aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aBianchi, M.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=675555401919nas a2200265 4500008004100000245008800041210006900129300001200198490000700210520109000217653001201307653001301319100001701332700001501349700001601364700002001380700001401400700001601414700001701430700001501447700001801462700002001480700002001500856013301520 2014 eng d00aHANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS0 aHANDSDVI A DeViceIndependent programming and control framework f a197-2150 v943 a
The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.
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'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.
10aHaptics10aRobotics1 aAjoudani, A.1 aLee, J1 aRocchi, A1 aFerrati, M.1 aHoffman, Mingo1 aSettimi, A1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N G uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=704143400720nas a2200205 4500008003900000245009500039210006900134260002300203653001300226100001500239700001400254700001900268700001600287700001400303700001400317700001300331700002000344700001500364856013500379 2014 d00aA modular approach for remote operation of humanoid robots in search and rescue scenarios 0 amodular approach for remote operation of humanoid robots in sear aRome, 5-6 May 201410aRobotics1 aSettimi, A1 aPavan, C.1 aVarricchio, V.1 aFerrati, M.1 aMingo, E.1 aRocchi, A1 aMelo, K.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/modular-approach-remote-operation-humanoid-robots-search-and-rescue-scenarios.html02710nas a2200193 4500008003900000245011400039210007100153260004700224300001600271520205600287653001202343653001302355100001702368700002002385700001102405700001702416700001502433856006802448 2014 d00aNatural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control0 aNatural Redundancy Resolution in DualArm Manipulation using Confi aHong Kong, May 31 2014-June 7 2014 bIEEE a1480 - 14863 aIncorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.
10aHaptics10aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aLee, J1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=694525202224nas a2200217 4500008003900000245007700039210006900116260001700185300001600202520152500218653001201743653001301755100001401768700001701782700001701799700001801816700001701834700002001851700001501871856012001886 2014 d00aThe Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps0 aPatched Intrinsic Tactile Object a Tool to Investigate Human Gra aChicago, USA a1261 - 12683 aIn this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and the lightweight construction of the sensor which would have, otherwise, degraded its accuracy. To assess the performances of the calibration methods, a comparison is reported with respect to the measurements obtained with a commercial force/torque sensor considered as ground truth (ATI Delta). Thanks to the modular design and the possibility to cover the sensitive faces with surface patches of different geometry, a variety of sensorized objects with different shapes can be realized. The peculiar feature that all the components of the contact wrench can be measured on each face with high accuracy, renders it a unique tool in the study of grasp force distribution in humans, with envisioned use both in neuroscience investigations and robotic applications.
10aHaptics10aRobotics1 aSerio, A.1 aRiccomini, E1 aTartaglia, V1 aSarakoglou, I1 aGabiccini, M1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/patched-intrinsic-tactile-object-tool-investigate-human-grasps.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 aThe 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=704144100633nas a2200217 4500008003900000245004400039210004400083260003100127653001300158100001300171700001800184700001400202700001600216700001500232700001400247700001400261700001500275700001200290700002000302856009300322 2014 d00aYarp Based Plugins for Gazebo Simulator0 aYarp Based Plugins for Gazebo Simulator aRoma, Italy, 5 -6 May 201410aRobotics1 aMingo, E1 aTraversaro, S1 aRocchi, A1 aFerrati, M.1 aSettimi, A1 aRomano, F1 aNatale, L1 aBicchi, A.1 aNori, F1 aTsagarakis, N G uhttps://www.centropiaggio.unipi.it/publications/yarp-based-plugins-gazebo-simulator.html00580nas a2200145 4500008004100000245009100041210006900132300001600201653001300217100001700230700001700247700002000264700001500284856013500299 2013 eng d00aHuman-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation0 aHumanLike Impedance and Minimum Effort Control for Natural and E a4499 - 450510aRobotics1 aAjoudani, A.1 aGabiccini, M1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/human-impedance-and-minimum-effort-control-natural-and-efficient-manipulation.html00546nas a2200181 4500008004100000245008000041210006900121300001400190653001300204100001200217700001700229700001800246700001500264700002000279700001500299700002000314856003000334 2013 eng d00aOptimal Control for Maximizing Velocity of the CompActTM Compliant Actuator0 aOptimal Control for Maximizing Velocity of the CompActTM Complia a516 - 52210aRobotics1 aChen, L1 aGarabini, M.1 aLaffranchi, M1 aKashiri, N1 aTsagarakis, N G1 aBicchi, A.1 aCaldwell, D. G. u10.1109/ICRA.2013.663062300529nas a2200169 4500008004100000245008900041210006900130300001600199653001300215100001500228700001700243700002000260700001400280700001500294700002000309856003000329 2013 eng d00aTele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device0 aTeleImpedance based Stiffness and Motion Augmentation for a Knee a2194 - 220010aRobotics1 aKaravas, N1 aAjoudani, A.1 aTsagarakis, N G1 aSaglia, J1 aBicchi, A.1 aCaldwell, D. G. u10.1109/ICRA.2013.663087200661nas a2200193 4500008004100000245006700041210006600108260003100174300001600205653001200221653001300233100001700246700001900263700002000282700001500302700002000317700001500337856011500352 2013 eng d00aTeleimpedance Control of a Synergy-Driven Anthropomorphic Hand0 aTeleimpedance Control of a SynergyDriven Anthropomorphic Hand aTokyo, JapancNovember 3-7 a1985 - 199110aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/teleimpedance-control-synergy-driven-anthropomorphic-hand.html02056nas a2200457 4500008004100000245004300041210004200084260001200126300001600138490000700154520088900161653001301050653001801063653003301081100002001114700002201134700001501156700001401171700002001185700001501205700002001220700001601240700001401256700001401270700001701284700001901301700001501320700001601335700001501351700001401366700001801380700001501398700001301413700001901426700002001445700001801465700001601483700001601499700001201515856007101527 2013 eng d00aVariable Impedance Actuators: a Review0 aVariable Impedance Actuators a Review c12/2013 a1601–16140 v613 aVariable Impedance Actuators (VIA) have received increasing attention in recent years as many novel applications involving interactions with an unknown and dynamic environment including humans require actuators with dynamics that are not well-achieved by classical stiff actuators. This paper presents an overview of the different VIAs developed and proposes a classification based on the principles through which the variable stiffness and damping are achieved. The main classes are active impedance by control, inherent compliance and damping actuators, inertial actuators, and combinations of them, which are then further divided into subclasses. This classification allows for designers of new devices to orientate and take inspiration and users of VIA’s to be guided in the design and implementation process for their targeted application.
10aRobotics10aSoft robotics10aVariable Impedance Actuators1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aCatalano, M. G.1 aEiberger, O1 aFriedl, W1 aGanesh, G1 aGarabini, M.1 aGrebenstein, M1 aGrioli, G.1 aHaddadin, S1 aHoppner, H1 aJafari, A1 aLaffranchi, M1 aLefeber, D1 aPetit, F1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aHam, Van, R1 aVisser, L C1 aWolf, S uhttp://www.sciencedirect.com/science/article/pii/S092188901300118800642nas a2200169 4500008004100000245009200041210006900133260001700202300001200219653001300231100001700244700001700261700002000278700002200298700001500320856013700335 2012 eng d00aTele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness0 aTeleImpedance Exploring the Role of CommonMode and Configuration aOsaka, Japan a363-36910aRobotics1 aAjoudani, A.1 aGabiccini, M1 aTsagarakis, N G1 aAlbu-Schaeffer, A1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/tele-impedance-exploring-role-common-mode-and-configuration-dependant-stiffness.html00597nas a2200157 4500008004100000245009100041210006900132260001200201300001600213490000900229653001300238100001700251700002000268700001500288856013600303 2012 eng d00aTele-impedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface0 aTeleimpedance Teleoperation with Impedance Regulation Using a Bo c11/2012 a1643 - 16560 v 31 10aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/tele-impedance-teleoperation-impedance-regulation-using-body-machine-interface.html00592nas a2200145 4500008004100000245008500041210006900126260003700195300001500232653001300247100001700260700002000277700001500297856013400312 2012 eng d00aTele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots0 aTeleImpedance Towards Transferring Human Impedance Regulation Sk aSaint Paul, MN, USAcMay 14 - 18 a382 - 388 10aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/tele-impedance-towards-transferring-human-impedance-regulation-skills-robots.html00659nas a2200193 4500008004100000245006300041210006100104260003700165300001600202653001300218100002000231700001500251700001700266700002000283700001700303700002000320700001500340856011000355 2012 eng d00aA Variable Damping module for Variable Impedance Actuation0 aVariable Damping module for Variable Impedance Actuation aSaint Paul, MN, USAcMay 14 - 18 a2666 - 267210aRobotics1 aCatalano, M. G.1 aGrioli, G.1 aGarabini, M.1 aBelo, F., A. W.1 aDi Basco, A.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/variable-damping-module-variable-impedance-actuation.html00977nas a2200337 4500008004100000245006400041210006300105653001300168100002000181700002200201700001500223700001400238700002000252700001500272700002000287700001400307700001700321700001500338700001600353700001400369700001800383700001500401700001300416700001900429700002000448700001800468700001600486700001600502700001200518856010900530 2012 eng d00aVariable Impedance Actuators: Moving the Robots of Tomorrow0 aVariable Impedance Actuators Moving the Robots of Tomorrow10aRobotics1 aVanderborght, B1 aAlbu-Schaeffer, A1 aBicchi, A.1 aBurdet, E1 aCaldwell, D. G.1 aCarloni, R1 aCatalano, M. G.1 aGanesh, G1 aGarabini, M.1 aGrioli, G.1 aHaddadin, S1 aJafari, A1 aLaffranchi, M1 aLefeber, D1 aPetit, F1 aStramigioli, S1 aTsagarakis, N G1 aDamme, Van, M1 aHam, Van, R1 aVisser, L C1 aWolf, S uhttps://www.centropiaggio.unipi.it/publications/variable-impedance-actuators-moving-robots-tomorrow.html00595nas a2200169 4500008004100000245006600041210006400107260003100171300001600202653001300218100001400231700001500245700001900260700002000279700001500299856011100314 2011 eng d00aA decoupled Impedance observer for a Variable Stiffness Robot0 adecoupled Impedance observer for a Variable Stiffness Robot aShangai, ChinacMay 9 - 13 a5548 - 555310aRobotics1 aSerio, A.1 aGrioli, G.1 aSardellitti, I1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/decoupled-impedance-observer-variable-stiffness-robot.html00624nas a2200145 4500008004100000245011300041210006900154260003800223300001400261653001300275100001700288700002000305700001500325856013800340 2011 eng d00aTele-Impedance: Preliminary Results on Measuring and Replicating Human Arm Impedance in Tele Operated Robots0 aTeleImpedance Preliminary Results on Measuring and Replicating H aPhuket, ThailandcDecember 7 - 11 a216 - 22310aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/tele-impedance-preliminary-results-measuring-and-replicating-human-arm-impedance-tele00709nas a2200193 4500008004100000245009400041210006900135260003100204300001600235653001300251100002000264700001500284700001700299700001400316700001500330700002000345700001500365856013500380 2011 eng d00aVSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems0 aVSA CubeBot A modular variable stiffness platform for multi degr aShangai, ChinacMay 9 - 13 a5090 - 509510aRobotics1 aCatalano, M. G.1 aGrioli, G.1 aGarabini, M.1 aBonomo, F1 aMancini, M1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/vsa-cubebot-modular-variable-stiffness-platform-multi-degrees-freedom-systems.html