TY - JOUR T1 - Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling JF - Smart Materials and Structures Y1 - 2018 A1 - A. De Acutis A1 - L. Calabrese A1 - A. Bau A1 - V. Tincani A1 - N. M. Pugno A1 - A. Bicchi A1 - D. De Rossi ER - TY - CONF T1 - Design of an Under-Actuated Wrist Based on Adaptive Synergies T2 - IEEE International Conference of Robotics and Automation, ICRA2017 Y1 - 2017 A1 - S. Casini A1 - V. Tincani A1 - G. Averta A1 - M. Poggiani A1 - C. Della Santina A1 - E. Battaglia A1 - M. G. Catalano A1 - M. Bianchi A1 - G. Grioli A1 - A. Bicchi KW - Haptics KW - Robotics AB -

An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

JF - IEEE International Conference of Robotics and Automation, ICRA2017 PB - IEEE CY - Singapore, 29 May-3 June 2017 UR - http://ieeexplore.ieee.org/document/7989789/ ER - TY - CONF T1 - Design of an under-actuated wrist based on adaptive synergies T2 - Robotics and Automation (ICRA), 2017 IEEE International Conference on Y1 - 2017 A1 - S. Casini A1 - V. Tincani A1 - G. Averta A1 - M. Poggiani A1 - C. Della Santina A1 - E. Battaglia A1 - M. G. Catalano A1 - M. Bianchi A1 - G. Grioli A1 - A. Bicchi AB -

An effective robotic wrist represents a key en- abling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under- actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we intro- duce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

JF - Robotics and Automation (ICRA), 2017 IEEE International Conference on PB - IEEE ER - TY - JOUR T1 - No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem JF - IEEE Robotics and Automation Magazine Y1 - 2016 A1 - T. Stoyanov A1 - N. Vaskeviciusz A1 - C. A. Mueller A1 - T. Fromm A1 - R. Krug A1 - V. Tincani A1 - R. Mojtahedzadeh A1 - S. Kunaschk A1 - R. M. Ernits A1 - D. R. Canelhas A1 - M. Bonilla A1 - S. Schwertfeger A1 - M. Bonini A1 - H. Halfar A1 - K. Pathak A1 - M. Rohde A1 - G Fantoni A1 - A. Bicchi A1 - A. Birk A1 - A. Lilienthal A1 - W. Echelmeyer KW - Robotics VL - 23 UR - https://ieeexplore.ieee.org/document/7553531 IS - 4 ER - TY - CONF T1 - Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces T2 - 2014 IEEE International Conference on Robotics and Automation Y1 - 2014 A1 - R. Krug A1 - T. Stoyanov A1 - M. Bonilla A1 - V. Tincani A1 - N. Vaskeviciusz A1 - G Fantoni A1 - A. Birkz A1 - A. Lilienthal A1 - A. Bicchi KW - Haptics KW - Robotics AB -

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is `pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

JF - 2014 IEEE International Conference on Robotics and Automation PB - IEEE CY - Hong Kong, May 31 2014-June 7 2014 UR - http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907390 U1 -

Roblog

ER - TY - CONF T1 - Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 Y1 - 2013 A1 - V. Tincani A1 - G. Grioli A1 - M. G. Catalano A1 - M. Bonilla A1 - M. Garabini A1 - G Fantoni A1 - A. Bicchi KW - Robotics AB -

Industrial grippers are often used for grasping, while in-hand re-orientation and positioning are dealt with by other means. Contact surface engineering has been recently proposed as a possible mean to introduce dexterity in simple grippers, as in the Velvet Fingers smart gripper, a novel concept of end-effector combining simple under-actuated mechanics and high manipulation possibilities, thanks to conveyors which are built in the finger pads. This paper undergoes the modeling and control of the active conveyors of the Velvet Fingers gripper which are rendered able to emulate different levels of friction and to apply tangential thrusts to the contacted objects. Through the paper particular attention is dedicated to the mechanical implementation, sense drive and control electronics of the device. The capabilities of the prototype are showed in some grasping and manipulation experiments.

JF - IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 CY - Tokyo, Japan UR - http://ieeexplore.ieee.org/xpl/login.jsp?tp=&arnumber=6697152&url=http%3A%2F%2Fieeexplore.ieee.org%2Fxpls%2Fabs_all.jsp%3Farnumber%3D6697152 ER - TY - CONF T1 - Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces T2 - IEEE International Conference on Robotics and Automation (ICRA2013) Y1 - 2013 A1 - V. Tincani A1 - G. Grioli A1 - M. G. Catalano A1 - M. Garabini A1 - S. Grechi A1 - G Fantoni A1 - A. Bicchi KW - Haptics KW - Robotics JF - IEEE International Conference on Robotics and Automation (ICRA2013) UR - 10.1109/ICRA.2013.6630955 ER - TY - CONF T1 - Velvet fingers: A dexterous gripper with active surfaces T2 - International Conference of Intelligent Robots and Systems - IROS 2012 Y1 - 2012 A1 - V. Tincani A1 - M. G. Catalano A1 - E. Farnioli A1 - M. Garabini A1 - G. Grioli A1 - G Fantoni A1 - A. Bicchi KW - Robotics JF - International Conference of Intelligent Robots and Systems - IROS 2012 CY - Vilamoura, Algarve, Portugal ER -