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Conference Paper
G. M. Gasparri, Fabiani, F., Garabini, M., Pallottino, L., Catalano, M. G., Grioli, G., Persichini, R., and Bicchi, A., “Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios”, in IEEE International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, 15-17 Nov. 2016 , 2016 [Online]. Available: http://ieeexplore.ieee.org/document/7803381/PDF icon [PDF] (3.28 MB)
S. Alicino, Catalano, M. G., Bonomo, F., Belo, F. A. W., Grioli, G., Schiavi, R., Fagiolini, A., and Bicchi, A., “A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge”, in Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis MO USA, 2009, pp. 3336-3342. PDF icon [PDF] (412.72 KB)
M. Garabini, C. Della Santina,, Bianchi, M., Catalano, M. G., Grioli, G., and Bicchi, A., “Soft Robots that Mimic the Neuromusculoskeletal System”, in 3rd International Conference on NeuroRehabilitation (ICNR2016), 2016, vol. Converging Clinical and Engineering Research on Neurorehabilitation, pp. 259-263 [Online]. Available: http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45PDF icon [PDF] (832.21 KB)
C. Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., “SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control”, in IEEE International Conference of Robotics and Automation (ICRA2016), Stockholm, Sweden, May 16-21, 2016, pp. 3516 - 3523 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487532PDF icon [PDF] (5.66 MB)
S. B. Godfrey, A. Ajoudani, Catalano, M. G., Grioli, G., and Bicchi, A., “A synergy-driven approach to a myoelectric hand”, in 13TH International Conference on Rehabilitation Robotics, June 24-26, 2013, Seattle, WA., 2013, pp. 1 - 6 [Online]. Available: 10.1109/ICORR.2013.6650377 PDF icon 2013_ICORR.pdf (614.74 KB)
A. Ajoudani, Godfrey, S. B., Catalano, M. G., Grioli, G., Tsagarakis, N. G., and Bicchi, A., “Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand”, in IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013, Tokyo, Japan, 2013, pp. 1985 - 1991. PDF icon [PDF] (1.63 MB)
E. Battaglia, Grioli, G., Catalano, M. G., Bianchi, M., Serio, A., Santello, M., and Bicchi, A., “ThimbleSense: A new wearable tactile device for human and robotic fingers ”, in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014. PDF icon [PDF] (5.1 MB)
E. Battaglia, Grioli, G., Catalano, M. G., Santello, M., and Bicchi, A., “ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies”, in IEEE International Conference on Robotics and Automation - ICRA 2014, Hong Kong, May 31 - June 7, 2014, 2014, pp. 2728 - 2735 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6907250PDF icon [PDF] (2.83 MB)
C. Piazza, C. Della Santina,, Gasparri, G. M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A., “Toward an Adaptive Foot for Natural Walking”, in International Conference on Humanoid Robots (HUMANOIDS2016), Cancun, Mexico, November 15-17, 2016, 2016 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7803423PDF icon [PDF] (4.37 MB)
L. Balletti, Rocchi, A., Belo, F. A. W., Catalano, M. G., Garabini, M., Grioli, G., and Bicchi, A., “Towards variable impedance assembly: the VSA peg-in-hole”, in IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan, 2012. PDF icon [PDF] (900.28 KB)
M. Bianchi, Grioli, G., Scilingo, E. P., Santello, M., and Bicchi, A., “Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position”, in Eurohaptics 2010, Amsterdam (The Netherlands), 2010, vol. 6192/2010, pp. 136 - 143. PDF icon [PDF] (439.61 KB)
M. G. Catalano, Grioli, G., Garabini, M., Belo, F. A. W., Di Basco, A., Tsagarakis, N. G., and Bicchi, A., “A Variable Damping module for Variable Impedance Actuation”, in International Conference of Robotics and Automation - ICRA 2012, Saint Paul, MN, USA, 2012, pp. 2666 - 2672. PDF icon [PDF] (785.17 KB)
G. Grioli, Catalano, M. G., Garabini, M., Bonomo, F., Serio, A., Salaris, P., Belo, F. A. W., Mancini, M., Bicchi, A., and Passaglia, A., “Variable stiffness actuators: muscles for the next generation of robots”, in Automatica.it 2011, Pisa, Italy, 2011. PDF icon [PDF] (7.79 MB)
G. M. Gasparri, Garabini, M., Pallottino, L., Malagia, L., Catalano, M. G., Grioli, G., and Bicchi, A., “Variable Stiffness Control for Oscillation Damping”, in IEEE International Conference of Intelligent Robots and Systems (IROS2015), Hamburg, Germany, September 28 - October 02, 2015, 2015, pp. 6543 - 6550 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7354312PDF icon [PDF] (531.93 KB)
V. Tincani, Catalano, M. G., Farnioli, E., Garabini, M., Grioli, G., Fantoni, G., and Bicchi, A., “ Velvet fingers: A dexterous gripper with active surfaces”, in International Conference of Intelligent Robots and Systems - IROS 2012, Vilamoura, Algarve, Portugal, 2012, pp. 1257 - 1263 . PDF icon [PDF] (1.85 MB)
M. G. Catalano, Grioli, G., Garabini, M., Bonomo, F., Mancini, M., Tsagarakis, N. G., and Bicchi, A., “VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems”, in 2011 IEEE International Conference on Robotics and Automation, Shangai, China, 2011, pp. 5090 - 5095. PDF icon [PDF] (1.39 MB)
M. G. Catalano, Grioli, G., Bonomo, F., Schiavi, R., and Bicchi, A., “VSA-HD: From the Enumeration Analysis to the Prototypical Implementation”, in IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis MO USA, 2010, pp. 3676 - 3681. PDF icon [PDF] (1.34 MB)
R. Schiavi, Grioli, G., Sen, S., and Bicchi, A., “VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans”, in Proc. IEEE Int. Conf. on Robotics and Automation, 2008, pp. 2171 - 2176. PDF icon [PDF] (562.35 KB)
Conference Proceedings
P. Capsi-Morales, Piazza, C., Catalano, M. G., Bicchi, A., and Grioli, G., “SIMULTANEOUS AND PROPORTIONAL DECODING OF STIFFNESS AND POSITION INTENTIONS FROM TWO SEMG CHANNELS FOR UL PROSTHETICS”, MEC20 Symposium. 2020 [Online]. Available: https://conferences.lib.unb.ca/index.php/mec/article/view/35PDF icon 35-other-40-2-10-20200720_1.pdf (841.16 KB)
Journal Article
M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., “Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand”, International Journal of Robotics Research, vol. 33, no. 5, pp. 768–782, 2014. PDF icon [PDF] (1.03 MB)
S. Fani, Bianchi, M., Jain, S., J. Neto, P., Boege, S., Grioli, G., Bicchi, A., and Santello, M., “Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications”, Frontiers in Neurorobotics, vol. 10, no. 11, 2016 [Online]. Available: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/PDF icon [PDF] (2.92 MB)
C. Piazza, Grioli, G., Catalano, M. G., and Bicchi, A., “A Century of Robotic Hands”, Annual Review of Control, Robotics, and Autonomous Systems, vol. 2, 2019 [Online]. Available: https://www.annualreviews.org/doi/10.1146/annurev-control-060117-105003
S. Lemerle, Catalano, M. G., Bicchi, A., and Grioli, G., “A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints”, Frontiers in Robotics and AI, vol. 8, 2021 [Online]. Available: https://www.frontiersin.org/article/10.3389/frobt.2021.614145PDF icon frobt-08-614145.pdf (3.57 MB)
C. Della Santina, Bianchi, M., Grioli, G., Angelini, F., Catalano, M. G., Garabini, M., and Bicchi, A., “Controlling Soft Robots: Balancing Feedback and Feedforward Elements”, IEEE Robotics and Automation Magazine, vol. 24, no. 3, pp. 75 - 83, 2017 [Online]. Available: http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438PDF icon [PDF] (1.22 MB)
F. Angelini, C. Della Santina,, Garabini, M., Bianchi, M., Gasparri, G. M., Grioli, G., Catalano, M. G., and Bicchi, A., “Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment”, IEEE Transactions on Robotics (T-RO)., vol. Early Access, 2018. PDF icon [PDF] (1.37 MB)
M. Maimeri, C. Della Santina,, Piazza, C., Rossi, M., Catalano, M. G., and Grioli, G., “Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs”, Frontiers in neurorobotics, vol. 13, 2019. PDF icon fnbot-13-00026_.pdf (1.12 MB)
M. Maimeri, C. Della Santina,, Piazza, C., Rossi, M., Catalano, M. G., and Grioli, G., “Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs”, Frontiers in neurorobotics, vol. 13, 2019 [Online]. Available: https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/fullPDF icon fnbot-13-00026_.pdf (1.12 MB)
A. Di Lallo, Catalano, M. G., Garabini, M., Grioli, G., Gabiccini, M., and Bicchi, A., “Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots”, Frontiers in Robotics and AI, 2019. PDF icon frobt-06-00023.pdf (4.57 MB)
G. M. Gasparri, Manara, S., Caporale, D., Averta, G., Bonilla, M., Marino, H., Catalano, M. G., Grioli, G., Bianchi, M., Bicchi, A., and Garabini, M., “Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints”, IEEE Robotics and Automation Letters, vol. 3, pp. 2299–2306, 2018. PDF icon 08294205.pdf (829.55 KB)
D. Mura, C. Della Santina,, Piazza, C., Frizza, I., Morandi, C., Garabini, M., Grioli, G., and Catalano, M. G., “Exploiting Adaptability in Soft Feet for Sensing Contact Forces”, IEEE Robotics and Automation Letters, vol. 5, no. 2, 2019 [Online]. Available: https://ieeexplore.ieee.org/document/8894422

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