@article {4376, title = {Force/Torque-Sensorless Joint Stiffness Estimation in Articulated Soft Robots}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, year = {2022}, month = {05/2022}, abstract = {

Currently, the access to the knowledge of stiffness values is typically constrained to a-priori identified models or datasheet information, which either do not usually take into account the full range of possible stiffness values or need extensive experiments. This work tackles the challenge of stiffness estimation in articulated soft manipulators, and it proposes an innovative solution adding value to the previous research by removing the necessity for force/torque sensors and generalizing to multi-degree-of-freedom robots. Built upon the theory of unknown input-state observers and recursive least-square algorithms, the solution is independent of the actuator model parameters and its internal control signals. The validity of the approach is proven analytically for single and multiple degree-offreedom robots. The obtained estimators are first evaluated via simulations on articulated soft robots with different actuations and then tested in experiments with real robotic setups using antagonistic variable stiffness actuators.

}, keywords = {Calibration and Identification, Compliant Joints and Mechanisms, Flexible Robots, Safety in HRI}, author = {Maja Trumic and Giorgio Grioli and Kosta Jovanovic and Adriano Fagiolini} } @article {4215, title = {Breathing in vitro: Designs and applications of engineered lung models}, journal = {Journal of Tissue Engineering}, volume = {12}, year = {2021}, pages = {20417314211008696}, abstract = {

The aim of this review is to provide a systematic design guideline to users, particularly engineers interested in developing and deploying lung models, and biologists seeking to identify a suitable platform for conducting in vitro experiments involving pulmonary cells or tissues. We first discuss the state of the art on lung in vitro models, describing the most simplistic and traditional ones. Then, we analyze in further detail the more complex dynamic engineered systems that either provide mechanical cues, or allow for more predictive exposure studies, or in some cases even both. This is followed by a dedicated section on microchips of the lung. Lastly, we present a critical discussion of the different characteristics of each type of system and the criteria which may help researchers select the most appropriate technology according to their specific requirements. Readers are encouraged to refer to the tables accompanying the different sections where comprehensive and quantitative information on the operating parameters and performance of the different systems reported in the literature is provided.

}, keywords = {aerosol exposure, fluidic systems, in vitro models, Lung models, stretching systems}, author = {Nossa, Roberta and Costa, Joana and Cacopardo, Ludovica and Ahluwalia, Arti} } @article {4318, title = {Comparison between rigid and soft poly-articulated prosthetic hands in non-expert myo-electric users shows advantages of soft robotics.}, journal = {Scientific Reports}, volume = {11}, year = {2021}, month = {12/2021}, chapter = {1}, abstract = {

Notwithstanding the advancement of modern bionic hands and the large variety of prosthetic hands in the market, commercial devices still present limited acceptance and percentage of daily use. While commercial prostheses present rigid mechanical structures, emerging trends in the design of robotic hands are moving towards soft technologies. Although this approach is inspired by nature and could be promising for prosthetic applications, there is scant literature concerning its benefits for end-users and in real-life scenarios. In this work, we evaluate and assess the role and the benefits of soft robotic technologies in the field of prosthetics. We propose a thorough comparison between rigid and soft characteristics of two poly-articulated hands in 5 non-expert myo-electric prosthesis users in pre- and post-therapeutic training conditions. The protocol includes two standard functional assessments, three surveys for user-perception, and three customized tests to evaluate the sense of embodiment. Results highlight that rigid hands provide a more precise grasp, while soft properties show higher functionalities thanks to their adaptability to different requirements, intuitive use and more natural execution of activities of daily living. This comprehensive evaluation suggests that softness could also promote a quick integration of the system in non-expert users.

}, isbn = {ISSN 2045-2322}, doi = {https://doi.org/10.1038/s41598-021-02562-y}, url = {https://www.nature.com/articles/s41598-021-02562-y}, author = {Capsi-Morales, Patricia and Piazza, Cristina and Catalano, Manuel G. and Grioli, Giorgio and Schiavon, Lisa and Fiaschi, Elena and Bicchi, Antonio} } @article {4178, title = {A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints}, journal = {Frontiers in Robotics and AI}, volume = {8}, year = {2021}, month = {03/2021}, abstract = {

Living beings modulate the impedance of their joints to interact proficiently, robustly, and safely with the environment. These observations inspired the design of soft articulated robots with the development of Variable Impedance and Variable Stiffness Actuators. However, designing them remains a challenging task due to their mechanical complexity, encumbrance, and weight, but also due to the different specifications that the wide range of applications requires. For instance, as prostheses or parts of humanoid systems, there is currently a need for multi-degree-of-freedom joints that have abilities similar to those of human articulations. Toward this goal, we propose a new compact and configurable design for a two-degree-of-freedom variable stiffness joint that can match the passive behavior of a human wrist and ankle. Using only three motors, this joint can control its equilibrium orientation around two perpendicular axes and its overall stiffness as a one-dimensional parameter, like the co-contraction of human muscles. The kinematic architecture builds upon a state-of-the-art rigid parallel mechanism with the addition of nonlinear elastic elements to allow the control of the stiffness. The mechanical parameters of the proposed system can be optimized to match desired passive compliant behaviors and to fit various applications (e.g., prosthetic wrists or ankles, artificial wrists, etc.). After describing the joint structure, we detail the kinetostatic analysis to derive the compliant behavior as a function of the design parameters and to prove the variable stiffness ability of the system. Besides, we provide sets of design parameters to match the passive compliance of either a human wrist or ankle. Moreover, to show the versatility of the proposed joint architecture and as guidelines for the future designer, we describe the influence of the main design parameters on the system stiffness characteristic and show the potential of the design for more complex applications

}, keywords = {articulated soft robotics, artificial joints, humanoids, prostheses, variable stiffness}, issn = {2296-9144}, doi = {10.3389/frobt.2021.614145}, url = {https://www.frontiersin.org/article/10.3389/frobt.2021.614145}, author = {S. Lemerle and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4223, title = {Integral pulse frequency modulation model driven by sympathovagal dynamics: Synthetic vs. real heart rate variability}, journal = {Biomedical Signal Processing and Control}, volume = {68}, year = {2021}, pages = {102736}, author = {Candia-Rivera, Diego and Catrambone, Vincenzo and Barbieri, Riccardo and Valenza, Gaetano} } @article {4119, title = {Integrating Wearable Haptics and Obstacle Avoidance for the Visually Impaired in Indoor Navigation: A User-Centered Approach}, journal = {IEEE Transactions on Haptics}, volume = {14}, year = {2021}, pages = {1-1}, chapter = {109}, doi = {10.1109/TOH.2020.2996748}, url = {https://ieeexplore.ieee.org/document/9099604}, author = {F. Barontini and M. G. Catalano and L. Pallottino and B. Leporini and M. Bianchi} } @article {4222, title = {Intensification of functional neural control on heartbeat dynamics in subclinical depression}, journal = {Translational Psychiatry}, volume = {11}, year = {2021}, pages = {1{\textendash}10}, author = {Catrambone, Vincenzo and Benvenuti, Simone Messerotti and Gentili, Claudio and Valenza, Gaetano} } @conference {4382, title = {Iterative Learning in Functional Space for Non-Square Linear Systems}, booktitle = {2021 60th IEEE Conference on Decision and Control (CDC)}, year = {2021}, pages = {5858{\textendash}5863}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Many control problems are naturally expressed in continuous time. Yet, in Iterative Learning Control of linear systems, sampling the output signal has proven to be a convenient strategy to simplify the learning process while sacrificing only marginally the overall performance. In this context, the control action is similarly discretized through zero-order hold - thus leading to a discrete-time system. With this paper, we want to investigate an alternative strategy, which is to track sampled outputs without masking the continuous nature of the input. Instead, we look at the whole input evolution as an element of a functional subspace. We show how standard results in linear Iterative Learning Control naturally extend to this context. As a result, we can leverage the infinite-dimensional nature of functional spaces to achieve exact tracking of strongly non-square systems (number of inputs less than outputs). We also show that constraints - like those imposed by intermittent control - can be naturally integrated within this framework.

}, keywords = {Aerospace electronics, Conferences, Discrete-time systems, Linear systems, Process control, Standards, Time-varying systems}, doi = {10.1109/CDC45484.2021.9683673}, url = {https://ieeexplore.ieee.org/document/9683673}, author = {Della Santina, Cosimo and Angelini, Franco} } @article {4120, title = {On Null Space-Based Inverse Kinematics Techniques for Fleet Management: Toward Time-Varying Task Activation}, journal = {IEEE Transactions on Robotics}, volume = {37}, year = {2021}, pages = {257 - 274}, doi = {10.1109/TRO.2020.3018642}, url = {https://ieeexplore.ieee.org/document/9194321}, author = {A. Mannucci and D. Caporale and L. Pallottino} } @article {4299, title = {Robust Footstep Planning and LQR Control for Dynamic Quadrupedal Locomotion}, journal = {IEEE Robotics and Automation Letters}, volume = {6}, year = {2021}, pages = {4488{\textendash}4495}, author = {Xin, Guiyang and Xin, Songyan and Cebe, Oguzhan and Pollayil, Mathew Jose and Angelini, Franco and Garabini, Manolo and Vijayakumar, Sethu and Mistry, Michael} } @article {4300, title = {A Robust Iterative Learning Control for Continuous-Time Nonlinear Systems With Disturbances}, journal = {IEEE Access}, volume = {9}, year = {2021}, pages = {147471-147480}, doi = {10.1109/ACCESS.2021.3124014}, author = {Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo} } @article {4270, title = {Scaling of joint mass and metabolism fluctuations in in silico cell-laden spheroids}, journal = {Proceedings of the National Academy of Sciences}, volume = {118}, year = {2021}, abstract = {

Variations and fluctuations are characteristic features of biological systems and are also manifested in cell cultures. Here, we describe a computational pipeline for identifying the range of three-dimensional (3D) cell-aggregate sizes in which nonisometric scaling emerges in the presence of joint mass and metabolic rate fluctuations. The 3D cell-laden spheroids with size and single-cell metabolic rates described by probability density functions were randomly generated in silico. The distributions of the resulting metabolic rates of the spheroids were computed by modeling oxygen diffusion and reaction. Then, a method for estimating scaling exponents of correlated variables through statistically significant data collapse of joint probability distributions was developed. The method was used to identify a physiologically relevant range of spheroid sizes, where both nonisometric scaling and a minimum oxygen concentration (0.04 mol.m-3) is maintained. The in silico pipeline described enables the prediction of the number of experiments needed for an acceptable collapse and, thus, a consistent estimate of scaling parameters. Using the pipeline, we also show that scaling exponents may be significantly different in the presence of joint mass and metabolic-rate variations typically found in cells. Our study highlights the importance of incorporating fluctuations and variability in size and metabolic rates when estimating scaling exponents. It also suggests the need for taking into account their covariations for better understanding and interpreting experimental observations both in vitro and in vivo and brings insights for the design of more predictive and physiologically relevant in vitro models.

}, doi = {https://doi.org/10.1073/pnas.2025211118}, url = {https://www.pnas.org/content/118/38/e2025211118}, author = {Botte, Ermes and Biagini, Francesco and Magliaro, Chiara and Rinaldo, Andrea and Maritan, Amos and Ahluwalia, Arti} } @article {4224, title = {Time-resolved Brain-to-Heart Probabilistic Information Transfer Estimation Using Inhomogeneous Point-Process Models}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2021}, author = {Catrambone, Vincenzo and Talebi, Alireza and Barbieri, Riccardo and Valenza, Gaetano} } @article {4193, title = {Tools and approaches for analysing the role of mitochondria in health, development and disease using human cerebral organoids}, journal = {Developmental Neurobiology}, year = {2021}, abstract = {

Mitochondria are cellular organelles involved in generating energy to power various processes in the cell. Although the pivotal role of mitochondria in neurogenesis was demonstrated (first in animal models), very little is known about their role in human embryonic neurodevelopment and its pathology. In this respect human-induced pluripotent stem cells (hiPSC)-derived cerebral organoids provide a tractable, alternative model system of the early neural development and disease that is responsive to pharmacological and genetic manipulations, not possible to apply in humans. Although the involvement of mitochondria in the pathogenesis and progression of neurodegenerative diseases and brain dysfunction has been demonstrated, the precise role they play in cell life and death remains unknown, compromising the development of new mitochondria-targeted approaches to treat human diseases. The cerebral organoid model of neurogenesis and disease in vitro provides an unprecedented opportunity to answer some of the most fundamental questions about mitochondrial function in early human neurodevelopment and neural pathology. Largely an unexplored territory due to the lack of tools and approaches, this review focuses on recent technological advancements in fluorescent and molecular tools, imaging systems, and computational approaches for quantitative and qualitative analyses of mitochondrial structure and function in three-dimensional cellular assemblies-cerebral organoids. Future developments in this direction will further facilitate our understanding of the important role or mitochondrial dynamics and energy requirements during early embryonic development. This in turn will provide a further understanding of how dysfunctional mitochondria contribute to disease processes.

}, keywords = {cerebral organoids; computational models; mitochondria imaging; mitochondrial dyes; reporter fluorescent proteins.}, doi = {doi: 10.1002/dneu.22818. Online ahead of print.}, url = {https://pubmed.ncbi.nlm.nih.gov/33725382/}, author = {Liput, Micha{\l} and Magliaro, Chiara and Kuczy{\'n}ska, Zuzanna and Zayat, Valery and Ahluwalia, Arti and Buzanska, Leonora} } @article {4220, title = {Toward brain{\textendash}heart computer interfaces: a study on the classification of upper limb movements using multisystem directional estimates}, journal = {Journal of Neural Engineering}, volume = {18}, year = {2021}, pages = {046002}, author = {Catrambone, Vincenzo and Averta, Giuseppe and Bianchi, Matteo and Valenza, Gaetano} } @article {4205, title = {A wearable wrist haptic display for motion tracking and force feedback in the operational space}, journal = {Wearable Technologies}, volume = {2}, year = {2021}, author = {Laghi, Marco and Catalano, Manuel G and Grioli, Giorgio and Bicchi, Antonio} } @article {4271, title = {WRAPP-up: A Dual-Arm Robot for Intralogistics}, journal = {IEEE Robotics Automation Magazine}, volume = {28}, year = {2021}, pages = {50-66}, abstract = {

The diffusion of e-commerce has produced larger and larger volumes of varying items to be handled in warehouses, with the effect that the need for picking automation is increasing. Conventionally, automation has been achieved through a custom plant designed for large-scale production of items having well-established characteristics that are expected to change slowly and to only a small degree over time. However, today the challenge is to realize a solution that is flexible enough to handle goods with different shapes, sizes, and physical properties and that require different grasping modes. To solve this problem, we first analyzed how humans perform picking and then synthesized their behavior according to four main tactics. These were then used as guidelines for the design, planning, and control of WRAPP-up, a dual-arm robot composed of two anthropomorphic manipulators: a Pisa/IIT SoftHand and a velvet tray (Figure 1). The system has been validated and evaluated through extensive experimental tests.

}, doi = {10.1109/MRA.2020.3015899}, url = {https://ieeexplore.ieee.org/document/9212558?fbclid=IwAR05rgEATvdOFrtQWMrNKMrGHGfvtKE4MEKcj3i9pb6KAI4XTdhMqaq7MNc}, author = {Garabini, Manolo and Caporale, Danilo and Tincani, Vinicio and Palleschi, Alessandro and Gabellieri, Chiara and Gugliotta, Marco and Settimi, Alessandro and Catalano, Manuel Giuseppe and Grioli, Giorgio and Pallottino, Lucia} } @conference {4179, title = {Compliance Control of a Cable-Suspended Aerial Manipulator using Hierarchical Control Framework}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7196-7202}, doi = {10.1109/IROS45743.2020.9340703}, author = {C. Gabellieri and Y. S. Sarkisov and A. Coelho and L. Pallottino and K. Kondak and M. J. Kim} } @article {4293, title = {Control architecture for human-like motion with applications to articulated soft robots}, journal = {Frontiers in Robotics and AI}, volume = {7}, year = {2020}, author = {Angelini, Franco and Della Santina, Cosimo and Garabini, Manolo and Bianchi, Matteo and Bicchi, Antonio} } @article {3701, title = {Distributed model predictive control for energy management in a network of microgrids using the dual decomposition method}, journal = {Optimal Control Applications and Methods}, year = {2020}, chapter = {1-17}, abstract = {

Summary This paper deals with the application of model predictive control (MPC) to optimize power flows in a network of interconnected microgrids (MGs). More specifically, a distributed MPC (DMPC) approach is used to compute for each MG how much active power should be exchanged with other MGs and with the outer power grid. Due to the presence of coupled variables, the DMPC approach must be used in a suitable way to guarantee the feasibility of the consensus procedure among the MGs. For this purpose, we adopt a tailored dual decomposition method that allows us to reach a feasible solution while guaranteeing the privacy of single MGs (ie, without having to share private information like the amount of generated energy or locally consumed energy). Simulation results demonstrate the features of the proposed cooperative control strategy and the obtained benefits with respect to other classical centralized control methods.

}, keywords = {distributed systems, dual decomposition, microgrids, model predictive control}, doi = {10.1002/oca.2504}, url = {https://onlinelibrary.wiley.com/doi/abs/10.1002/oca.2504}, author = {M. Razzanelli and E. Crisostomi and L. Pallottino and G. Pannocchia} } @article {4083, title = {Evaluation of a Simultaneous Myoelectric Control Strategy for a Multi-DoF Transradial Prosthesis}, year = {2020}, author = {C. Piazza and M. Rossi and M. G. Catalano and A. Bicchi and L. Hargrove} } @article {4085, title = {Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand}, journal = {Journal of NeuroEngineering and Rehabilitation}, volume = {17}, year = {2020}, chapter = {116}, doi = {https://doi.org/10.1186/s12984-020-00741-y}, url = {https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-020-00741-y$\#$article-info}, author = {C. Piazza and A. M. Simon and K. L. Turner and L. A. Miller and M. G. Catalano and A. Bicchi and L. Hargrove} } @article {4079, title = {Exploring Stiffness Modulation in Prosthetic Hands and Its Perceived Function in Manipulation and Social Interaction.}, journal = {Frontiers in Neurorobotics}, volume = {14}, year = {2020}, month = {06/2020}, abstract = {

To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a method to control a prosthetic robot hand and its impedance, and explores the utility of variable stiffness when performing activities of daily living and physical social interactions. The proposed method is capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. The feasibility of our approach is validated and compared to existing control modalities in a preliminary study involving one prosthesis user. The algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). Then, we evaluate the usability of the proposed approach while executing a variety of tasks. Among these tasks, the user interacts with other 12 able-bodied subjects, whose experiences were also assessed. Several statistically significant aspects from the System Usability Scale indicate user{\textquoteright}s preference of variable stiffness control over low or high constant stiffness due to its reactivity and adaptability. Feedback reported by able-bodied subjects reveal a general tendency to favor soft interaction, i.e., low stiffness, which is perceived more human-like and comfortable. These combined results suggest the use of variable stiffness as a viable compromise between firm control and safe interaction which is worth investigating further.

}, keywords = {human-robot social interaction, impedance control, prosthetics, Soft robotics, task adaptability}, doi = {10.3389/fnbot.2020.00033}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2020.00033/full?\&utm_source=Email_to_authors_\&utm_medium=Email\&utm_content=T1_11.5e1_author\&utm_campaign=Email_publication\&field=\&journalName=Frontiers_in_Neurorobotics\&id=503842}, author = {Capsi-Morales, Patricia and C. Piazza and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4081, title = {Exploring the Role of Palm Concavity and Adaptability in Soft Synergistic Robotic Hands}, journal = { IEEE Robotics and Automation Letters }, volume = {5}, year = {2020}, month = {17 June 2020}, pages = {4703 - 4710}, chapter = {4703}, abstract = {

Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an articulated palm improves finger workspace and manipulability. We propose a mechanical design of a modular palm with two elastic rolling-contact palmar joints, that can be integrated on the Pisa/IIT SoftHand, without introducing additional motors. With this prototype, we evaluate experimentally the grasping capabilities of a robotic palm. We compare its performance to that of the same robotic hand with the palm fixed, and to that of a human hand. To assess the effective grasp quality achieved by the three systems, we measure the contact area using paint-transfer patterns in different grasping actions. Preliminary grasping experiments show a closer resemblance of the soft-palm robotic hand to the human hand. Results evidence a higher adaptive capability and a larger involvement of all fingers in grasping.

}, keywords = {Ellipsoids, Grasping, Indexes, Kinematics, Robots, Shape, Thumb}, issn = { 2377-3766}, doi = {10.1109/LRA.2020.3003257}, url = {https://ieeexplore.ieee.org/document/9119822?source=authoralert}, author = {Capsi-Morales, Patricia and G. Grioli and C. Piazza and A. Bicchi and M. G. Catalano} } @conference {4135, title = {Grid-Based Stochastic Model Predictive Control for Trajectory Planning in Uncertain Environments}, booktitle = {2020 IEEE 23rd International Conference on Intelligent Transportation Systems (ITSC)}, year = {2020}, pages = {1-8}, doi = {10.1109/ITSC45102.2020.9294388}, author = {T. Br{\"u}digam and F. D. Luzio and L. Pallottino and D. Wollherr and M. Leibold} } @article {4295, title = {Hands in the real world}, journal = {Frontiers in Robotics and AI}, volume = {6}, year = {2020}, pages = {147}, author = {Negrello, Francesca and Stuart, Hannah S and Catalano, Manuel G} } @conference {4297, title = {Iterative learning control as a framework for human-inspired control with bio-mimetic actuators}, booktitle = {Conference on Biomimetic and Biohybrid Systems}, year = {2020}, pages = {12{\textendash}16}, publisher = {Springer}, organization = {Springer}, author = {Angelini, Franco and Bianchi, Matteo and Garabini, Manolo and Bicchi, Antonio and Della Santina, Cosimo} } @article {4118, title = {LiDAR-Based GNSS Denied Localization for Autonomous Racing Cars}, journal = {Sensors}, volume = {20}, year = {2020}, doi = {10.3390/s20143992}, url = {https://www.mdpi.com/1424-8220/20/14/3992$\#$cite}, author = {F. Massa and L. Bonamini and A Settimi and L. Pallottino and D. Caporale} } @inbook {4117, title = {Networked Systems Theory: Distributed Algorithms for Optimal Cooperation of Dynamical Systems}, booktitle = {Analytics for the Sharing Economy: Mathematics, Engineering and Business Perspectives}, year = {2020}, pages = {25{\textendash}37}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, abstract = {

Interconnection of a large number of systems has become a reality from a technological point of view although intelligent connection among smart systems still presents a challenge in several application scenarios. More specifically, when many smart devices must accomplish an overall goal based on information exchanges with other devices, several factors render this task a real challenge, such as, knowing what specific information to exchange, with whom, how to go about it, and when this exchange will occur. Moreover, interconnected devices may require access to or the use of common resources, making the management of the overall system even more complex. The management of shared resources usually sets the goal of optimizing usage while guaranteeing achievement of the overall goals. Algorithms or protocols that grant the device a correct, safe and optimized access to resources play a fundamental role. In this chapter we will provide those algorithms that are fundamental in several different application scenarios that allow for the development of more complex algorithms in order to manage interconnected systems in the management of shared resources.

}, isbn = {978-3-030-35032-1}, doi = {10.1007/978-3-030-35032-1_3}, url = {https://doi.org/10.1007/978-3-030-35032-1_3}, author = {L. Pallottino}, editor = {E. Crisostomi and B. Ghaddar and F. Hausler and J. Naoum-Sawaya and G. Russo and R. Shorten} } @proceedings {4106, title = {SIMULTANEOUS AND PROPORTIONAL DECODING OF STIFFNESS AND POSITION INTENTIONS FROM TWO SEMG CHANNELS FOR UL PROSTHETICS}, year = {2020}, month = {07/2020}, abstract = {

To physically interact with a rich variety of environments and situation-oriented requirements, humans continuously adapt both the stiffness and the force of their limbs through antagonistic muscle coactivation. Reflecting this behaviour in prostheses may promote control naturalness and intuitiveness and, consequently, their acceptance in everyday life. We propose a method capable of a simultaneous and proportional decoding of position and stiffness intentions from two surface electro-myographic sensors placed over a pair of antagonistic muscles. First, the algorithm is validated and compared to existing control modalities. Then, the algorithm is implemented in a soft under-actuated prosthetic hand (SoftHand Pro). We investigated the feasibility of our approach in a preliminary study involving one prosthetic user. Our future goal is to evaluate the usability of the proposed approach executing a variety of tasks including physical social interaction with other subjects (see Figure 1). Our hypothesis is that variable stiffness could be a compromise between firm control and safe interaction.

}, url = {https://conferences.lib.unb.ca/index.php/mec/article/view/35}, author = {Capsi-Morales, Patricia and C. Piazza and M. G. Catalano and A. Bicchi and G. Grioli} } @article {4292, title = {Softhandler: An integrated soft robotic system for handling heterogeneous objects}, journal = {IEEE Robotics \& Automation Magazine}, volume = {27}, year = {2020}, pages = {55{\textendash}72}, author = {Angelini, Franco and Petrocelli, Cristiano and Catalano, Manuel G and Garabini, Manolo and Grioli, Giorgio and Bicchi, Antonio} } @article {4291, title = {Time generalization of trajectories learned on articulated soft robots}, journal = {IEEE Robotics and Automation Letters}, volume = {5}, year = {2020}, pages = {3493{\textendash}3500}, author = {Angelini, Franco and Mengacci, Riccardo and Della Santina, Cosimo and Catalano, Manuel G and Garabini, Manolo and Bicchi, Antonio and Grioli, Giorgio} } @conference {4320, title = {Towards a Myoelectric Prosthetic Wrist with Rigid and Compliant Behaviour}, booktitle = {International Conference on NeuroRehabilitation}, year = {2020}, month = {10/2020}, pages = {489-493}, abstract = {

The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capability enables the adjustment of hand configuration in pre-grasping phases and separates the hand motion from the wrist motion. The proposed wrist, combined with a prosthetic hand, was tested with 8 able-bodied subjects and 1 subject with limb loss. It was compared to a common commercial rotational wrist and to subjects{\textquoteright} natural wrist. Results evidence the feasibility of the prototype, improved performance capabilities, and the subjects{\textquoteright} first impression about the proposed system. Finally, a prosthesis user tested and compared systems during Activities of Daily Living (ADL).

}, doi = {https://doi.org/10.1007/978-3-030-70316-5_78}, url = {https://link.springer.com/chapter/10.1007/978-3-030-70316-5_78}, author = {Capsi-Morales, Patricia and Piazza, Cristina and Grioli, Giorgio and Bicchi, Antonio and Catalano, Manuel G.} } @conference {4319, title = {Towards More Natural Transradial Bionic Limbs}, booktitle = {I-RIM}, year = {2020}, month = {12/2020}, abstract = {

Based on previous experience with prosthesis users and literature, this paper introduces three important aspects to further develop functional transradial myoelectric prostheses: stiffness modulation, grasp reliability and limb dexterity. In particular, we propose three possible solutions and discuss on the insights observed about the exploration of impedance control in prosthetic hands during Activities of Daily Living and social interaction, the introduction of an articulated palm to increase all hand parts contribution in grasping, and a compact 3 DoF myoelectric wrist capable to switch from compliant to rigid properties during pre-grasping phase to decrease compensatory movements and favour more natural body postures in prosthesis users.

}, keywords = {Bionic Limbs, Myoelectric control, Soft-robotics, Upper-limb prostheses}, url = {https://i-rim.it/wp-content/uploads/2020/12/I-RIM_2020_paper_144.pdf}, author = {Capsi-Morales, Patricia and Catalano, Manuel G. and Grioli, Giorgio and Piazza, Cristina and Bicchi, Antonio} } @conference {4298, title = {Trajectory tracking of a one-link flexible arm via iterative learning control}, booktitle = {2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2020}, pages = {7579{\textendash}7586}, publisher = {IEEE}, organization = {IEEE}, author = {Pierallini, Michele and Angelini, Franco and Mengacci, Riccardo and Palleschi, Alessandro and Bicchi, Antonio and Garabini, Manolo} } @article {3717, title = {Analysis of series elasticity in locomotion of a planar bipedal robot}, journal = { INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, year = {2019}, author = {S. Manara and G M Gasparri and M. Garabini and D. Caporale and M Gabiccini and A. Bicchi} } @article {3749, title = {Artificial hand}, number = {16/302227}, year = {2019}, month = {09/05}, url = {https://patentimages.storage.googleapis.com/4f/2c/07/915e9723cfe164/US20190269528A1.pdf}, author = {A. Bicchi and M. G. Catalano and C. Piazza and G. Grioli and C. Della Santina and M. Garabini} } @article {3678, title = {Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates}, journal = {Biomedical Signal Processing and Control}, volume = {51}, year = {2019}, month = {05/2019}, chapter = {42}, doi = {https://doi.org/10.1016/j.bspc.2019.02.007}, url = {https://www.sciencedirect.com/science/article/pii/S1746809419300436}, author = {A. Greco and G. Valenza and A. Bicchi and M. Bianchi and E. P. Scilingo} } @article {3649, title = {A Century of Robotic Hands}, journal = {Annual Review of Control, Robotics, and Autonomous Systems}, volume = {2}, year = {2019}, doi = {https://doi.org/10.1146/annurev-control-060117-105003}, url = {https://www.annualreviews.org/doi/10.1146/annurev-control-060117-105003}, author = {C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {4296, title = {A compact soft articulated parallel wrist for grasping in narrow spaces}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, pages = {3161{\textendash}3168}, author = {Negrello, Francesca and Mghames, Sariah and Grioli, Giorgio and Garabini, Manolo and Catalano, Manuel Giuseppe} } @conference {3719, title = {Comparison of Three Hand Pose Reconstruction Algorithms Using Inertial and Magnetic Measurement Units}, booktitle = {18th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2018}, year = {2019}, doi = {10.1109/HUMANOIDS.2018.8624929}, url = {https://ieeexplore.ieee.org/document/8624929}, author = {P. J. Kieliba and P. H. Veltink and T. Lisini Baldi and D. Pratichizzo and G. Santaera and A. Bicchi and M. Bianchi and B. J. F. Van Beijnum} } @article {3700, title = {Deconfliction of Motion Paths With Traffic Inspired Rules}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {April}, pages = {2227-2234}, keywords = {Automobiles, Autonomous Vehicles, Collision Avoidance, multi-robot systems, Navigation, Physical Human-Robot Interaction, Roads, Robots, Safety}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2899932}, author = {F. Celi and L. Wang and L. Pallottino and M. Egerstedt} } @article {3744, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/full}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3745, title = {Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs}, journal = {Frontiers in neurorobotics}, volume = {13}, year = {2019}, doi = {10.3389/fnbot.2019.00026}, author = {M. Maimeri and C. Della Santina and C. Piazza and M. Rossi and M. G. Catalano and G. Grioli} } @article {3681, title = {Design and Validation of a Modular One-To-Many Actuator for a Soft Wearable Exosuit}, journal = {Frontiers in Neurorobotics}, year = {2019}, month = {06/2019}, doi = {https://doi.org/10.3389/fnbot.2019.00039}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2019.00039/full}, author = {M. Xiloyannis and E. Annese and M. Canesi and A. Kodian and A. Bicchi and S. Micera and A. Ajoudani and L. Masia} } @article {3638, title = {Dynamic Morphological Computation Through Damping Design of Soft Continuum Robots}, journal = {Frontiers in Robotics and AI}, year = {2019}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M Gabiccini and A. Bicchi} } @conference {3708, title = {Dynamic motion control of multi-segment soft robots using piecewise constant curvature matched with an augmented rigid body model}, booktitle = {RoboSoft 2019 - 2019 IEEE International Conference on Soft Robotics }, year = {2019}, author = {R. K. Katzschmann and C. D. Santina and Y. Toshimitsu and A. Bicchi and D. Rus} } @article {3640, title = {Exact Task Execution in Highly Under-Actuated Soft Limbs: An Operational Space Based Approach}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 3 , July 2019}, year = {2019}, month = {04/2019}, author = {C. Della Santina and L. Pallottino and D. Rus and A. Bicchi} } @article {3751, title = {Exploiting Adaptability in Soft Feet for Sensing Contact Forces}, journal = { IEEE Robotics and Automation Letters}, volume = {5}, year = {2019}, month = {11/2019}, chapter = {391}, doi = {https://doi.org/10.1109/LRA.2019.2952292}, url = {https://ieeexplore.ieee.org/document/8894422}, author = {D. Mura and C. Della Santina and C. Piazza and I. Frizza and C. Morandi and M. Garabini and G. Grioli and M. G. Catalano} } @article {4218, title = {Functional linear and nonlinear brain{\textendash}heart interplay during emotional video elicitation: a maximum information coefficient study}, journal = {Entropy}, volume = {21}, year = {2019}, pages = {892}, author = {Catrambone, Vincenzo and Greco, Alberto and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3709, title = {Guest Editorial Neuro-Robotics Systems: Sensing, Cognition, Learning, and Control}, journal = {IEEE Transactions on Cognitive and Developmental Systems }, year = {2019}, author = {Z. Li and F. Chen and A. Bicchi and Y. Sun and T. Fukuda} } @article {4221, title = {Lateralization of directional brain-heart information transfer during visual emotional elicitation}, journal = {American Journal of Physiology-Regulatory, Integrative and Comparative Physiology}, volume = {317}, year = {2019}, pages = {R25{\textendash}R38}, author = {Greco, Alberto and Faes, Luca and Catrambone, Vincenzo and Barbieri, Riccardo and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3621, title = {Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, month = {April}, pages = {1533-1540}, keywords = {Computer architecture, Control, Deep Learning in Robotics and Automation, Grasping, Learning for Soft Robots, Modeling, Natural Machine Motion, Neural networks, Robot sensing systems, Uncertainty, Videos}, issn = {2377-3766}, doi = {10.1109/LRA.2019.2896485}, author = {C. D. Santina and V. Arapi and G. Averta and F. Damiani and G. Fiore and A Settimi and M. G. Catalano and D. Bacciu and A. Bicchi and M. Bianchi} } @article {3643, title = {A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019 }, year = {2019}, month = {01/2019}, author = {N. Colella and M. Bianchi and G. Grioli and A. Bicchi and M. G. Catalano} } @conference {3748, title = {An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test}, booktitle = {IEEE International Conference on Rehabilitation Robotics (ICORR)}, year = {2019}, doi = {10.1109/ICORR.2019.8779550}, author = {C. M. Kanzler and M. G. Catalano and C. Piazza and A. Bicchi and R. Gassert and O. Lambercy} } @article {4219, title = {Predicting object-mediated gestures from brain activity: an EEG study on gender differences}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {27}, year = {2019}, pages = {411{\textendash}418}, author = {Catrambone, Vincenzo and Greco, Alberto and Averta, Giuseppe and Bianchi, Matteo and Valenza, Gaetano and Scilingo, Enzo Pasquale} } @article {4134, title = {Provably Safe Multi-Robot Coordination With Unreliable Communication}, journal = {IEEE Robotics and Automation Letters}, volume = {4}, year = {2019}, pages = {3232-3239}, doi = {10.1109/LRA.2019.2924849}, author = {A. Mannucci and L. Pallottino and F. Pecora} } @conference {3150, title = {A real-time identification and tracking method for the musculoskeletal model of human arm}, booktitle = {2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) }, year = {2019}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @article {3642, title = {Relaying the High-Frequency Contents of TactileFeedback to Robotic Prosthesis Users: Design,Filtering, Implementation, and Validation}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Fani and K. Di Blasio and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {3641, title = {A Spherical Active Joint for Humanoids and Humans}, journal = {IEEE Robotics and Automation Letters}, volume = {Volume: 4 , Issue: 2 , April 2019}, year = {2019}, month = {01/2019}, author = {S. Mghames and M. G. Catalano and A. Bicchi and G. Grioli} } @article {3677, title = {On the time-invariance properties of upper limb synergies}, journal = {IEEE Transactions on Neural Systems and Rehabilitation Engineering }, year = {2019}, month = {07/2019}, doi = {https://doi.org/10.1109/TNSRE.2019.2918311}, url = {https://www.ncbi.nlm.nih.gov/pubmed/31135365}, author = {G. Averta and G. Valenza and V. Catrambone and F. Barontini and E. P. Scilingo and A. Bicchi and M. Bianchi} } @article {4217, title = {Time-resolved directional brain{\textendash}heart interplay measurement through synthetic data generation models}, journal = {Annals of biomedical engineering}, volume = {47}, year = {2019}, pages = {1479{\textendash}1489}, author = {Catrambone, Vincenzo and Greco, Alberto and Vanello, Nicola and Scilingo, Enzo Pasquale and Valenza, Gaetano} } @article {3710, title = {Touch as an auxiliary proprioceptive cue for movement control}, journal = {Indian Journal of Pure and Applied Physics }, year = {2019}, author = {A. Moscatelli and M. Bianchi and S. Ciotti and G. C. Bettelani and C. V. Parise and F. Lacquaniti and A. Bicchi} } @proceedings {3698, title = {Towards the Design of Robotic Drivers for Full-Scale Self-Driving Racing Cars}, year = {2019}, author = {D. Caporale and A Settimi and F. Massa and F. Amerotti and A. Corti and A. Fagiolini and M. Guiggiani and A. Bicchi and L. Pallottino} } @article {3760, title = {Unifying bilateral teleoperation and tele-impedance for enhanced user experience}, journal = {International Journal of Robotics Research}, year = {2019}, month = {12/2019}, type = {Journal}, abstract = {

Usability is one of the most important aspects of teleoperation. Ideally, the operator{\textquoteright}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{\textquoteright}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{\textquoteright}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.

}, keywords = {bilateral, stability, Teleoperation, transparency, usability}, doi = {10.1177/0278364919891773}, url = {https://journals.sagepub.com/doi/10.1177/0278364919891773}, author = {Laghi, Marco and Ajoudani, Arash and Catalano, Manuel G. and Bicchi, Antonio} } @article {3655, title = {Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.}, journal = {Journal of Robotic Surgery }, year = {2019}, author = {A. Giannini and M. Bianchi and D. Doria and S. Fani and M. Caretto and A. Bicchi and T. Simoncini} } @conference {3682, title = {Advanced grasping with the Pisa/IIT softHand}, booktitle = {Robotic Grasping and Manipulation Challenge }, year = {2018}, pages = {pp. 19-38}, author = {M. Bonilla and C. Della Santina and A. Rocchi and E. Luberto and G. Santaera and E. Farnioli and C. Piazza and F. Bonomo and A. Brando and A. Raugi and M. G. Catalano and M. Bianchi and M. Garabini and G. Grioli and A. Bicchi} } @article {3377, title = {Aerial Co-Manipulation With Cables: The Role of Internal Force for Equilibria, Stability, and Passivity}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {July}, pages = {2577-2583}, keywords = {Admittance, Aerial systems: mechanics and control, distributed robot systems, Force, mobile manipulation, multi-robot systems, Robot kinematics, Stability criteria, Transportation}, doi = {10.1109/LRA.2018.2803811}, author = {M. Tognon and C. Gabellieri and L. Pallottino and A. Franchi} } @conference {3724, title = {Approximate hybrid model predictive control for multi-contact push recovery in complex environments}, booktitle = {IEEE RAS International Conference on Humanoid Robots}, year = {2018}, doi = { 10.1109/HUMANOIDS.2017.8239534}, author = {T. Marcucci and R. Deits and M. Gabiccini and A. Bicchi and R. Tedrake} } @conference {3383, title = {Autonomous 3D exploration of large areas: A cooperative frontier-based approach}, booktitle = {International Conference on Modelling and Simulation for Autonomous Systems}, volume = {10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in }, year = {2018}, note = {

Cited By :1

}, pages = {18-39}, doi = {10.1007/978-3-319-76072-8_2}, author = {A. Mannucci and S. Nardi and L. Pallottino} } @article {3326, title = {Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment}, journal = {IEEE Transactions on Robotics (T-RO).}, volume = {Early Access}, year = {2018}, month = {06/2018}, abstract = {

Despite the classic nature of the problem, trajectory

tracking for soft robots, i.e. robots with compliant elements

deliberately introduced in their design, still presents several

challenges. One of these is to design controllers which can

obtain sufficiently high performance while preserving the physical

characteristics intrinsic to soft robots. Indeed, classic control

schemes using high gain feedback actions fundamentally alter the

natural compliance of soft robots effectively stiffening them, thus

de facto defeating their main design purpose. As an alternative

approach, we consider here to use a low-gain feedback, while

exploiting feedforward components. In order to cope with the

complexity and uncertainty of the dynamics, we adopt a decentralized,

iteratively learned feedforward action, combined with

a locally optimal feedback control. The relative authority of the

feedback and feedforward control actions adapts with the degree

of uncertainty of the learned component. The effectiveness of the

method is experimentally verified on several robotic structures

and working conditions, including unexpected interactions with

the environment, where preservation of softness is critical for

safety and robustness.

}, keywords = {Robotics}, author = {F. Angelini and C. Della Santina and M. Garabini and M. Bianchi and G M Gasparri and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3696, title = {DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information}, journal = {Frontiers in Neurorobotics}, year = {2018}, author = {A. Visar and C. Della Santina and D. Bacciu and M. Bianchi and A. Bicchi} } @article {3679, title = {Design and proof of concept for multi degree of freedom hydrostatically coupled dielectric elastomer actuators with roto-translational kinematics for object handling}, journal = {Smart Materials and Structures}, year = {2018}, author = {A. De Acutis and L. Calabrese and A. Bau and V. Tincani and N. M. Pugno and A. Bicchi and D. De Rossi} } @conference {3382, title = {Design of an indoor autonomous robot navigation system for unknown environments}, booktitle = {International Conference on Modelling and Simulation for Autonomous Systems}, volume = {10756 LNCS Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in }, year = {2018}, note = {

Cited By :1

}, pages = {153-169}, doi = {10.1007/978-3-319-76072-8_11}, author = {L. Silvestri and L. Pallottino and S. Nardi} } @conference {3325, title = {Dynamic Control of Soft Robots Interacting with the Environment}, booktitle = {IEEE International Conference on Soft Robotics}, year = {2018}, month = {07/2018}, publisher = {IEEE}, organization = {IEEE}, address = {24 - 28 April 2018, Livorno, Italy}, keywords = {Robotics}, doi = {https://doi.org/10.1109/ROBOSOFT.2018.8404895}, url = {https://ieeexplore.ieee.org/abstract/document/8404895}, author = {C. Della Santina and R. K. Katzschmann and A. Bicchi and D. Rus} } @conference {3721, title = {EEG Complexity Maps to Characterise Brain Dynamics during Upper Limb Motor Imagery}, booktitle = { Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = { 10.1109/EMBC.2018.8512912}, url = { https://ieeexplore.ieee.org/document/8512912}, author = {V. Catambrone and A. Greco and G. Averta and M. Bianchi and A. Bicchi and E. P. Scilingo and G. Valenza} } @conference {3722, title = {EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2018}, doi = {10.1109/EMBC.2018.8512239}, url = {https://zenodo.org/record/2559406$\#$.XTbl43ux9GM}, author = {V. Catrambone and A. Greco and G. Averta and M. Bianchi and N. Vanello and A. Bicchi and G. Valenza and E. P. Scilingo} } @article {3364, title = {Efficient Walking Gait Generation via Principal Component Representation of Optimal Trajectories: Application to a Planar Biped Robot With Elastic Joints}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, pages = {2299{\textendash}2306}, abstract = {

Recently, the method of choice to exploit robot dynamics for efficient walking is numerical optimization (NO). The main drawback in NO is the computational complexity, which strongly affects the time demand of the solution. Several strategies can be used to make the optimization more treatable and to efficiently describe the solution set. In this letter, we present an algorithm to encode effective walking references, generated offline via numerical optimization, extracting a limited number of principal components and using them as a basis of optimal motions. By combining these components, a good approximation of the optimal gaits can be generated at run time. The advantages of the presented approach are discussed, and an extensive experimental validation is carried out on a planar legged robot with elastic joints. The biped thus controlled is able to start and stop walking on a treadmill, and to control its speed dynamically as the treadmill speed changes.

}, author = {G M Gasparri and S. Manara and D. Caporale and G. Averta and M. Bonilla and H. Marino and M. G. Catalano and G. Grioli and M. Bianchi and A. Bicchi and M. Garabini} } @conference {3723, title = {ExoSense: Measuring Manipulation in a Wearable Manner}, booktitle = {Proceedings - IEEE International Conference on Robotics and Automation}, year = {2018}, doi = {10.1109/ICRA.2018.8460498}, author = {E. Battaglia and M. G. Catalano and G. Grioli and M. Bianchi and A. Bicchi} } @article {3474, title = {A Game Theoretic Robotic Team Coordination Protocol For Intruder Herding}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {10/2018}, pages = {4124-4131}, keywords = {autonomous agents, Cost function, distributed robot systems, game theory, Games, Protocols, Robot kinematics, Robot sensing systems}, issn = {2377-3766}, doi = {10.1109/LRA.2018.2857004}, author = {S. Nardi and F. Mazzitelli and L. Pallottino} } @article {3450, title = {Hap-Pro: a wearable haptic device for proprioceptive feedback}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2018}, pages = {1-1}, keywords = {haptic feedback, haptic interfaces, proprioception, Prosthetic hand, Robot sensing systems, Skin, upper extremity prosthesis, Visualization, Wheels}, issn = {0018-9294}, doi = {10.1109/TBME.2018.2836672}, author = {M. Rossi and M. Bianchi and E. Battaglia and M. G. Catalano and A. Bicchi} } @article {3446, title = {Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario}, journal = {IEEE Robotics Automation Magazine}, year = {2018}, pages = {1-1}, keywords = {Buildings, Earthquakes, Hardware, Legged locomotion, Robot sensing systems, Task analysis}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2788801}, author = {F. Negrello and A Settimi and D. Caporale and G. Lentini and M. Poggiani and D. Kanoulas and L. Muratore and Luberto, E. and G. Santaera and L. Ciarleglio and L. Ermini and L. Pallottino and D. G. Caldwell and N. Tsagarakis and A. Bicchi and M. Garabini and M. G. Catalano} } @article {3447, title = {Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2018}, month = {July}, pages = {2686-2693}, keywords = {19-DoF anthropomorphic hand, Biomechanics, common grasping tasks, compliant joint/mechanism, covariance matrices, experimental covariance matrix, Force, force distribution, grasp planning, Grasping, grippers, hand posture reconstruction, hand-object relative pose, incremental learning algorithm, Jacobian matrices, joint angle covariation patterns, learning (artificial intelligence), minimisation, multifingered hands, pose estimation, postural hand synergies, postural synergies, posture description, principal component analysis, reduced complexity representation, relative statistical weight, Robots, Solid modeling, synergy vectors, Task analysis}, doi = {10.1109/LRA.2018.2829027}, author = {G. Averta and F. Angelini and M. Bonilla and M. Bianchi and A. Bicchi} } @conference {3720, title = {A Novel Approach to Under-Actuated Control of Fluidic Systems}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, doi = {10.1109/ICRA.2018.8460859}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8460859\&isnumber=8460178}, author = {A. Di Lallo and M. G. Catalano and M. Garabini and G. Grioli and M. Gabiccini and A. Bicchi} } @conference {3796, title = {Optimal Active Sensing with Process and Measurement Noise}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, month = {May}, pages = {2118-2125}, abstract = {

The goal of this paper is to increase the estimation performance of an Extended Kalman Filter for a nonlinear differentially flat system by planning trajectories able to maximize the amount of information gathered by onboard sensors in presence of both process and measurement noises. In a previous work, we presented an online gradient descent method for planning optimal trajectories along which the smallest eigenvalue of the Observability Gramian (OG) is maximized. As the smallest eigenvalue of the OG is inversely proportional to the maximum estimation uncertainty, its maximization reduces the maximum estimation uncertainty of any estimation algorithm employed during motion. However, the OG does not consider the process noise that, instead, in several applications is far from being negligible. For this reason, this paper proposes a novel solution able to cope with non-negligible process noise: this is achieved by minimizing the largest eigenvalue of the a posteriori covariance matrix obtained by solving the Continuous Riccati Equation as a measure of the total available information. This minimization is expected to maximize the information gathered by the outputs while, at the same time, limiting as much as possible the negative effects of the process noise. We apply our method to a unicycle robot. The comparison between the novel method and the one of our previous work (which did not consider process noise) shows significant improvements in the obtained estimation accuracy.

}, keywords = {continuous Riccati equation, covariance matrices, eigenvalues and eigenfunctions, Estimation, estimation algorithm, gradient methods, inversely proportional, Kalman Filter, Kalman filters, largest eigenvalue, maximum estimation uncertainty, measurement noise, mobile robots, noise measurement, nonlinear differentially flat system, nonlinear filters, nonnegligible process noise, observability, observability gramian, OG, onboard sensors, online gradient descent method, optimal active sensing, optimal trajectories, optimisation, path planning, posteriori covariance matrix, Riccati equations, Robot sensing systems, Trajectory, trajectory control, unicycle robot}, doi = {10.1109/ICRA.2018.8460476}, url = {https://ieeexplore.ieee.org/document/8460476}, author = {M. Cognetti and P Salaris and P. Robuffo Giordano} } @conference {3531, title = {A Planning and Control System for Self-Driving Racing Vehicles}, booktitle = {2018 IEEE 4th International Forum on Research and Technology for Society and Industry (RTSI)}, year = {2018}, month = {Sept}, pages = {1-6}, address = {Palermo, Italy}, doi = {10.1109/RTSI.2018.8548444}, author = {D. Caporale and A. Fagiolini and L. Pallottino and A Settimi and A. Biondo and F. Amerotti and F. Massa and S. De Caro and A. Corti and L. Venturini} } @conference {3746, title = {Preliminary Results Toward Continuous and Proportional Control of a Multi-synergistic Soft Prosthetic Hand}, booktitle = {International Conference on NeuroRehabilitation}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01845-0_15}, author = {C. Piazza and M. G. Catalano and A. Bicchi and L. Hargrove} } @conference {3718, title = {On the role of postural synergies for grasp force generation and upper limb motion control}, booktitle = {International Conference on NeuroRehabilitation}, year = {2018}, url = {https://link.springer.com/chapter/10.1007/978-3-030-01845-0_69}, author = {G. Averta and F. Angelini and A. Bicchi and G. Valenza and M. Bianchi} } @conference {3451, title = {Separating haptic guidance from task dynamics: A practical solution via cutaneous devices}, booktitle = {2018 IEEE Haptics Symposium (HAPTICS)}, year = {2018}, month = {March}, pages = {20-25}, keywords = {Biomechanics, cutaneous forces, cutaneous guidance, Dynamics, Exoskeletons, guidance condition, guidance cues, guidance forces, haptic feedback, haptic guidance, haptic interfaces, human movement, kinesthetic guidance, rendering (computer graphics), separate haptic cues, Skin, Task analysis, task completion strategies, task complexity, task dynamics, task forces, Training, Trajectory, Wrist}, doi = {10.1109/HAPTICS.2018.8357147}, author = {E. Pezent and S. Fani and J. Bradley and M. Bianchi and M. K. O{\textquoteright}Malley} } @conference {3761, title = {Shared-autonomy control for intuitive bimanual tele-manipulation}, booktitle = {2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)}, year = {2018}, pages = {1{\textendash}9}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Existing dual-arm teleoperation systems function on one-to-one coupling of the human and robotic arms to fully exploit the user{\textquoteright}s dexterity during bimanual tele-manipulation. While the individual coordination of the robot end-effectors can be necessary for complex and asymmetric tasks, it may result in a cumbersome user experience during symmetric bimanual tasks (e.g. manipulating and carrying objects). In this paper we propose a novel framework that includes the one-to-one direct control and a new shared autonomy strategy. The user can autonomously choose between the two, and if the new one is selected the robots move in a coordinated way, in which desired positions are extrapolated from the movements and gestures of just one users arm. These gesture commands are interpreted and handled by the control, with the purpose of unloading the users cognitive burden. Lastly, the tele-impedance paradigm, i.e., the remote control of robot impedance and position references, is applied to both controls, to improve remote physical interaction performances. The paper reports on the overall proposed architecture, its implementation and its preliminary validation trough a multi subject experimental campaign.

}, doi = {10.1109/HUMANOIDS.2018.8625047}, url = {https://ieeexplore.ieee.org/abstract/document/8625047}, author = {Laghi, Marco and Maimeri, Michele and Marchand, Mathieu and Leparoux, Clara and Catalano, Manuel and Ajoudani, Arash and Bicchi, Antonio} } @article {3448, title = {Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation}, journal = {IEEE Robotics Automation Magazine}, volume = {25}, year = {2018}, month = {March}, pages = {77-88}, keywords = {application fields, augmented teleoperation, Autonomous robots, communication, effective design, effective simplification, environmental constraints, feedback, Force feedback, fundamental requirement, haptic feedback devices, haptic interfaces, human workspace, human-robot interaction, human-robot interactions, human-robot interfaces, ideal scenario, integrated approach, integrated interface, integrated system, interaction forces, intuitive information exchange, Kinematics, KUKA lightweight robotic arm, lightweight design, manipulators, master, position control, reduced versions, Robot sensing systems, robotic devices, robotic hand-arm system, robotic manipulator, robotic teleoperation, simplified information exchange, slave robot, stiffness control, synergy, Task analysis, teleimpedance techniques, Telemedicine, teleoperator system, telerobotics, TI control, vision, wearability, wearable feedback, wearable hand/arm}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2741579}, author = {S. Fani and S. Ciotti and M. G. Catalano and G. Grioli and A. Tognetti and G. Valenza and A. Ajoudani and M. Bianchi} } @article {3697, title = {The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis}, journal = {PLOS One}, year = {2018}, author = {S. B. Godfrey and K. Zhao and A. Theuer and M. G. Catalano and M. Bianchi and R. Breighner and D. Bhaskaran and R. Lennon and G. Grioli and M. Santello and A. Bicchi and K. Andrews} } @conference {3747, title = {The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation}, booktitle = {International Symposium on Wearable Robotics}, year = {2018}, doi = {https://doi.org/10.1007/978-3-030-01887-0_71}, author = {C. Piazza and M. G. Catalano and M. Bianchi and E. Ricciardi and D. Pratichizzo and S. Haddadin and Luft, A. R. L. and O. Lambercy and R. Gassert and E. Jakubowitz and H. Van Der Kooij and F. Tonis and F. Bonomo and B. de Jonge and T. Ward and K. Zhao and M. Santello and A. Bicchi} } @conference {3562, title = {A Study on Force-Based Collaboration in Flying Swarms}, booktitle = {Proc. of Swarm Intelligence}, year = {2018}, pages = {3{\textendash}15}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Cham}, isbn = {978-3-030-00533-7}, author = {C. Gabellieri and M. Tognon and L. Pallottino and A. Franchi} } @article {3349, title = {Systemic and vascular inflammation in an in-vitro model of central obesity}, journal = {PLoS ONE}, year = {2018}, month = {02/2018}, abstract = {

Metabolic disorders due to over-nutrition are a major global health problem, often associated with obesity and related morbidities. Obesity is peculiar to humans, as it is associated with lifestyle and diet, and so difficult to reproduce in animal models. Here we describe a model of human central adiposity based on a 3-tissue system consisting of a series of interconnected fluidic modules. Given the causal link between obesity and systemic inflammation, we focused primarily on pro-inflammatory markers, examining the similarities and differences between the 3-tissue model and evidence from human studies in the literature. When challenged with high levels of adiposity, the in-vitro system manifests cardiovascular stress through expression of E-selectin and von Willebrand factor as well as systemic inflammation (expressing IL-6 and MCP-1) as observed in humans. Interestingly, most of the responses are dependent on the synergic interaction between adiposity and the presence of multiple tissue types. The set-up has the potential to reduce animal experiments in obesity research and may help unravel specific cellular mechanisms which underlie tissue response to nutritional overload.

}, keywords = {Bioengineering}, doi = {https://doi.org/10.1371/journal.pone.0192824.s001}, url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0192824}, author = {A. Ahluwalia and A. Misto and G. Vozzi and C. Magliaro and G. Mattei and Marescotti MC and AVOGARO, A and Iori, E.} } @conference {3683, title = {Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond}, booktitle = {2018 IEEE International Conference on Robotics and Automation (ICRA)}, year = {2018}, author = {M. Bianchi and G. Averta and E. Battaglia and C. Rosales and M. Bonilla and A. Tondo and M. Poggiani and G. Santaera and S. Ciotti and M. G. Catalano and A. Bicchi} } @article {3366, title = {Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2}, journal = {IEEE Transactions on Robotics}, volume = {Early Access}, year = {2018}, month = {06/2018 }, type = {Regular Paper}, abstract = {

In the recent years, a clear trend towards simplification emerged in the development of robotic hands. The use of soft robotic approaches has been a useful tool in this prospective, enabling complexity reduction by embodying part of grasping intelligence in the hand mechanical structure. Several hand prototypes designed according to such principles have accomplished good results in terms of grasping simplicity, robustness, and reliability. Among them, the Pisa/IIT SoftHand demonstrated the feasibility of a large variety of grasping tasks, by means of only one actuator and an opportunely designed tendon driven differential mechanism. However, the use of a single degree of actuation prevents the execution of more complex tasks, like fine pre-shaping of fingers and in-hand manipulation. While possible in theory, simply doubling the Pisa/IIT SoftHand actuation system has several disadvantages, e.g. in terms of space and mechanical complexity. To overcome these limitations we propose a novel design framework for tendon driven mechanisms, where the main idea is to turn transmission friction from a disturbance into a design tool. In this way the degrees of actuation can be doubled with little additional complexity.

By leveraging on this idea we design a novel robotic hand, the Pisa/IIT SoftHand 2. We present here its design, modeling, control, and experimental validation. The hand demonstrates that by opportunely combining only two degrees of actuation with hand softness, a large variety of grasping and manipulation tasks can be performed only relying on the intelligence embodied in the mechanism. Examples include rotating objects with different shapes, opening a jar, pouring coffee from a glass.

}, issn = {Print 1552-3098; Onlline 1941-0468}, author = {C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3750, title = {Underactuated robotic hand}, number = {15/772368}, year = {2018}, month = {11/01}, url = {https://patentimages.storage.googleapis.com/c3/76/f4/3f31e20b15ad53/US20180311827A1.pdf}, author = {A. Bicchi and C. Della Santina and M. G. Catalano and C. Piazza and G. Grioli and A. Brando} } @inbook {3381, title = {WALK-MAN Humanoid Platform}, booktitle = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, volume = {121}, number = {The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue}, year = {2018}, pages = {495{\textendash}548}, publisher = {Springer}, organization = {Springer}, doi = {10.1007/978-3-319-74666-1_13}, author = {N. G. Tsagarakis and F. Negrello and M. Garabini and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and M. G. Catalano and M. Ferrati and L. Muratore and P. Kryczka and E. Mingo Hoffman and A Settimi and A. Rocchi and A. Margan and S. Cordasco and D. Kanoulas and A. Cardellino and L. Natale and H. Dallali and J. Malzahn and N. Kashiri and V. Varricchio and L. Pallottino and C. Pavan and J. Lee and A. Ajoudani and D. G. Caldwell and A. Bicchi} } @article {3217, title = {W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality}, journal = {IEEE Transactions on Haptics}, volume = {11}, year = {2018}, pages = {304 - 316}, chapter = {304}, abstract = {

Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user{\textquoteright}s finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user{\textquoteright}s finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2017.2708717}, url = {http://ieeexplore.ieee.org/document/8003491/}, author = {S. Fani and S. Ciotti and E. Battaglia and A. Moscatelli and M. Bianchi} } @article {2991, title = {On the adhesion-cohesion balance and oxygen consumption characteristics of liver organoids}, journal = {Plos One}, year = {2017}, month = {03/2017}, abstract = {

Liver organoids (LOs) are of interest in tissue replacement, hepatotoxicity and pathophysiological studies. However, it is still unclear what triggers LO self-assembly and what the optimal environment is for their culture. Hypothesizing that LO formation occurs as a result of a fine balance between cell-substrate adhesion and cell-cell cohesion, we used 3 cell types (hepatocytes, liver sinusoidal endothelial cells and mesenchymal stem cells) to investigate LO self-assembly on different substrates keeping the culture parameters (e.g. culture media, cell types/number) and substrate stiffness constant. As cellular spheroids may suffer from oxygen depletion in the core, we also sought to identify the optimal culture conditions for LOs in order to guarantee an adequate supply of oxygen during proliferation and differentiation. The oxygen consumption characteristics of LOs were measured using an O2 sensor and used to model the O2 concentration gradient in the organoids. We show that no LO formation occurs on highly adhesive hepatic extra-cellular matrix-based substrates, suggesting that cellular aggregation requires an optimal trade-off between the adhesiveness of a substrate and the cohesive forces between cells and that this balance is modulated by substrate mechanics. Thus, in addition to substrate stiffness, physicochemical properties, which are also critical for cell adhesion, play a role in LO self-assembly.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1371/journal.pone.0173206}, url = {http://journals.plos.org/plosone/article?id=10.1371/journal.pone.0173206}, author = {G. Mattei and C. Magliaro and S. Giusti and S. D. Ramachandran and S. Heinz and J. Braspenning and A. Ahluwalia} } @article {2928, title = {Allometric scaling in-vitro}, journal = {Scientific Reports}, volume = {7}, year = {2017}, month = {02/2017}, abstract = {

About two decades ago, West and coworkers established a model which predicts that metabolic rate follows a three quarter power relationship with the mass of an organism, based on the premise that tissues are supplied nutrients through a fractal distribution network. Quarter power scaling is widely considered a universal law of biology and it is generally accepted that were in-vitro cultures to obey allometric metabolic scaling, they would have more predictive potential and could, for instance, provide a viable substitute for animals in research. This paper outlines a theoretical and computational framework for establishing quarter power scaling in three-dimensional spherical constructs in-vitro, starting where fractal distribution ends. Allometric scaling in non-vascular spherical tissue constructs was assessed using models of Michaelis Menten oxygen consumption and diffusion. The models demonstrate that physiological scaling is maintained when about 5 to 60\% of the construct is exposed to oxygen concentrations less than the Michaelis Menten constant, with a significant concentration gradient in the sphere. The results have important implications for the design of downscaled in-vitro systems with physiological relevance.

}, keywords = {Bioengineering}, doi = {10.1038/srep42113}, url = {http://www.nature.com/articles/srep42113}, author = {A. Ahluwalia} } @article {2814, title = {Asymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations}, journal = {IEEE Transactions on Robotics}, volume = {34}, year = {2017}, month = {11/2017}, chapter = {264}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.1109/TRO.2017.2765334}, url = {https://ieeexplore.ieee.org/document/8103340}, author = {Z. Li and Z. Chen and A. Ajoudani and C. Yang and C. Su and A. Bicchi} } @conference {3139, title = {Cerebellar-Inspired Learning Rule for Gain Adaptation of Feedback Controllers}, booktitle = {IEEE Mediterranean Conference on Control and Automation}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {3-6 July 2017 in Valletta, Malta}, abstract = {

The cerebellum is a crucial brain structure in enabling precise motor control in animals. Recent advances suggest that the timing of the plasticity rule of Purkinje cells, the main cells of the cerebellum, is matched to behavioral function.Simultaneously, counter-factual predictive control (CFPC), a cerebellar-based control scheme, has shown that the optimal rule for learning feed-forward action in an adaptive filter playing the role of the cerebellum must include a forward model of the system controlled. Here we show how the same learning rule obtained in CFPC, which we term as Model-enhanced least mean squares (ME-LMS), emerges in the problem of learning the gains of a feedback controller. To that end, we frame a model-reference adaptive control (MRAC) problem and derive an adaptive control scheme treating the gains of a feedback controller as if they were the weights of an adaptive linear unit. Our results demonstrate that the approach of controlling plasticity with a forward model of the subsystem controlled can provide a solution to a wide set of adaptive control problems

}, author = {I. Herreros and X. D. Arsiwalla and C. Della Santina and J.-Y. Puigbo and A. Bicchi and P. F. M. J. Verschure} } @conference {3222, title = {Characterization of Hand Movements using a Sensing Glove in Hand Assisted Laparoscopic Surgery}, booktitle = {Proceedings of the second International Conference on Medical Information and Bioengineering}, year = {2017}, abstract = {

The past thirty years have seen increasingly rapid advances in the field of laparoscopic surgery, in part because of the use of robots. A well-known example is the da Vinci surgical system. However, far too little attention has been paid to Hand Assisted Laparoscopic Surgery (HALS), a surgery in which the surgeon introduces the non-dominant hand into the abdomen of the patient. The risk of collision between the hand of the surgeon and the tool moved by the robot is the reason why these robots for laparoscopic surgery are not appropriate for HALS. On the other hand, in recent years, there has been an increasing interest in wearables, which have been introduced in our daily life. This interest and the lack of surgery robots for HALS are the reasons to develop a sensing glove which co-works whit a collaborative robot in this kind of surgery. The aim of this paper is to study the use of a sensing glove which will provide information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to the collaborative robot. This information determinates the actions that the robot will carry on. The first step was to define different movements of the hand which could be identified. An algorithm identifies these movements using the data given by the sensing glove. For the purpose of algorithm accuracy measurement, 4 persons wearing the sensing glove made a sequence with different movements. The evidence from this study suggests that a sensing glove can be used to send information of the movements of the surgeon{\quotesinglbase}{\"A}{\^o}s hand to a collaborative robot during a HALS.

}, author = {L. Santos and N. Carbonaro and A. Tognetti and Gonzales, R. and J. C. Fraile and J. P. Turiel and E. De La Fuente} } @article {3153, title = {Choosing Poses for Force and Stiffness Control}, journal = {IEEE Transactions on Robotics}, year = {2017}, month = {06/2017}, abstract = {

In humanoids and other redundant robots interacting with the environment, one can often choose between different configurations and control parameters to achieve a given task. A classic tool to describe specifications of the desired force/displacement behavior in such problems is the stiffness ellipsoid, whose geometry is affected by the choice of parameters in both joint control and redundancy resolution{\textemdash}namely, gains and angles. As is well known, impedance control techniques can regulate gains to realize any desired shape of the Cartesian stiffness ellipsoid at the end-effector, so that robot geometry selection could appear secondary. However, humans do not use this possibility: To control the stiffness of our arms, we predominantly use arm configurations. Why is that, and does it makes sense to do the same in robots? To understand this discrepancy, we provide a more complete analysis of the task-space force/deformation behavior of compliant redundant arms to illustrate why the arm geometry plays a dominant role in interaction capabilities of robots. We introduce the notion of allowable Cartesian force/displacement ({\textquotedblleft}stiffness feasibility{\textquotedblright}) regions (SFR) for compliant robots with given torque boundaries. We show that different robot configurations modify such regions and explore the role of robot geometry in achieving an appropriate SFR for the task at hand. The novel concepts and definitions are first illustrated in simulations. Experimental results are then provided to verify the effectiveness of the proposed Cartesian force and stiffness control.

}, keywords = {Robotics}, doi = {10.1109/TRO.2017.2708087}, url = {http://ieeexplore.ieee.org/document/7951027/}, author = {A. Ajoudani and N. G. Tsagarakis and A. Bicchi} } @article {3119, title = {Controlling Soft Robots: Balancing Feedback and Feedforward Elements}, journal = {IEEE Robotics and Automation Magazine}, volume = {24}, year = {2017}, note = {

This work is supported by European Commission grant H2020-ICT-645599 ({\textquotedblleft}SOMA{\textquotedblright}: SOft Manipulation) and European Research Council Advanced grant 291166 ({\textquotedblleft}SoftHands{\textquotedblright}).

}, month = {05/2017}, pages = {75 - 83}, abstract = {

Soft robots (SRs) represent one of the most significant recent evolutions in robotics. Designed to embody safe and natural behaviors, they rely on compliant physical structures purposefully designed to embody desirable and sometimes variable impedance characteristics. This article discusses the problem of controlling SRs. We start by observing that most of the standard methods of robotic control{\textemdash}e.g., high-gain robust control, feedback linearization, backstepping, and active impedance control{\textemdash}effectively fight against or even completely cancel the physical dynamics of the system, replacing them with a desired model. This defeats the purpose of introducing physical compliance. After all, what is the point of building soft actuators if we then make them stiff by control? An alternative to such approaches can be conceived by observing humans, who can obtain good motion accuracy and repeatability while maintaining the intrinsic softness of their bodies. In this article, we show that an anticipative model of human motor control, using a feedforward action combined with low-gain feedback, can be used to achieve human-like behavior. We present an implementation of such an idea that uses iterative learning control. Finally, we present the experimental results of the application of such learned anticipative control to a physically compliant robot. The control application achieves the desired behavior much better than a classical feedback controller used for comparison.

}, keywords = {Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2016.2636360}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7930438}, author = {C. Della Santina and M. Bianchi and G. Grioli and F. Angelini and M. G. Catalano and M. Garabini and A. Bicchi} } @article {3045, title = {Coordination Control of a Dual-arm Exoskeleton Robot Using Human Impedance Transfer Skills}, journal = {IEEE Trans. Systems Man and Cybernetics: Systems}, year = {2017}, month = {06/2017}, abstract = {

This paper has developed a coordination control method for a dual-arm exoskeleton robot based on human impedance transfer skills, where the left (master) robot arm extracts the human limb impedance stiffness and position profiles, and then transfers the information to the right (slave) arm of the exoskeleton. A computationally efficient model of the arm endpoint stiffness behavior is developed and a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. A reference command consisting of the stiffness and position profiles of the operator is computed and realized by one robot in real-time. Considering the dynamics uncertainties of the robotic exoskeleton, an adaptive-robust impedance controller in task space is proposed to drive the slave arm tracking the desired trajectories with convergent errors. To verify the robustness of the developed approach, a study of combining adaptive control and human impedance transfer control under the presence of unknown interactive forces is conducted. The experimental results of this paper suggest that the proposed control method enables the subjects to execute a coordination control task on a dual-arm exoskeleton robot by transferring the stiffness from the human arm to the slave robot arm, which turns out to be effective.

}, keywords = {Robotics}, doi = {10.1109/TSMC.2017.2706694}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7944582}, author = {B. Huang and Z. Li and X. Wu and A. Ajoudani and A. Bicchi and J. Liu} } @article {3124, title = {Decellularized Human Liver Is Too Heterogeneous for Designing a Generic Extracellular Matrix Mimic Hepatic Scaffold.}, journal = {Artificial Organs}, year = {2017}, month = {05/2017}, abstract = {

Decellularized human livers are considered the\ perfect extracellular matrix (ECM) surrogate because both three-dimensional architecture and biological features of the hepatic microenvironment are thought to be preserved. However, donor human livers are in chronically short supply, both for transplantation or as decellularized scaffolds, and will become even scarcer as life expectancy increases. It is hence of interest to determine the structural and biochemical properties of human hepatic ECM to derive design criteria for engineering biomimetic scaffolds. The intention of this work was to obtain quantitative design specifications for fabricating scaffolds for hepatic tissue engineering using human livers as a template. To this end, hepatic samples from five patients scheduled for hepatic resection were decellularized using a protocol shown to reproducibly conserve matrix composition and microstructure in porcine livers. The decellularization outcome was evaluated through histological and quantitative image analyses to evaluate cell removal, protein, and glycosaminoglycan content per unit area. Applying the same decellularization protocol to human liver samples obtained from five different patients yielded five different outcomes. Only one liver out of five was completely decellularized, while the other four showed different levels of remaining cells and matrix. Moreover, protein and glycosaminoglycan content per unit area after decellularization were also found to be patient- (or donor-) dependent. This donor-to-donor variability of human livers thus precludes their use as templates for engineering a generic "one-size fits all" ECM-mimic hepatic scaffold.

}, keywords = {Bioengineering}, doi = {10.1111/aor.12925.}, url = {https://www.ncbi.nlm.nih.gov/pubmed/28543403}, author = {G. Mattei and C. Magliaro and Pirone, A. and A. Ahluwalia} } @conference {3218, title = {Design and characterization of a novel high-compliance spring for robots with soft joints}, booktitle = {IEEE International Conference on Advanced Intelligent Mechatronics (AIM)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Munich, Germany, 3-7 July 2017}, abstract = {

Low stiffness elements have a number of applications in Soft Robotics, from Series Elastic Actuators (SEA) to torque sensors for compliant systems. In its general formulation, the design problem of elastic components is complex and depends on several variables: material properties, load range, shape factor and size constraints. Consequently, most of the spring designs presented in literature are based on heuristics or are optimized for specific working conditions. This work presents the design study and characterization of a scalable spoked elastic element with hinge tip constraints. We compared the proposed design with three existing spring principles, showing that the spoked solution is the convenient option for low-stiffness and low shape factor elastic elements. Therefore, a design analysis on the main scaling parameters of the spoked spring, namely number of spokes and type of constraints, is presented. Finally, an experimental characterization has been conducted on physical prototypes. The agreement among simulations and experimental results demonstrates the effectiveness of the proposed concept.

}, keywords = {Robotics}, doi = {10.1109/AIM.2017.8014029}, url = {http://ieeexplore.ieee.org/document/8014029/}, author = {F. Negrello and M. G. Catalano and M. Garabini and M. Poggiani and D. G. Caldwell and N. G. Tsagarakis and A. Bicchi} } @conference {3219, title = {Design, control and validation of the variable stiffness exoskeleton FLExo}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, pages = {539 - 546}, publisher = {IEEE}, organization = {IEEE}, address = {London, UK, 17-20 July 2017}, abstract = {

In this paper we present the design of a one degree of freedom assistive platform to augment the strength of upper limbs. The core element is a variable stiffness actuator, closely reproducing the behavior of a pair of antagonistic muscles. The novelty introduced by this device is the analogy of its control parameters with those of the human muscle system, the threshold lengths. The analogy can be obtained from a proper tuning of the mechanical system parameters. Based on this, the idea is to control inputs by directly mapping the estimation of the muscle activations, e.g. via ElectroMyoGraphic(EMG) sensors, on the exoskeleton. The control policy resulting from this mapping acts in feedforward in a way to exploit the muscle-like dynamics of the mechanical device. Thanks to the particular structure of the actuator, the exoskeleton joint stiffness naturally results from that mapping. The platform as well as the novel control idea have been experimentally validated and the results show a substantial reduction of the subject muscle effort.

}, keywords = {Robotics}, doi = {10.1109/ICORR.2017.8009304}, url = {http://ieeexplore.ieee.org/document/8009304/}, author = {S. Mghames and M. Laghi and C. Della Santina and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {3387, title = {Design of an under-actuated wrist based on adaptive synergies}, booktitle = {Robotics and Automation (ICRA), 2017 IEEE International Conference on}, year = {2017}, pages = {6679{\textendash}6686}, publisher = {IEEE}, organization = {IEEE}, abstract = {

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.

}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @conference {3106, title = {Design of an Under-Actuated Wrist Based on Adaptive Synergies}, booktitle = {IEEE International Conference of Robotics and Automation, ICRA2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 29 May-3 June 2017}, abstract = {

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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2017.7989789}, url = {http://ieeexplore.ieee.org/document/7989789/}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @article {3225, title = {Development of a High-Speed Current Injection and Voltage Measurement System for Electrical Impedance Tomography-Based Stretchable Sensors}, journal = {TECHNOLOGIES}, volume = {5}, year = {2017}, keywords = {conductive fabric, EIT, pressure sensor, stretchable, wearable}, doi = {10.3390/technologies5030048}, url = {http://www.mdpi.com/2227-7080/5/3/48}, author = {S. Russo and S. Nefti-meziani and N. Carbonaro and A. Tognetti} } @conference {3141, title = {Distributed Task-priority Based Control in Area Coverage \& Adaptive Sampling}, booktitle = {MTS/IEEE Oceans 2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Aberdeen, Scotland, June 2017}, abstract = {

The paper presents the first simulative results and algorithmic developments of the task-priority based control applied to a distributed sampling network in an area coverage or adaptive sampling mission scenario. The proposed approach allowing the fulfilment of a chain of tasks with decreasing priority each of which directly related to both operability and safety aspects of the entire mission. The task-priority control is presented both in the centralized and decentralized implementations showing a comparison of performance. Finally simulations of the area coverage mission scenario are provided showing the effectiveness of the proposed approach.

}, keywords = {Robotics}, author = {T. Fabbri and E. Simetti and G. Casalino and L. Pallottino and A. Caiti} } @article {3214, title = { Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism }, journal = {IEEE Robotics and Automation Letters}, volume = {2}, year = {2017}, month = {07/2017}, pages = {1664 - 1671}, abstract = {

This paper presents an approach to achieve adaptive grasp of unknown objects whose position is only approximately known via point-cloud data. We exploit the adaptability of a soft robotic hand which can autonomously conform to the shape of a grasped object if properly approached. Once a grasp approach has been preliminarily planned based only on rough estimates of the object position, the hand is shaped to a pregrasp configuration. Before closing the hand, a sensor-based algorithm is applied that corrects the relative hand-object posture so as to enhance the probability that the object is uniformly approached by all fingers, thus avoiding undesired premature contacts. The algorithm minimizes the distance between the hand{\textquoteright}s fingerpads and the object by continuously controlling both the wrist pose and orientation and the hand closure. Experimental studies with a Kuka-LWR arm and a Pisa/IIT Softhand illustrate the benefit of the developed technique and the improvement in grasping performance with respect to open-loop execution of grasps planned on the basis of prior RGB-D cues only.

}, keywords = {Haptics, Robotics}, doi = {10.1109/LRA.2017.2681122}, url = {http://ieeexplore.ieee.org/document/7875417/}, author = {Luberto, E. and Y. Wu and G. Santaera and M Gabiccini and A. Bicchi} } @conference {3220, title = {Estimating Contact Forces from Postural Measures in a class of Under-Actuated Robotic Hands}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Della Santina and C. Piazza and G. Santaera and G. Grioli and M. G. Catalano and A. Bicchi} } @conference {3365, title = {From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands}, booktitle = {Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017 9th International Congress on}, year = {2017}, note = {

This work has been awarded with the "Best Student Paper Award" and the "Best Paper in Session - Robotics"

}, pages = {179{\textendash}184}, publisher = {IEEE}, organization = {IEEE}, address = {Munich}, abstract = {

Human hands are capable of a variety of movements, thanks to their extraordinary biomechanical structure and rely- ing on the richness of human tactile information. Recently, soft robotic hands have opened exciting possibilities and, at the same time, new issues related to planning and control. In this work, we propose to study human strategies in environmental constraint exploitation to grasp objects from a table. We have considered both the case where participants{\textquoteright} fingertips were free and with a rigid shell worn on them to understand the role of cutaneous touch. Main kinematic strategies were quantified and classified in an unsupervised manner. The principal strategies appear to be consistent in both experimental conditions, although cluster cardinality differs. Furthermore, as expected, tactile feedback improves both grasp precision and quality performance. Results opens interesting perspective for sensing and control of soft manipulators.

}, author = {G. Averta and C. Della Santina and E. Battaglia and S. Ciotti and V. Arapi and S. Fani and M. Bianchi} } @article {3309, title = {Grasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study}, journal = { IEEE Transactions on Neural Systems and Rehabilitation Engineering}, volume = {25}, year = {2017}, month = {12/2017}, pages = {2407 - 2417}, abstract = {

Current prosthetic hands are frequently rejected in part due to limited functionality and versatility. We assessed the feasibility of a novel prosthetic hand, the SoftHand Pro (SHP), whose design combines soft robotics and hand postural synergies. Able-bodied subjects (n = 23) tracked cursor motion by opening and closing the SHP and performed a grasp-lift-hold-release (GLHR) task with a sensorized cylindrical object of variable weight. The SHP control was driven by electromyographic (EMG) signals from two antagonistic muscles. Although the time to perform the GLHR task was longer for the SHP than native hand for the first few trials (10.2 {\textpm} 1.4 s and 2.13 {\textpm} 0.09 s, respectively), performance was much faster on subsequent trials (~5 s). The SHP steady-state grip force was significantly modulated as a function of object weight (p \<; 0.001). For the native hand, however, peak and steady-state grip forces were modulated to a greater extent (+68\% and +91\%, respectively). These changes were mediated by the modulation of EMG amplitude and co-contraction. These data suggest that the SHP has a promise for prosthetic applications and point-to-design modifications that could improve the SHP.

}, keywords = {Haptics, Robotics}, issn = {1534-4320}, doi = {10.1109/TNSRE.2017.2737539}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=8094246}, author = {A. S. Gailey and Godfrey, S.B. and R. Breighner and K. Andrews and K. Zhao and A. Bicchi and M. Santello} } @conference {3728, title = {Heart rate variability analysis during muscle fatigue due to prolonged 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.2017.8037076}, author = {A. Guidi and A. Greco and F. Felici and A. Leo and E. Ricciardi and M. Bianchi and A. Bicchi and G. Valenza and E. P. Scilingo} } @article {2841, title = {An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window}, journal = {IEEE Transactions on Haptics}, volume = {10}, year = {2017}, month = {01/2017}, pages = {123-129}, abstract = {

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant{\textquoteright}s fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = { 10.1109/TOH.2016.2614679}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7579582}, author = {M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M. D{\textquoteright}Imperio and E. Battaglia and M. Poggiani and G. Rossi and A. Bicchi and D. G. Caldwell} } @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} } @conference {3087, title = {Noninteracting Constrained Motion Planning and Control for Robot Manipulators}, booktitle = {IEEE International Conference of Robotics and Automation, ICRA2017}, year = {2017}, pages = {4038 - 4043}, publisher = {IEEE}, organization = {IEEE}, abstract = {

In this paper we present a novel geometric approach
to motion planning for constrained robot systems.
This problem is notoriously hard, as classical sampling-based
methods do not easily apply when motion is constrained in
a zero-measure submanifold of the configuration space. Based
on results on the functional controllability theory of dynamical
systems, we obtain a description of the complementary spaces
where rigid body motions can occur, and where interaction
forces can be generated, respectively. Once this geometric setting
is established, the motion planning problem can be greatly
simplified. Indeed, we can relax the geometric constraint, i.e.,
replace the lower{\textendash}dimensional constraint manifold with a fulldimensional
boundary layer. This in turn allows us to plan
motion using state-of-the-art methods, such as RRT*, on points
within the boundary layer, which can be efficiently sampled. On
the other hand, the same geometric approach enables the design
of a completely decoupled control scheme for interaction forces,
so that they can be regulated to zero (or any other desired
value) without interacting with the motion plan execution.
A distinguishing feature of our method is that it does not
use projection of sampled points on the constraint manifold,
thus largely saving in computational time, and guaranteeing
accurate execution of the motion plan. An explanatory example
is presented, along with an experimental implementation of the
method on a bimanual manipulation workstation.

}, keywords = {Robotics}, doi = {10.1109/ICRA.2017.7989463}, url = {http://ieeexplore.ieee.org/document/7989463/}, author = {M. Bonilla and L. Pallottino and A. Bicchi} } @article {3138, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, journal = {IEEE Robotics and Automation Letters}, volume = {3}, year = {2017}, month = {01/2018}, pages = {84 - 91}, abstract = {

The endpoint stiffness of the human arm has been long recognized as a key component ensuring the quasi-static stability of the arm physical interactions with the external world. Similarly, the understanding of the joint stiffness behavior can provide complementary insights, e.g., on the underlying stiffness regulation principles across different joints including the nullspace stiffness profiles. Traditionally, the experimental modeling and estimation of the human arm joint stiffness is achieved by the transformation of the identified arm endpoint stiffness to the joint coordinates. Due to the underlying kinematic redundancy, the obtained joint stiffness matrix is rank-deficient which implies that the information in the joint stiffness matrix is incomplete. While in robotics applications this issue can be addressed by designing a desired nullspace stiffness behavior through appropriate projections, the use of a similar technique in the identification of human joint stiffness profile is meaningless. Hence, the first objective of this work is to address this issue by developing a novel technique to identify the complete and physiologically meaningful joint stiffness of human arm. Second, we present a model-based online estimation technique to estimate the seven-dimensional complete joint stiffness in various arm poses and activation levels of the two dominant arm muscles that correspond to the geometric and volume modifications of the joint stiffness profile, respectively.

}, keywords = {Haptics, Robotics}, doi = {10.1109/LRA.2017.2731524}, url = {http://ieeexplore.ieee.org/document/7990237/}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @conference {3157, title = {Online Model Based Estimation of Complete Joint Stiffness of Human Arm}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {C. Fang and A. Ajoudani and A. Bicchi and N. G. Tsagarakis} } @conference {3390, title = {Parametric Trajectory Libraries for Online Motion Planning with Application to Soft Robots}, booktitle = {18th International Symposium on Robotics Research}, year = {2017}, abstract = {

In this paper we propose a method for online motion planning of constrained nonlinear systems. The method consists of three steps: the offline generation of a library of parametric trajectories via direct trajectory optimization, the online search in the library for the best candidate solution to the optimal control problem we aim to solve, and the online refinement of this trajectory. The last phase of this process takes advantage of a sensitivity-like analysis and guarantees to comply with the first-order approximation of the constraints even in case of active set changes. Efficiency of the trajectory generation process is discussed and a valid strategy to minimize online computations is proposed; together with this, an effective procedure for searching the candidate trajectory is also presented. As a case study, we examine optimal control of a planar soft manipulator performing a pick-and-place task: through simulations and experiments, we show how crucial online computation times are to achieve considerable energy savings in the presence of variability of the task to perform.

}, author = {T. Marcucci and M. Garabini and Gasparri, G. M. and Alessio Artoni and M Gabiccini and A. Bicchi} } @article {3216, title = {Postural Hand Synergies during Environmental Constraint Exploitation}, journal = {Fronters in Neurorobotics}, year = {2017}, month = {08/2017}, abstract = {

Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kinematic perspective, i.e., the hand joint angles, in both pre-shaping and during the interaction with the environment. To determine the role of tactile feedback, we repeated the same experiments but with subjects wearing a rigid shell on the fingertips to reduce cutaneous afferent inputs. Results show the persistence of at least two postural synergies in all the considered experimental conditions and phases. Tactile impairment does not alter significantly the first two synergies, and contact with the environment generates a change only for higher order Principal Components. A good match also arises between the first synergy found in our analysis and the first synergy of grasping as quantified by previous work. The present study is motivated by the interest of learning from the human example, extracting lessons that can be applied in robot design and control. Thus, we conclude with a discussion on implications for robotics of our findings.

}, keywords = {Haptics, Robotics}, doi = {https://doi.org/10.3389/fnbot.2017.00041}, url = {https://www.frontiersin.org/articles/10.3389/fnbot.2017.00041/full}, author = {C. Della Santina and M. Bianchi and G. Averta and S. Ciotti and V. Arapi and S. Fani and E. Battaglia and M. G. Catalano and M. Santello and A. Bicchi} } @conference {3215, title = {Preliminary results toward a naturally controlled multi-synergistic prosthetic hand}, booktitle = {International Conference on Rehabilitation Robotics (ICORR)}, year = {2017}, abstract = {

Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.

}, keywords = {Robotics}, isbn = {978-1-5386-2296-4}, doi = {10.1109/ICORR.2017.8009437}, url = {http://ieeexplore.ieee.org/abstract/document/8009437/}, author = {M. Rossi and C. Della Santina and C. Piazza and G. Grioli and M. G. Catalano and A. Bicchi} } @article {3224, title = {A Quantitative Evaluation of Drive Pattern Selection for Optimizing EIT-Based Stretchable Sensors}, journal = {SENSORS}, volume = {17}, year = {2017}, abstract = {

Electrical Impedance Tomography (EIT) is a medical imaging technique that has been recently used to realize stretchable pressure sensors. In this method, voltage measurements are taken at electrodes placed at the boundary of the sensor and are used to reconstruct an image of the applied touch pressure points. The drawback with EIT-based sensors, however, is their low spatial resolution due to the ill-posed nature of the EIT reconstruction. In this paper, we show our performance evaluation of different EIT drive patterns, specifically strategies for electrode selection when performing current injection and voltage measurements. We compare voltage data with Signal-to-Noise Ratio (SNR) and Boundary Voltage Changes (BVC), and study image quality with Size Error (SE), Position Error (PE) and Ringing (RNG) parameters, in the case of one-point and two-point simultaneous contact locations. The study shows that, in order to improve the performance of EIT based sensors, the electrode selection strategies should dynamically change correspondingly to the location of the input stimuli. In fact, the selection of one drive pattern over another can improve the target size detection and position accuracy up to 0.04. and 0.18, respectively.

}, keywords = {conductive fabric, inverse problem, performance parameters, stretchable sensor}, doi = {10.3390/s17091999}, url = {http://www.mdpi.com/1424-8220/17/9/1999/htm}, author = {S. Russo and S. Nefti-meziani and N. Carbonaro and A. Tognetti} } @article {2875, title = {The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots}, journal = {IEEE Robotics and Automation Magazine }, volume = {24}, year = {2017}, note = {

Open access

e wish to thank Samuele Batazzi, Fabio Bonomo, Alberto
Brando, Andrea Di Basco, Tommaso Pardi, Riccardo Persichi-
ni, and Alessandro Raugi for their valuable support in the
development of the hardware prototype. This work was sup-
ported by SOFTPRO (grant 688857) and SOMA (grant
645599){\textemdash}projects of the European Commission{\textquoteright}s Horizon
2020 research program{\textemdash}and by Walk-Man grant 611832.
Support also came from the European Research Council
under an Advanced Grant for {\textquotedblleft}SoftHands: A Theory of Soft
Synergies for a New Generation of Artificial Hands{\textquotedblright} (grant
ERC-291166).
}, pages = {48 - 56}, abstract = {
Soft robots are one of the most significant recent evolutions in robotics. They rely on compliant physical structures purposefully designed to embody desired characteristics. Since their introduction, they have shown remarkable applicability in overcoming their rigid counterparts in such areas as interaction with humans, adaptability, energy efficiency, and maximization of peak performance. Nonetheless, we believe
that research on novel soft robot applications is still slowed by the difficulty in obtaining or developing a working soft robot structure to explore novel applications.
In this article, we present the Natural Machine Motion Initiative (NMMI), a modular open platform that aims to provide the scientific community with tools for fast and easy prototyping of articulated soft robots. Such a platform is composed of three main open hardware modules: the Qbmoves variable-stiffness actuators (VSAs) to build the main robotic structure, soft end effectors (EEs) to interact with the world, and a pool of application-specific add-ons. We also discuss many novel uses of the platform to rapidly prototype (RP) and test new robotic structures with original soft capabilities, and we propose NMMI- based experiments.
}, keywords = {Robotics}, issn = {1070-9932 }, doi = {10.1109/MRA.2016.2636366}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7857692}, author = {C. Della Santina and C. Piazza and Gasparri, G. M. and M. Bonilla and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {3152, title = {Reduced-Complexity Representation of the Human Arm Active Endpoint Stiffness for Supervisory Control of Remote Manipulation}, journal = {International Journal of Robotics Research}, volume = {37}, year = {2017}, month = {11/2017}, chapter = {155}, doi = {https://doi.org/10.1177\%2F0278364917744035}, url = {https://journals.sagepub.com/doi/full/10.1177/0278364917744035}, author = {A. Ajoudani and C. Fang and N. G. Tsagarakis and A. Bicchi} } @conference {3121, title = {The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand }, booktitle = {IEEE World Haptics Conference}, year = {2017}, note = {

The authors gratefully acknowledge Matteo Rossi for his valuable advice and Mikaela Juzswik for her unique contribution in the physical realization of some of the equipment used in the experiments. This work was partially supported by the European Community funded project WEARHAP (contract 601165), by the European Commission project (Horizon 2020 research program) SOFTPRO (no. 688857), by the ERC Advanced Grant no. 291166 SoftHands and by the NSF grant IIS-1065497.

}, month = {06/2017}, publisher = {IEEE}, organization = {IEEE}, address = {F{\"u}rstenfeldbruck (Munich), Germany, June 6-9, 2017}, abstract = {

Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin stretch using the Rice Haptic Rocker. This device was integrated with the myo-controlled version of Pisa/IIT SoftHand and a size discrimination test with 18 able bodied subjects was performed to evaluate the effectiveness of the proposed approach. Results show that the Rice Haptic Rocker can be successfully used to convey proprioceptive information. A Likert survey was also presented to the experiment participants, who evaluated the integrated setup as easy to use and effective in conveying proprioception.

}, keywords = {Haptics}, author = {E. Battaglia and J. P. Clark and M. Bianchi and M. G. Catalano and A. Bicchi and M. K. O{\textquoteright}Malley} } @article {3105, title = {On the Role of Affective Properties in Hedonic and Discriminant Haptic Systems}, journal = {International Journal of Social Robotics}, volume = {9}, year = {2017}, month = {01/2017}, pages = {87{\textendash}95}, abstract = {

Common haptic devices are designed to effectively provide kinaesthetic and/or cutaneous discriminative inputs to the users by modulating some physical parameters. However, in addition to this behavior, haptic stimuli were proven to convey also affective inputs to the brain. Nevertheless, such affective properties of touch are often disregarded in the design (and consequent validation) of haptic displays. In this paper we present some preliminary experimental evidences about how emotional feelings, intrinsically present while interacting with tactile displays, can be assessed. We propose a methodology based on a bidimensional model of elicited emotions evaluated by means of simple psychometric tests and statistical inference. Specifically, affective dimensions are expressed in terms of arousal and valence, which are quantified through two simple one-question psychometric tests, whereas statistical inference is based on rank-based non-parametric tests. In this work we consider two types of haptic systems: (i) a softness display, FYD-2, which was designed to convey purely discriminative softness haptic stimuli and (ii) a system designed to convey affective caress-like stimuli (by regulating the velocity and the strength of the {\textquotedblleft}caress{\textquotedblright}) on the user forearm. Gender differences were also considered. In both devices, the affective component clearly depends on the stimuli and it is gender-related. Finally, we discuss how such outcomes might be profitably used to guide the design and the usage of haptic devices, in order to take into account also the emotional component, thus improving system performance.

}, keywords = {Haptics}, issn = {1875-4791}, doi = {10.1007/s12369-016-0371-x}, url = {http://rdcu.be/ugoW}, author = {M. Bianchi and G. Valenza and A Lanata and A. Greco and M. Nardelli and A. Bicchi and E. P. Scilingo} } @article {3725, title = {SoftHand at the CYBATHLON: A user{\textquoteright}s experience}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, year = {2017}, doi = {10.1186/s12984-017-0334-y}, author = {S. B. Godfrey and M. Rossi and C. Piazza and M. G. Catalano and M. Bianchi and G. Grioli and K. Zhao and A. Bicchi} } @article {3258, title = {The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working }, journal = {IEEE Robotics and Automation Magazine}, year = {2017}, note = {

This work was supported by the European Commission project (Horizon 2020 research program) SOFTPRO 688857, the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands,{\textquotedblright} ERC-291166, and the Proof of Concept Project SoftHand Pro-H, ERC-2016-PoC 727536.\ 

}, month = {11/2017}, keywords = {Haptics, Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2751662}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8110634}, author = {C. Piazza and M. G. Catalano and S. B. Godfrey and M. Rossi and G. Grioli and M. Bianchi and K. Zhao and A. Bicchi} } @inbook {3221, title = {Strain and angular sensing fabrics for human motion analysis in daily life}, booktitle = {Smart textiles : fundamentals, design, and interaction}, year = {2017}, pages = {49{\textendash}70}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Dordrecht}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @conference {3726, title = {Synergy-driven performance enhancement of vision-based 3D hand pose reconstruction}, booktitle = {Wireless mobile communication and healthcare : 6th International conference, MobiHealth 2016, Milan, Italy, November 14-16, 2016, Proceedings}, year = {2017}, doi = {10.1007/978-3-319-58877-3_42}, author = {S. Ciotti and E. Battaglia and I. Oikonomidis and A. Makris and A. Tsoli and A. Bicchi and A. A. Agyros and M. Bianchi} } @article {3226, title = {Systematic Review of fMRI Compatible Devices: Design and Testing Criteria}, journal = {ANNALS OF BIOMEDICAL ENGINEERING}, year = {2017}, keywords = {Biomedical Engineering, Compatibility, fMRI, Mechatronic devices, Safety}, doi = {10.1007/s10439-017-1853-1}, url = {http://link.springer.com/journal/volumesAndIssues/10439}, author = {V. Hartwig and N. Carbonaro and A. Tognetti and N. Vanello} } @conference {3122, title = {Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions}, booktitle = {IEEE World Haptic Conference}, year = {2017}, note = {

\ This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} no. ERC-291166, by the EU H2020 project {\textquotedblleft}SOFTPRO: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn{\textquotedblright} (no. 688857) and by the EU FP7 project (no. 601165), {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}. We thank Priscilla Balestrucci and Colleen P. Ryan for helpful comments and suggestions.

}, month = {06/2017}, publisher = {IEEE}, organization = {IEEE}, address = {F{\"u}rstenfeldbruck (Munich), Germany, June 6-9, 2017}, abstract = {

Touch provides an important cue to perceive the physical properties of the external objects. Recent studies showed that tactile sensation also contributes to our sense of hand position and displacement in perceptual tasks. In this study, we tested the hypothesis that, sliding our hand over a stationary surface, tactile motion may provide a feedback for guiding hand trajectory. We asked participants to touch a plate having parallel ridges at different orientations and to perform a self-paced, straight movement of the hand. In our daily-life experience, tactile slip motion is equal and opposite to hand motion. Here, we used a well-established perceptual illusion to dissociate, in a controlled manner, the two motion estimates. According to previous studies, this stimulus produces a bias in the perceived direction of tactile motion, predicted by tactile flow model. We showed a systematic deviation in the movement of the hand towards a direction opposite to the one predicted by tactile flow, supporting the hypothesis that touch contributes to motor control of the hand. We suggested a model where the perceived hand motion is equal to a weighted sum of the estimate from classical proprioceptive cues (e.g., from musculoskeletal system) and the estimate from tactile slip.

}, keywords = {Haptics}, author = {M. Bianchi and A. Moscatelli and S. Ciotti and G. C. Bettelani and F. Fioretti and F. Lacquaniti and A. Bicchi} } @conference {3156, title = {Tele-Impedance with Force Feedback under Communication Time Delay}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2017)}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Vancouver, Canada, September 24{\textendash}28, 2017}, keywords = {Robotics}, author = {M. Laghi and A. Ajoudani and M. G. Catalano and A. Bicchi} } @proceedings {2992, title = {Towards Minimum-Information Adaptive Controllers for Robot Manipulators}, year = {2017}, publisher = {IEEE}, address = {May 24{\textendash}26 2017, Seattle USA}, abstract = {

The aim of this paper is to move a step in the direction of determining the minimum amount of information needed to control a robot manipulator within the framework of adaptive control. Recent innovations in the state of the art show how global asymptotic trajectory tracking can be achieved despite the presence of uncertainties in the kinematic and dynamic models of the robot. However, a clear distinction between
which parameters can be included among the uncertainties, and which parameters can not, has not been drawn yet. Since most of the adaptive control algorithms are built on linearly parameterized models, we propose to reformulate the problem as finding a procedure to determine whether and how a given dynamical system can be linearly parameterized with respect to a specific set of parameters.
Within this framework, we show how the trajectory tracking problem of a manipulator can be accomplished with the only knowledge of the number of joints of the manipulator. As an illustrative example, we present the end-effector trajectory tracking control of a robot initialized with the kinematic model of a different robot.

}, keywords = {Robotics}, doi = {https://doi.org/10.23919/ACC.2017.7963602}, url = {https://ieeexplore.ieee.org/document/7963602}, author = {T. Marcucci and C. Della Santina and M Gabiccini and A. Bicchi} } @article {3363, title = {Unvealing the principal modes of human upper limb movements through functional analysis}, journal = {Frontiers in Robotics and AI}, volume = {4}, year = {2017}, pages = {37}, abstract = {

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.

}, author = {G. Averta and C. Della Santina and E. Battaglia and F. Felici and M. Bianchi and A. Bicchi} } @article {3137, title = {WALK-MAN: A High-Performance Humanoid Platform for Realistic Environments}, journal = {Journal of Field Robotics}, volume = {34}, year = {2017}, month = {06/2017}, pages = {1 - 34}, abstract = {

In this work, we present WALK-MAN, a humanoid platform that has been developed to operate in realistic unstructured environment, and demonstrate new skills including powerful manipulation, robust balanced locomotion, high-strength capabilities, and physical sturdiness. To enable these capabilities, WALK-MAN design and actuation are based on the most recent advancements of series elastic actuator drives with unique performance features that differentiate the robot from previous state-of-the-art compliant actuated robots. Physical interaction performance is benefited by both active and passive adaptation, thanks to WALK-MAN actuation that combines customized high-performance modules with tuned torque/velocity curves and transmission elasticity for high-speed adaptation response and motion reactions to disturbances. WALK-MAN design also includes innovative design optimization features that consider the selection of kinematic structure and the placement of the actuators with the body structure to maximize the robot performance. Physical robustness is ensured with the integration of elastic transmission, proprioceptive sensing, and control. The WALK-MAN hardware was designed and built in 11 months, and the prototype of the robot was ready four months before DARPA Robotics Challenge (DRC) Finals. The motion generation of WALK-MAN is based on the unified motion-generation framework of whole-body locomotion and manipulation (termed loco-manipulation). WALK-MAN is able to execute simple loco-manipulation behaviors synthesized by combining different primitives defining the behavior of the center of gravity, the motion of the hands, legs, and head, the body attitude and posture, and the constrained body parts such as joint limits and contacts. The motion-generation framework including the specific motion modules and software architecture is discussed in detail. A rich perception system allows the robot to perceive and generate 3D representations of the environment as well as detect contacts and sense physical interaction force and moments. The operator station that pilots use to control the robot provides a rich pilot interface with different control modes and a number of teleoperated or semiautonomous command features. The capability of the robot and the performance of the individual motion control and perception modules were validated during the DRC in which the robot was able to demonstrate exceptional physical resilience and execute some of the tasks during the competition.

}, keywords = {Robotics}, issn = {1556-4967}, doi = {10.1002/rob.21702}, url = {http://onlinelibrary.wiley.com/doi/10.1002/rob.21702/epdf}, author = {N. G. Tsagarakis and D. G. Caldwell and F. Negrello and W. Choi and L. Baccelliere and V. G. Loc and J. Noorden and L. Muratore and A. Margan and A. Cardellino and L. Natale and E. Mingo Hoffman and H. Dallali and N. Kashiri and J. Malzahn and J. Lee and P. Kryczka and D. Kanoulas and M. Garabini and M. G. Catalano and M. Ferrati and V. Varricchio and L. Pallottino and C. Pavan and A. Bicchi and A Settimi and A. Rocchi and A. Ajoudani} } @inbook {2819, title = {Actuators for Soft Robotics}, booktitle = {Springer Handbook of Robotics}, volume = {B}, year = {2016}, pages = {499-530}, publisher = {Springer}, organization = {Springer}, abstract = {

Although we do not know as yet how robots of the future will look like exactly, most of us are sure that they will not resemble the heavy, bulky, rigid machines dangerously moving around in old-fashioned industrial automation. There is a\ growing consensus, in the research community as well as in expectations from the public, that robots of the next generation will be physically compliant and adaptable machines, closely interacting with humans and moving safely, smoothly and efficiently\ {\textendash} in other terms, robots will be soft.

This chapter discusses the design, modeling and control of actuators for the new generation of soft robots, which can replace conventional actuators in applications where rigidity is not the first and foremost concern in performance. The chapter focuses on the technology, modeling, and control of lumped parameters of soft robotics, that is,\ systems of discrete, interconnected, and compliant elements. Distributed parameters, snake-like and continuum soft robotics, are presented in Chap.\ 20, while Chap.\ 23 discusses in detail the biomimetic motivations that are often behind soft robotics.

}, keywords = {Robotics}, issn = {978-3-319-32550-7}, doi = {10.1007/978-3-319-32552-1_21}, url = {http://link.springer.com/chapter/10.1007/978-3-319-32552-1_21}, author = {A Albu-Schaeffer and A. Bicchi} } @conference {2880, title = {APRICOT: Aerospace PRototypIng COntrol Toolbox. A Modeling and Simulation Environment for Aircraft Control Design}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {139 - 157}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A novel MATLAB/Simulink based modeling and simulation environment for the design and rapid prototyping of state-of-the-art aircraft control systems is proposed. The toolbox, named APRICOT, is able to simulate the longitudinal and laterodirectional dynamics of an aircraft separately, as well as the complete 6 degrees of freedom dynamics. All details of the dynamics can be easily customized in the toolbox, some examples are shown in the paper. Moreover, different aircraft models can be easily integrated. The main goal of APRICOT is to provide a simulation environment to test and validate different control laws with different aircraft models. Hence, the proposed toolbox has applicability both for educational purposes and control rapid prototyping. With respect to similar software packages, APRICOT is customizable in all its aspects, and has been released as open source software. An interface with Flightgear Simulator allows for online visualization of the flight. Examples of control design with simulation experiments are reported and commented.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_11}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_11}, author = {A. Ferrarelli and D. Caporale and A Settimi and L. Pallottino} } @conference {2878, title = {Assessing the Potential of Autonomous Multi-agent Surveillance in Asset Protection from Underwater Threats}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {204 - 213}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

A Serious Game (SG) system for the assessment of the potential of the multi-vehicle surveillance is presented. The SG system is applied to the problem of protection of strategic assets from underwater asymmetric threats. The SG platform integrates the active sonar performance evaluator able to estimate the real performance on the basis of the environmental conditions. The final goal is to provide new technology tools to realize a Decision Support System (DDS) to support the design phase of a naval unit. The SG system is developed in the framework of the ProDifCon project supported by the (DLTM) (Italy).

}, doi = {10.1007/978-3-319-47605-6_17}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_17}, author = {T. Fabbri and S. Nardi and L. Isgr{\`o} and L. Pallottino and A. Caiti} } @article {3231, title = {Assessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking}, journal = {ELECTRONICS}, volume = {5}, year = {2016}, pages = {1{\textendash}15}, keywords = {accelerometers, force sensors, gait cycle, gait phase, smart shoe, walking, wearable technology}, doi = {10.3390/electronics5040078}, url = {http://www.mdpi.com/2079-9292/5/4/78}, author = {N. Carbonaro and F. Lorussi and A. Tognetti} } @article {2844, title = {Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications}, journal = {Frontiers in Neurorobotics}, volume = {10}, year = {2016}, month = {10/2016}, abstract = {

Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step towards a more effective and intuitive control of myoelectric hand prostheses.

}, keywords = {Haptics, Robotics}, doi = {10.3389/fnbot.2016.00011}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/}, author = {S. Fani and M. Bianchi and S. Jain and J. Pimenta Neto and S. Boege and G. Grioli and A. Bicchi and M. Santello} } @article {3246, title = {Assessment of spontaneous cardiovascular oscillations in Parkinson{\textquoteright}s disease}, journal = {Biomedical Signal Processing and Control}, volume = {26}, year = {2016}, pages = {80{\textendash}89}, keywords = {Bioengineering}, author = {G. Valenza and S. Orsolini and S. Diciotti and L. Citi and E. P. Scilingo and M. Guerrisi and S. Danti and C. Lucetti and C. Tessa and R. Barbieri} } @article {2847, title = {An Attitude Estimation Algorithm for Mobile Robots under Unknown Magnetic Disturbances}, journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS}, volume = {21}, year = {2016}, pages = {1900-1911}, chapter = {1900}, abstract = {
Attitude estimation is a crucial aspect for navigation and motion control of autonomous vehicles. This concept is particularly true in the case of unavailability of localization sensors when navigation and control rely on dead reckoning strategies; in this case, indeed, the orientation estimate is also used along with speed measurements to update the position estimate. Among the different approaches proposed in the literature, the de facto state of the art in this field is represented by nonlinear complementary filters: they fuse the measurements of angular rate obtained through gyroscopes, and a measurement of gravity and Earth{\textquoteright}s magnetic field vectors respectively obtained through accelerometers and magnetometers. This paper is focused on an attitude estimation strategy for autonomous underwater vehicles (AUV). The proposed novelty includes the identification of some critical issues that arise when AUV attitude estimation algorithms are applied in practice.
They are mainly due to the use of low-accuracy low-cost microelectromechanical systems (MEMS) sensors and on different sources of magnetic disturbances. Some strategies to overcome the identified issues are proposed, including the integration of a single-axis fiber optic gyroscope (FOG) that ensures a considerable performance improvement with a moderate cost increase. The proposed strategies for detection of issues and sensor fusion have been experimentally tested and validated in a real application scenario estimating the attitude of an AUV performing a lawn mower path.
The expected performance improvement is confirmed; the obtained results are described and analyzed in this paper.
}, keywords = {Robotics}, doi = {10.1109/TMECH.2016.2559941}, url = {http://ieeexplore.ieee.org/document/7460980/}, author = {R. Costanzi and F. Fanelli and N. Monni and A. Ridolfi and B. Allotta} } @article {3235, title = {A bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, volume = {13}, year = {2016}, pages = {1{\textendash}13}, keywords = {Hand posture estimation, Reaching activity, Scapular girdle movement, Scapular-humeral rhythm, Wearable sensing}, doi = {10.1186/s12984-016-0149-2}, url = {https://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-016-0149-2}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @article {2896, title = {A bioreactor with an electro-responsive elastomeric membrane for mimicking intestinal peristalsis}, journal = {Bioinspiration \& Biomimetics}, volume = {12}, year = {2016}, abstract = {

This study describes an actuated bioreactor which mimics the pulsatile contractile motion of the intestinal barrier using electro-responsive elastomers as smart materials that undergo deformation upon electrical stimulation. The device consists of an annular dielectric elastomer actuator working as a radial artificial muscle able to rhythmically contract and relax a central cell culture well. The bioreactor maintained up to 4 h of actuation at a frequency of 0.15 Hz and a strain of 8\%{\textendash}10\%, to those of the cyclic contraction and relaxation of the small intestine. In vitro tests demonstrated that the device was biocompatible and cell-adhesive for Caco-2 cells, which formed a confluent monolayer following 21 days of culture in the central well. In addition, cellular adhesion and cohesion were maintained after 4 h of continuous cyclic strain. These preliminary results encourage further investigations on the use of dielectric elastomer actuation as a versatile technology that might overcome the limitations of commercially available pneumatic driving systems to obtain bioreactors that can cyclically deform cell cultures in a biomimetic fashion.

}, url = {http://iopscience.iop.org/article/10.1088/1748-3190/12/1/016001/pdf}, author = {D. Cei and J. Costa and G. Gori and G. Frediani and C. Domenici and F. Carpi and A. Ahluwalia} } @article {2685, title = {The Change in Fingertip Contact Area as a Novel Proprioceptive Cue}, journal = {Current Biology}, volume = {26}, year = {2016}, month = {05/2016}, pages = {1159{\textendash}1163}, abstract = {

Humans, many animals, and certain robotic hands have deformable fingertip pads. Deformable pads have the advantage of conforming to the objects that are being touched, ensuring a stable grasp for a large range of forces and shapes. Pad deformations change with finger displacements during touch. Pushing a finger against an external surface typically provokes an increase of the gross contact area, potentially providing a relative motion cue, a situation comparable to looming in vision. The rate of increase of the area of contact also depends on the compliance of the object. Because objects normally do not suddenly change compliance, participants may interpret an artificially induced variation in compliance, which coincides with a change in the gross contact area, as a change in finger displacement, and consequently they may misestimate their finger{\textquoteright}s position relative to the touched object. To test this, we asked participants to compare the perceived displacements of their finger while contacting an object varying pseudo-randomly in compliance from trial to trial. Results indicate a bias in the perception of finger displacement induced by the change in compliance, hence in contact area, indicating that participants interpreted the altered cutaneous input as a cue to proprioception. This situation highlights the capacity of the brain to take advantage of knowledge of the mechanical properties of the body and of the external environment.

}, keywords = {Haptics, Robotics}, doi = {10.1016/j.cub.2016.02.052}, url = {http://www.sciencedirect.com/science/article/pii/S0960982216301348}, author = {A. Moscatelli and M. Bianchi and A. Serio and A. Terekhov and V. Hayward and M. Ernst and A. Bicchi} } @article {2835, title = {Clarifying CLARITY: Quantitative Optimization of the Diffusion Based Delipidation Protocol for Genetically Labeled Tissue}, journal = {Frontiers in Neuroscience}, year = {2016}, abstract = {

Tissue clarification has been recently proposed to allow deep tissue imaging without light scattering. The clarification parameters are somewhat arbitrary and dependent on tissue type, source and dimension: every laboratory has its own protocol, but a quantitative approach to determine the optimum clearing time is still lacking. Since the use of transgenic mouse lines that express fluorescent proteins to visualize specific cell populations is widespread, a quantitative approach to determine the optimum clearing time for genetically labeled neurons from thick murine brain slices using CLARITY2 is described. In particular, as the main objective of the delipidation treatment is to clarify tissues, while limiting loss of fluorescent signal, the {\textquotedblleft}goodness{\textquotedblright} of clarification was evaluated by considering the bulk tissue clarification index (BTCi) and the fraction of the fluorescent marker retained in the slice as easily quantifiable macroscale parameters. Here we describe the approach, illustrating an example of how it can be used to determine the optimum clearing time for 1 mm-thick cerebellar slice from transgenic L7GFP mice, in which Purkinje neurons express the GFP (green fluorescent protein) tag. To validate the method, we evaluated confocal stacks of our samples using standard image processing indices (i.e., the mean pixel intensity of neurons and the contrast-to-noise ratio) as figures of merit for image quality. The results show that detergent-based delipidation for more than 5 days does not increase tissue clarity but the fraction of GFP in the tissue continues to diminish. The optimum clearing time for 1 mm-thick slices was thus identified as 5 days, which is the best compromise between the increase in light penetration depth due to removal of lipids and a decrease in fluorescent signal as a consequence of protein loss: further clearing does not improve tissue transparency, but only leads to more protein removal or degradation. The rigorous quantitative approach described can be generalized to any clarification method to identify the moment when the clearing process should be terminated to avoid useless protein loss.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.3389/fnins.2016.00179}, url = {http://journal.frontiersin.org/article/10.3389/fnins.2016.00179/full}, author = {C. Magliaro and A. L. Callara and G. Mattei and M. Morcinelli and C. Viaggi and Vaglini, F and A. Ahluwalia} } @article {3252, title = {Combining electroencephalographic activity and instantaneous heart rate for assessing brain{\textendash}heart dynamics during visual emotional elicitation in healthy subjects}, journal = {Phil. Trans. R. Soc. A}, volume = {374}, year = {2016}, pages = {20150176}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and C. Gentili and A. Lanat{\`a} and Sebastiani, L. and D. Menicucci and A. Gemignani and E. P. Scilingo} } @article {2791, title = {Controllability analysis of a pair of 3D Dubins vehicles in formation}, journal = {Robotics and Autonomous Systems}, volume = {83}, year = {2016}, month = {09/2016}, pages = {94 - 105}, abstract = {

In this paper we consider the controllability problem for a system consisting of a pair of Dubins vehicles moving in a 3D space (i.e.\ pair of 3D{\textendash}Dubins vehicles) while maintaining constant distance. Necessary and sufficient conditions for the existence of a limited control effort to steer the system between any two configurations are provided. The proposed controllability analysis and the developed motion planning algorithm are a step toward the solution of planning problems for example in case the robots are physically constrained to a payload to be deployed. Moreover, results obtained in this paper are relevant in order to solve formation control problems for multiple robots as aerial or underwater vehicles, which move in 3D spaces. Simulation results highlight the sufficiency of the obtained conditions showing that even from critical configurations an admissible control can be determined.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2016.05.015}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015301202}, author = {H. Marino and Salaris, P. and L. Pallottino} } @article {2481, title = {Convergence Analysis of Distributed Set-Valued Information Systems}, journal = {IEEE Transactions on Automatic Control}, volume = {61}, year = {2016}, month = {06/2016}, pages = {1477 - 1491}, abstract = {
This paper focuses on the convergence of information in distributed systems of agents communicating over a network.
The information on which the convergence is sought is not represented by real numbers, as often in the literature, rather by sets. The dynamics of the evolution of information across the network is accordingly described by set-valued iterative maps. While the study of convergence of set-valued iterative maps is highly complex in general, this paper focuses on Boolean maps, which are comprised of arbitrary combinations of unions, intersections, and complements of sets. For these important class of systems, we provide tools to study both global and local convergence. A distributed geographic information system, leading to successful information reconstruction from partial and corrupted data, is used to illustrate the applications of the proposed methods.
}, keywords = {Embedded Control, Robotics}, doi = {10.1109/TAC.2015.2480176}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7272075}, author = {A. Fagiolini and N. Dubbini and S. Martini and A. Bicchi} } @article {2848, title = {Cooperative navigation of AUVs via acoustic communication networking: field experience with the Typhoon vehicles}, journal = {AUTONOMOUS ROBOTS}, volume = {40}, year = {2016}, month = {10/2016}, pages = {1229{\textendash}1244}, abstract = {

A cooperative navigation procedure for a team of autonomous underwater vehicles (AUVs) is described and validated on experimental data. The procedure relies on acoustic communication networking among the AUVs and/or fixed acoustic nodes, and it is suitable as a low-cost solution for team navigation. Embedding the acoustic localization measurements in the communication scheme causes delays and sometimes loss of acoustic data, depending on acoustic propagation conditions. Despite this drawback, the results obtained show that on-board localization estimates have an error of the order of few meters, improving the overall navigation performance and leading the system towards long-term autonomy in terms of operating mission time, without the need of periodic resurfacings dedicated to reset the estimation error. The data were collected during the CommsNet\ {\textquoteright}13 experiment, led by the NATO Science and Technology Organization Center for Maritime Research and Experimentation (CMRE), and the Breaking The Surface\ {\textquoteright}14 workshop, organized by the University of Zagreb.

}, keywords = {Robotics}, issn = {0929-5593}, doi = {10.1007/s10514-016-9594-9}, url = {http://link.springer.com/journal/volumesAndIssues/10514}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Di Corato and D. Fenucci and N. Monni and L. Pugi and A. Ridolfi} } @conference {3730, title = {Data-driven human grasp movement analysis}, booktitle = {47th International Symposium on Robotics, ISR 2016}, year = {2016}, author = {H. Marino and M. Gabiccini and L. Leonardi and A. Bicchi} } @conference {2921, title = {Development of a robotic teaching interface for human to human skill transfer}, booktitle = {IEEE International Conference on Intelligent Robots and Systems}, year = {2016}, month = {11/2016}, pages = {710-716}, publisher = {IEEE}, organization = {IEEE}, address = {Danjeon, Korea}, keywords = {Robotics}, doi = {10.1109/IROS.2016.7759130}, url = {https://www.scopus.com/inward/record.uri?eid=2-s2.0-85006355804\&doi=10.1109\%2fIROS.2016.7759130\&partnerID=40\&md5=7f982e3eb493c1a6047d1dcc2acbe208}, author = {Yang, C. and P. Liang and A. Ajoudani and Z. Li and A. Bicchi} } @article {2710, title = {fabrication and perivascular implantation of bioactive scaffolds engineered with human adventitial progenitor cells for stimulation of arteriogenesis in peripheral ischemia}, journal = {Biofabrication}, volume = {8}, year = {2016}, month = {03/24}, keywords = {Bioengineering}, doi = {10.1088/1758-5090/8/1/015020}, author = {Carrabba, M. and C. De Maria and A. Oikawa and C. Reni and I. Rodriguez-Arabaolaza and H. Spencer and S. Slater and E. Avolio and Z. Dang and G. Spinetti and MADEDDU, P. and G. Vozzi} } @article {2897, title = {A Fabric-based Approach for Wearable Haptics}, journal = { In: Electronics - Special Issue on Wearable Electronics and Embedded Computing Systems for Biomedical Application}, volume = {5}, year = {2016}, doi = {10.3390/electronics5030044}, author = {M. Bianchi} } @inbook {2886, title = {From Soft to Adaptive Synergies: The Pisa/IIT SoftHand}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, publisher = {Springer}, organization = {Springer}, chapter = {101 - 125}, abstract = {

Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves under the guidelines of making an hardware robust and easy to control, preserving an high level of grasping capabilities and an aspect as similar as possible to the human counterpart. First, the main theoretical tools used to enable such simplification are presented, as for example the notion of soft synergies. A discussion of some possible actuation schemes shows that a straightforward implementation of the soft synergy idea in an effective design is not trivial. The proposed approach, called adaptive synergy, rests on ideas coming from underactuated hand design, offering a design method to implement the desired set of soft synergies as demonstrated both with simulations and experiments. As a particular instance of application of the synthesis method of adaptive synergies, the Pisa/IIT SoftHand is described in detail. The hand has 19 joints, but only uses one actuator to activate its adaptive synergy. Of particular relevance in its design is the very soft and safe, yet powerful and extremely robust structure, obtained through the use of innovative articulations and ligaments replacing conventional joint design. Moreover, in this work, summarizing results presented in previous papers, a discussion is presented about how a new set of possibilities is open from paradigm shift in manipulation approaches, moving from manipulation with rigid to soft hands.

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_8}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and M. Bonilla and M. Garabini and C. Piazza and M Gabiccini and A. Bicchi} } @inbook {2714, title = {A Full Body Sensing System for Monitoring Stroke Patients in a Home Environment}, booktitle = {Biomedical Engineering Systems and Technologies: 7th International Joint Conference, BIOSTEC 2014, Angers, France, March 3-6, 2014, Revised Selected Papers}, year = {2016}, pages = {378 - 393}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, keywords = {Bioengineering}, isbn = {978-3-319-26128-7}, doi = {10.1007/978-3-319-26129-4_25}, author = {Klaassen, B. and van Beijnum, B.J.F. and Weusthof, M. H. H. and D. Hofs and van Meulen, F.B. and E. Droog and H. Luinge and S. Laurens and A. Tognetti and F. Lorussi and R. Paradiso and Held, J. and Luft, A. R. L. and Reenalda, J. and Nikamp, C. D. M. and Buurke, J. H. and Hermens, HJ and Veltink, P.} } @conference {2818, title = {A game theoretic approach for antagonistic-task coordination of underwater autonomous robots in asymmetric threats scenarios}, booktitle = {OCEANS 2016}, year = {2016}, month = {12/2016}, abstract = {

This work proposes a game theoretic approach
to tackle the problem of multi-robot coordination
in critical scenarios where communication is
limited and the robots must accomplish different tasks
simultaneously. An important application falls in underwater
robotic framework where robots are used to
protect a ship against asymmetric threats guaranteeing
simultaneously the coverage of the area around the ship
and the tracking of a possible intruder. The problem is
modelled as a potential game for which novel learning
protocols are introduced. Indeed, a general extension
of pay-off based algorithms is herein proposed where
the main difference with state-of-the-art protocols is
that the trajectory optimization is considered instead
of single action optimization. Moreover, the proposed
T-algorithms, steer the robots toward Nash equilibria
that will be shown to correspond to the accomplishment
of different, possibly antagonistic, goals. Finally, performances
of the algorithms, under different scenarios,
have been evaluated in simulations.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7761346/}, author = {S. Nardi and T. Fabbri and A. Caiti and L. Pallottino} } @article {2652, title = {Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands}, journal = {Physics of Life Reviews}, volume = {17}, year = {2016}, month = {07/2016}, pages = {1-23}, keywords = {Haptics, Robotics}, url = {http://www.sciencedirect.com/science/article/pii/S1571064516000269}, author = {M. Santello and M. Bianchi and M Gabiccini and E. Ricciardi and G. Salvietti and D Prattichizzo and M. Ernst and A. Moscatelli and H. Jorntell and A. Kappers and K. Kyriakopulos and A Albu-Schaeffer and C. Castellini and A. Bicchi} } @article {3227, title = {A Hands-Free Interface for Controlling Virtual Electric-Powered Wheelchairs}, journal = {INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS}, volume = {13}, year = {2016}, pages = {1{\textendash}10}, keywords = {Assistive Technologies, Electric-powered Wheelchair, Hands-free Interface}, doi = {10.5772/62028}, author = {Gulrez, T and A. Tognetti and W. J. YooN and Kavakli-Thorne, M. and J.-J. Cabibihan} } @article {3253, title = {The heart side of brain neuromodulation}, journal = {Phil. Trans. R. Soc. A}, volume = {374}, year = {2016}, pages = {20150187}, keywords = {Bioengineering}, author = {S. Rossi and E. Santarnecchi and G. Valenza and M. Ulivelli} } @conference {3228, title = {A highly stretchable artificial sensitive skin using EIT}, booktitle = {Book of abstracts: 16th International Conference on Electrical Bio-Impedance, 17th International Conference on Electrical Impedance Tomography. ICEBI and EIT Stockholm 19{\quotesinglbase}{\"A}{\`\i}23 June 2016}, year = {2016}, pages = {132{\textendash}132}, publisher = {Karolinska Institutet}, organization = {Karolinska Institutet}, address = {Stoccolma}, url = {http://www.icebi2016.org/images/ICEBI_2016_web.pdf}, author = {S. Russo and A. Tognetti and N. Carbonaro and S. Nefti-meziani} } @inbook {3704, title = {Human and robot hands: Sensorimotor Synergies to Bridge the Gap between Neuroscience and Robotics}, year = {2016}, author = {Matteo Bianchi and Alessandro Moscatelli} } @article {2719, title = {Human and Robot Hands - Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics}, year = {2016}, publisher = {Springer}, abstract = {

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics.\  Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.

Presented in two parts, the first part,\ Neuroscience,\ provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part,\ Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.

Human and Robot Hands\ provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

}, keywords = {Haptics, Robotics}, isbn = {978-3-319-26706-7}, url = {http://www.springer.com/us/book/9783319267050}, author = {M. Bianchi and A. Moscatelli} } @conference {2879, title = {Indoor Real-Time Localisation for Multiple Autonomous Vehicles Fusing Vision, Odometry and IMU Data}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {288 - 297}, publisher = {Springer}, organization = {Springer}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

Due to the increasing usage of service and industrial autonomous vehicles, a precise localisation is an essential component required in many applications, e.g. indoor robot navigation. In open outdoor environments, differential GPS systems can provide precise positioning information. However, there are many applications in which GPS cannot be used, such as indoor environments. In this work, we aim to increase robot autonomy providing a localisation system based on passive markers, that fuses three kinds of data through extended Kalman filters. With the use of low cost devices, the optical data are combined with other robots{\textquoteright} sensor signals, i.e. odometry and inertial measurement units (IMU) data, in order to obtain accurate localisation at higher tracking frequencies. The entire system has been developed fully integrated with the Robotic Operating System (ROS) and has been validated with real robots.

}, keywords = {Embedded Control, Robotics}, doi = { 10.1007/978-3-319-47605-6_24}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_24}, author = {A. Faralli and N. Giovannini and S. Nardi and L. Pallottino} } @conference {2899, title = {Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference }, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, doi = {10.1109/EMBC.2016.7591957}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957}, author = {S. B. Godfrey and M. Bianchi and A. Bicchi and M. Santello} } @article {2496, title = {The influence of mesh topology in the abdominal wall repair process}, journal = {J Biomed Mater Res Part B. }, year = {2016}, month = {08/2016}, keywords = {Bioengineering}, doi = {https://doi.org/10.1002/jbm.b.33468}, url = {https://www.ncbi.nlm.nih.gov/pubmed/26097153}, author = {C. De Maria and S. Burchielli and C. Salvadori and V. Santoro and F. Montemurro and G. Orsi and G. Vozzi} } @article {3255, title = {Inhomogeneous point-processes to instantaneously assess affective haptic perception through heartbeat dynamics information}, journal = {Scientific reports}, volume = {6}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and L. Citi and M. Bianchi and R. Barbieri 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} } @conference {2892, title = {Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies}, booktitle = {International Workshop on Human-Friendly Robotics}, year = {2016}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {2845, title = {A new AUV navigation system exploiting unscented Kalman filter}, journal = {OCEAN ENGINEERING}, volume = {113}, year = {2016}, pages = {121-132}, abstract = {

The development of precise and robust navigation strategies for Autonomous Underwater Vehicles (AUVs) is fundamental to reach the high level of performance required by complex underwater tasks, often including more than one AUV. One of the main factors affecting the accuracy of AUVs navigation systems is the algorithm used to estimate the vehicle motion, usually based on kinematic vehicle models and linear estimators. A precise and reliable navigation system is indeed fundamental to AUVs: the Global Positioning System (GPS) signal is not available underwater, thus making it very hard to know the position of the vehicle in real-time. In this paper, the authors present an innovative navigation strategy specifically designed for AUVs, based on the Unscented Kalman Filter (UKF). The new algorithm proves to be effective if applied to this class of vehicles and allows us to achieve a satisfying accuracy improvement compared to standard navigation algorithms. The proposed strategy has been experimentally validated using the navigation data acquired in suitable sea tests performed in Biograd Na Moru (Croatia) in the framework of the FP7 European ARROWS project tests performed during the Breaking the Surface 2014 (BtS 2014) workshop. The vehicles involved are the two Typhoon AUVs, developed and built by the Department of Industrial Engineering of the University of Florence within the THESAURUS Tuscany Region project for exploration and surveillance of underwater archaeological sites. The experiment, described in the paper, was performed to preliminary test the cooperative navigation between these AUVs. The new algorithm has been initially tested offline, and the validation of the proposed strategy provided accurate results in estimating the vehicle dynamic behaviour.

}, keywords = {Robotics}, doi = {10.1016/j.oceaneng.2015.12.058}, author = {B. Allotta and A. Caiti and R. Costanzi and F. Fanelli and D. Fenucci and E. Meli and A. Ridolfi} } @article {2627, title = {No More Heavy Lifting: Robotic Solutions to the Container Unloading Problem}, journal = {IEEE Robotics and Automation Magazine}, volume = {23}, year = {2016}, month = {08/2016}, chapter = {94}, keywords = {Robotics}, doi = {https://doi.org/10.1109/MRA.2016.2535098}, url = {https://ieeexplore.ieee.org/document/7553531}, author = {T. Stoyanov and N. Vaskeviciusz and C. A. Mueller and T. Fromm and R. Krug and V. Tincani and R. Mojtahedzadeh and S. Kunaschk and R. M. Ernits and D. R. Canelhas and M. Bonilla and S. Schwertfeger and M. Bonini and H. Halfar and K. Pathak and M. Rohde and G Fantoni and A. Bicchi and A. Birk and A. Lilienthal and W. Echelmeyer} } @conference {2877, title = {NoStop: An Open Source Framework for Design and Test of Coordination Protocol for Asymmetric Threats Protection in Marine Environment}, booktitle = {International Workshop on Modelling and Simulation for Autonomous Systems MESAS 2016}, volume = {9991 of the book series Lecture Notes in Computer Science (LNCS)}, year = {2016}, pages = {176 - 185}, publisher = {Spronger}, organization = {Spronger}, address = {Rome, Italy, June 15-16, 2016}, abstract = {

NoStop\ is an open source simulator dedicated to distributed and cooperative mobile robotics systems. It has been designed as a framework to design and test multi{\textendash}agent collaborative algorithms in terms of performance and robustness. The particular application scenario of a team of autonomous guards that coordinate to protect an area from asymmetric threat is considered. NoStop\ system is an integrated tool able to both evaluate the coordination protocol performance and to design the team of guards involved in the asymmetric threat protection. Moreover, NoStop\ is designed to validate robustness of coordination protocol through the use of a remote pilot that control the intruder motion to escape from the guards that monitor the area and accomplish its mission. The project core is a simulation server with a dynamic engine and a synchronization facility. Different coordination protocol can be designed and easily integrated in NoStop. The framework is fully integrated with the Robot Operating System (ROS) and it is completed by a control station where the remote pilot moves the intruder following the guards evolution in a 3D viewer.

}, keywords = {Embedded Control, Robotics}, doi = {10.1007/978-3-319-47605-6_14}, url = {http://link.springer.com/chapter/10.1007/978-3-319-47605-6_14}, author = {S. Nardi and L. Pallottino} } @proceedings {2900, title = {On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis}, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, author = {M. Nardelli and A. Greco and M. Bianchi and E. P. Scilingo and G. Valenza} } @article {2834, title = {Polymeric microporous nanofilms as smart platforms for in vitro assessment of nanoparticle translocation and Caco-2 cell culture}, journal = { IEEE Transactions on NanoBioscience }, year = {2016}, keywords = {Bioengineering}, doi = { 10.1109/TNB.2016.2603191}, url = {http://ieeexplore.ieee.org/document/7552480/}, author = {L. Ricotti and G. Gori and D. Cei and J. Costa and G. Signore and A. Ahluwalia} } @article {3254, title = {Predicting Mood Changes in Bipolar Disorder through Heartbeat Nonlinear Dynamics}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2016}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and C. Gentili and G. Bertschy and M. Kosel and E. P. Scilingo} } @conference {3232, title = {A preliminary framework for a social robot {\quotesinglbase}{\"A}{\'u}sixth sense{\quotesinglbase}{\"A}{\`u}}, booktitle = {Biomimetic and Biohybrid Systems 5th International Conference, Living Machines 2016, Edinburgh, UK, July 19-22, 2016. Proceedings}, volume = {9793}, year = {2016}, pages = {58{\textendash}70}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Dordrecht}, keywords = {Affective computing, Behaviour monitoring, Computer Science (all), human-robot interaction, social robotics, Synthetic tutor, Theoretical Computer Science}, doi = {10.1007/978-3-319-42417-0_6}, url = {http://springerlink.com/content/0302-9743/copyright/2005/}, author = {Cominelli, L. and D. Mazzei and N. Carbonaro and R. Garofalo and A. Zaraki and A. Tognetti and D. De Rossi} } @article {2724, title = {On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach}, journal = {IEEE ROBOTICS AND AUTOMATION LETTERS}, volume = {1}, year = {2016}, month = {01/2016}, pages = {469-476}, abstract = {

Moving objects with autonomous robots is a wide topic that includes single-arm pick-and-place tasks, object regrasping, object passing between two or more arms in the air or using support surfaces such as tables and similar. Each task has been extensively studied and many planning solutions are already present in the literature. In this letter, we present a planning scheme which, based on the use of pre-defined elementary manipulation skills, aims to unify solutions which are usually obtained by means of different planning strategies rooted on hardcoded behaviors. Both robotic manipulators and environment fixed support surfaces are treated as end-effectors of movable and non-movable types, respectively. The task of the robot can thus be broken down into elementary building blocks, which are endeffector manipulation skills, that are then planned at the kinematic level. Feasibility is ensured by propagating unforeseen low-level failures at the higher level and by synthesizing different behaviors. The validity of the proposed solution is shown via experiments on a bimanual robot setup and in simulations involving a more complex setup similar to an assembly line.

}, keywords = {Robotics}, doi = {10.1109/LRA.2016.2519149}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7384694}, author = {H. Marino and M. Ferrati and A Settimi and C. Rosales and M Gabiccini} } @conference {3230, title = {A Quantitative Evaluation of Drive Patterns in Electrical Impedance Tomography}, booktitle = {Proceedings of the 6th EAI International Conference on Wireless Mobile Communication and Healthcare}, year = {2016}, pages = {337{\textendash}344}, keywords = {drive patterns, EIT, Electrical impedance tomography, stretchable sensors}, doi = {10.1007/978-3-319-58877-3}, author = {S. Russo and N. Carbonaro and A. Tognetti and S. Nefti-meziani} } @inbook {2888, title = {Quasi-Static Analysis of Synergistically Underactuated Robotic Hands in Grasping and Manipulation Tasks}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, note = {

This work was supported by the European Commission under the CP-IP grant
no. 248587 {\textquotedblleft}THE Hand Embodied{\textquotedblright}, within the FP7-2007-2013 program, by the
grant no. 600918 {\textquotedblleft}PaCMan{\textquotedblright} - Probabilistic and Compositional Representations of
Objects for Robotic Manipulation - within the FP7-ICT-2011-9 program, the grant
no. 611832 {\textquotedblleft}Walk-Man{\textquotedblright} within the FP7-ICT-2013-10 program, and the grant no.
645599 {\textquotedblleft}SOMA: Soft-bodied Intelligence for Manipulation{\textquotedblright}, funded under H2020-
EU-2115.

}, pages = {211-233}, publisher = {Springer}, organization = {Springer}, abstract = {

As described in Chaps.\ 2{\textendash}5, neuroscientific studies showed that the control of the human hand is mainly realized in a synergistic way. Recently, taking inspiration from this observation, with the aim of facing the complications consequent to the high number of degrees of freedom, similar approaches have been used for the control of robotic hands. As Chap.\ 12 describes SynGrasp, a useful technical tool for grasp analysis of synergy-inspired hands, in this chapter recently developed analysis tools for studying robotic hands equipped with soft synergy underactuation (see Chap.\ 8) are exhaustively described under a theoretical point of view. After a review of the quasi-static model of the system, the Fundamental Grasp Matrix (FGM) and its canonical form (cFGM) are presented, from which it is possible to extract relevant information as, for example, the subspaces of the controllable internal forces, of the controllable object displacements and the grasp compliance. The definitions of some relevant types of manipulation tasks (e.g. the pure squeeze, realized maintaining the object configuration fixed but changing contact forces, or the kinematic grasp displacements, in which the grasped object can be moved without modifying contact forces) are provided in terms of nullity or non-nullity of the variables describing the system. The feasibility of such predefined tasks can be verified thanks to a decomposition method, based on the search of the row reduced echelon form (RREF) of suitable portions of the solution space. Moreover, a geometric interpretation of the FGM and the possibility to extend the above mentioned methods to the study of robotic hands with different types of underactuation are discussed. Finally, numerical results are presented for a power grasp example, the analysis of which is initially performed for the case of fully-actuated hand, and later verifying, after the introduction of a synergistic underactuation, which capacities of the system are lost, and which other are still present.

}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_13}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @article {2711, title = {Reconstruction of medial patello-femoral ligament: Comparison of two surgical techniques}, journal = {J Mech Behav Biomed Mater.}, year = {2016}, month = {02/10}, pages = {272-278}, keywords = {Bioengineering}, doi = {10.1016/j.jmbbm.2016.02.009}, author = {Criscenti, G. and C. De Maria and E. Sebastiani and M. Tei and G. Placella and G. Vozzi and Cerulli, G.} } @conference {2655, title = {Reflex Control of the Pisa/IIT SoftHand during Object Slippage}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, pages = {1972 - 1979}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden}, abstract = {

In this work, to guarantee the Pisa/IIT SoftHand{\textquoteright}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{\textquoteright}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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487344}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487344}, author = {A. Ajoudani and E. Hocaoglu and Altobelli, A and M. Rossi and E. Battaglia and N G Tsagarakis and A. Bicchi} } @article {3241, title = {Relationship between cardiac vagal activity and mood congruent memory bias in major depression}, journal = {Journal of Affective Disorders}, volume = {190}, year = {2016}, pages = {19{\textendash}25}, keywords = {Bioengineering}, author = {R. G. Garcia and G. Valenza and C. A. Tomaz and R. Barbieri} } @article {2712, title = {riphasic scaffolds for the regeneration of the bone-ligament interface}, journal = {Biofabrication}, volume = {8}, year = {2016}, chapter = {015009}, doi = {10.1088/1758-5090/8/1/015009}, author = {G. Criscenti and A. Longoni and A. Di Luca and C. De Maria and Van Blitterswijk, C. and G. Vozzi and Moroni, L.} } @conference {2889, title = {Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios}, booktitle = {IEEE International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, note = {
This work was supported by the European Commission projects (FP7 framework) Walk-Man and the European Commission Grant no. H2020- ICT-645599 {\textquotedblleft}SOMA{\textquotedblright}: SOft MAnipulation
}, publisher = {IEEE}, organization = {IEEE}, address = {Cancun, Mexico, 15-17 Nov. 2016 }, abstract = {

Compliance in robot design and control is often introduced to improve the robot performance in tasks where interaction with environment or human is required. However a rigorous method to choose the correct level of compliance is still not available. In this work we use robust optimization as a tool to select the optimal compliance value in a robotenvironment interaction scenario under uncertainties. We propose an approach that can be profitably applied on a variety of tasks, e.g.manipulation tasks or locomotion tasks. The aim is to minimize the forces of interaction considering model constraints and uncertainties. Numerical results show that: i) in case of perfect knowledge of the environment stiff robots behave better in terms of force minimization, ii) in case of uncertainties the optimal stiffness of the robot is lower than the previous case and optimal solutions provide a faster task accomplishment, iii) the optimal stiffness decreases as a function of the uncertainty measure. Experiments are carried out in a realistic set-up in case of bi-manual object handover.

}, keywords = {Robotics}, isbn = {978-1-5090-4718-5 }, doi = { 10.1109/HUMANOIDS.2016.7803381}, url = {http://ieeexplore.ieee.org/document/7803381/}, author = {Gasparri, G. M. and F. Fabiani and M. Garabini and L. Pallottino and M. G. Catalano and G. Grioli and R. Persichini and A. Bicchi} } @article {2833, title = {Sample, testing and analysis variables affecting liver mechanical properties: A review}, journal = {Acta Biomaterialia}, year = {2016}, abstract = {

Given the critical role of liver mechanics in regulating cell response and directing the development of tissue fibrosis, accurately characterising its mechanical behaviour is of relevance for both diagnostic purposes as well as for tissue engineering and for the development of in-vitro models. Determining and quantifying the mechanical behaviour of soft biological tissues is, however, highly challenging due to their intrinsic labile nature. Indeed, a unique set of values of liver mechanical properties is still lacking to date; testing conditions can significantly affect sample status and hence the measured behaviour and reported results are strongly dependent on the adopted testing method and configuration as well as sample type and status. This review aims at summarising the bulk mechanical properties of liver described in the literature, discussing the possible sources of variation and their implications on the reported results. We distinguish between the intrinsic mechanical behaviour of hepatic tissue, which depends on sample variables, and the measured mechanical properties which also depend on the testing and analysis methods. Finally, the review provides guidelines on tissue preparation and testing conditions for generating reproducible data which can be meaningfully compared across laboratories.

}, keywords = {Bioengineering}, doi = { http://dx.doi.org/10.1016/j.actbio.2016.08.055}, url = {http://www.sciencedirect.com/science/article/pii/S1742706116304603}, author = {A. Ahluwalia and G. Mattei} } @inbook {3729, title = {Sensorymotor Synergies: Fusion of Cutaneous Touch and Proprioception in the Perceived Hand Kinematics}, booktitle = {SPRINGER SERIES ON TOUCH AND HAPTIC SYSTEMS}, volume = {Human and Robot Hands}, year = {2016}, url = {https://link.springer.com/book/10.1007/978-3-319-26706-7}, author = {A. Moscatelli and M. Bianchi and A. Serio and A. Bicchi and M. Ernst} } @conference {3086, title = {Soft Robots that Mimic the Neuromusculoskeletal System}, booktitle = {3rd International Conference on NeuroRehabilitation (ICNR2016)}, volume = {Converging Clinical and Engineering Research on Neurorehabilitation}, year = {2016}, month = {10/2016}, pages = {259-263}, publisher = {Springer}, organization = {Springer}, abstract = {

In motor control studies, the question on which
parameters human beings and animals control through their
nervous system has been extensively explored and discussed,
and several hypotheses proposed. It is widely acknowledged
that useful inputs in this problem could be provided by
developing artificial replication of the neuromusculoskeletal
system, to experiment different motor control hypothesis. In
this paper we present such device, which reproduces many of
the characteristics of an agonistic-antagonistic muscular pair
acting on a joint.

}, keywords = {Robotics}, doi = { 10.1007/978-3-319-46669-9_45}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_45}, author = {M. Garabini and C. Della Santina and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @inbook {2865, title = {The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype}, booktitle = {Converging Clinical and Engineering Research on Neurorehabilitation II}, volume = {15}, number = {Biosystems \& Biorobotics }, year = {2016}, note = {

Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain

}, pages = {469-473}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.

}, keywords = {Haptics, Robotics}, issn = {978-3-319-46668-2}, doi = {10.1007/978-3-319-46669-9_78}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78}, author = {S. B. Godfrey and M. Bianchi and K. Zhao and M. G. Catalano and R. Breighner and A. Theuer and K. Andrews and G. Grioli and M. Santello and A. Bicchi} } @conference {2725, title = {SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, note = {

softpro soma softhands

}, pages = {3516 - 3523}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21}, abstract = {

State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions of the patient using the dynamic frequency content of the control signals in a natural way. We move a step further showing how this idea can be embedded in the mechanics of an underactuated soft hand by using only passive damping components.

In particular we devise a method to design the hand hardware to obtain a given desired motion. This method, that we call of the dynamic synergies, builds on the theory of linear descriptor systems, and is based on the division of the hand movement in a slow and a fast components. We use this method to evolve the design of the Pisa/IIT SoftHand in a prototype prosthesis which, while still having 19 degrees of freedom and just one motor, can move along two different synergistic directions of motion (and combinations of the two), to perform either a pinch or a power grasp. Preliminary experimental results are presented, demonstrating the effectiveness of the proposed design

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487532}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487532}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {2660, title = {A synergy-based hand control is encoded in human motor cortical areas}, journal = {eLIFE}, year = {2016}, abstract = {

How the human brain controls hand movements to carry out different tasks is still debated. The concept of\ synergy\ has been proposed to indicate functional modules that may simplify the control of hand postures by simultaneously recruiting sets of muscles and joints. However, whether and to what extent synergic hand postures are encoded as such at a cortical level remains unknown. Here, we combined kinematic, electromyography, and brain activity measures obtained by functional magnetic resonance imaging while subjects performed a variety of movements towards virtual objects. Hand postural information, encoded through kinematic synergies, were represented in cortical areas devoted to hand motor control and successfully discriminated individual grasping movements, significantly outperforming alternative somatotopic or muscle-based models. Importantly, hand postural synergies were predicted by neural activation patterns within primary motor cortex. These findings support a novel cortical organization for hand movement control and open potential applications for brain-computer interfaces and neuroprostheses.

}, doi = {http://dx.doi.org/10.7554/eLife.13420}, url = {http://elifesciences.org/content/5/e13420v2}, author = {A. Leo and G. Handjaras and M. Bianchi and H. Marino and M Gabiccini and Guidi, A. and E. P. Scilingo and P. Pietrini and A. Bicchi and M. Santello and E. Ricciardi} } @inbook {2887, title = {Synergy-Based Optimal Sensing Techniques for Hand Pose Reconstruction}, booktitle = {Human and Robot Hands}, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, pages = {259-283}, publisher = {Springer}, organization = {Springer}, abstract = {

Most of the neuroscientific results on synergies and their technical implementations in robotic systems, which are widely discussed throughout this book (see e.g. Chaps.\ 2, 3, 4, 8, 10, 12 and 13), moved from the analysis of hand kinematics in free motion or during the interaction with the external environment. This observation motivates both the need for the development of suitable and manageable models for kinematic recordings, as described in Chap.\ 14, and the calling for accurate and economic systems or {\textquotedblleft}gloves{\textquotedblright} able to provide reliable hand pose reconstructions. However, this latter aspect, which represents a challenging point also for many human-machine applications, is hardly achievable in economically and ergonomically viable sensing gloves, which are often imprecise and limited. To overcome these limitations, in this chapter we propose to exploit the bi-directional relationship between neuroscience and robotic/artificial systems, showing how the findings achieved in one field can inspire and be used to advance the state of art in the other one, and vice versa. More specifically, our leading approach is to use the concept of kinematic synergies to optimally estimate the posture of a human hand using non-ideal sensing gloves. Our strategy is to collect and organize synergistic information and to fuse it with insufficient and inaccurate glove measurements in a consistent manner and with no extra costs. Furthermore, we will push forward such an analysis to the dual problem of how to design pose sensing devices, i.e.\ how and where to place sensors on a glove, to get maximum information about the actual hand posture, especially with a limited number of sensors. We will study the optimal design of gloves of different nature. Conclusions that can be drawn take inspiration from and might inspire further investigations on the biology of human hand receptors. Experimental evaluations of these techniques are reported and discussed.

}, isbn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7_15}, author = {M. Bianchi and Salaris, P. and A. Bicchi} } @article {2867, title = {A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition}, journal = {Sensors}, volume = {16}, year = {2016}, abstract = {

Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements) of wearable hand pose reconstruction (HPR) systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF) technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom) leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness.

}, keywords = {Haptics}, doi = {10.3390/s16060811}, url = {http://www.mdpi.com/1424-8220/16/6/811}, author = {S. Ciotti and E. Battaglia and N. Carbonaro and A. Bicchi and A. Tognetti and M. Bianchi} } @conference {2820, title = {Tactile Augmented Reality for Arteries Palpation in Open Surgery Training}, booktitle = {7th International Conference, MIAR 2016}, volume = {Medical Imaging and Augmented Reality - Volume 9805 of the series Lecture Notes in Computer Science }, year = {2016}, pages = {186-197}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, address = {Bern, Switzerland, August 24-26, 2016}, abstract = {

Palpation is an essential step of several open surgical procedures for locating arteries by arterial pulse detection. In this context, surgical simulation would ideally provide realistic haptic sensations to the operator. This paper presents a proof of concept implementation of tactile augmented reality for open-surgery training. The system is based on the integration of a wearable tactile device into an augmented physical simulator which allows the real time tracking of artery reproductions and the user finger and provides pulse feedback during palpation. Preliminary qualitative test showed a general consensus among surgeons regarding the realism of the arterial pulse feedback and the usefulness of tactile augmented reality in open-surgery simulators.

}, keywords = {Bioengineering}, isbn = {978-3-319-43774-3}, author = {S. Condino and R. Vigliaoro and M. Bianchi and Morelli, L and M. Ferrari and A. Bicchi and V. Ferrari} } @inbook {3155, title = {Teleimpedance Control: Overview and application}, booktitle = {Human and Robot Hands }, volume = {Springer Series on Touch and Haptic Systems}, year = {2016}, pages = {151-169}, chapter = {9}, abstract = {

In previous chapters, human hand and arm kinematics have been analyzed through a synergstic approach and the underlying concepts were used to design robotic systems and devise simplified control algorithms. On the other hand, it is well-known that synergies can be studied also at a muscular level as a coordinated activation of multiple muscles acting as a single unit to generate different movements. As a result, muscular activations, quantified through Electromyography (EMG) signals can be then processed and used as direct inputs to external devices with a large number of DOFs. In this chapter, we present a minimalistic approach based on tele-impedance control, where EMGs from only one pair of antagonistic muscle pair are used to map the users postural and stiffness references to the synergy-driven anthropomorphic robotic hand, described in chapter 6. In this direction, we first provide an overview of the teleimpedance control concept which forms the basis for the development of the hand controller. Eventually, experimental results evaluate the effectiveness of the teleimpedance control concept in execution of the tasks which require significant dynamics variation or are executed in remote environments with dynamic uncertainties.

}, keywords = {Robotics}, issn = {978-3-319-26705-0}, doi = {10.1007/978-3-319-26706-7}, author = {A. Ajoudani and S. B. Godfrey and N. G. Tsagarakis and A. Bicchi} } @article {2544, title = {ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis}, journal = {IEEE Transactions on Haptics}, volume = {9}, year = {2016}, note = {
This work was partially supported by the European Community funded projects WEARHAP, PACMAN and SOMA (contracts 601165, 600918 and 645599 respectively), by the ERC Advanced Grant no. 291166 SoftHands
}, month = {03/2016}, pages = {121-133}, abstract = {

Accurate measurement of contact forces between hand and grasped objects is crucial to study sensorimotor control during grasp and manipulation. In this work we introduce ThimbleSense, a prototype of individual-digit wearable force/torque sensor based on the principle of intrinsic tactile sensing. By exploiting the integration of this approach with an active marker-based motion capture system, the proposed device simultaneously measures absolute position and orientation of the fingertip, which in turn yields measurements of contacts and force components expressed in a global reference frame. The main advantage of this approach with respect to more conventional solutions is its versatility. Specifically, ThimbleSense can be used to study grasping and manipulation of a wide variety of objects, while still retaining complete force/torque measurements. Nevertheless, validation of the proposed device is a necessary step before it can be used for experimental purposes. In this work we present the results of a series of experiments designed to validate the accuracy of ThimbleSense measurements and evaluate the effects of distortion of tactile afferent inputs caused by the device{\textquoteright}s rigid shells on grasp forces.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2015.2482478}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7294702}, author = {E. Battaglia and M. Bianchi and Altobelli, A and G. Grioli and M. G. Catalano and A. Serio and M. Santello and A. Bicchi} } @conference {2881, title = {Toward an Adaptive Foot for Natural Walking}, booktitle = {International Conference on Humanoid Robots (HUMANOIDS2016)}, year = {2016}, address = {Cancun, Mexico, November 15-17, 2016}, abstract = {

Many walking robot presented in literature stand
on rigid flat feet, with a few notable exceptions that embed
flexibility in their feet to optimize the energetic cost of walking.
This paper proposes a novel adaptive robot foot design, whose
main goal is to ease the task of standing and walking on uneven
terrains. After explaining the rationale behind our design
approach, we present the design of the SoftFoot, a foot able
to comply with uneven terrains and to absorb shocks thanks to
its intrinsic adaptivity, while still being able to rigidly support
the stance, maintaining a rather extended contact surface,
and effectively enlarging the equivalent support polygon. The
paper introduces the robot design and prototype and presents
preliminary validation and comparison versus a rigid flat foot
with comparable footprint and sole.

}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2016.7803423}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7803423}, author = {C. Piazza and C. Della Santina and Gasparri, G. M. and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @conference {2883, title = {Toward whole-body loco-manipulation: Experimental results on multi-contact interaction with the Walk-Man robot}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS 2016)}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, address = {Danjeon, Korea, October 10-14 2016}, abstract = {

In this paper a quasi-static framework for optimally controlling the contact force distribution is experimentally verified with the full-size compliant humanoid robot Walk-Man. The proposed approach is general enough to cope with multi-contact scenarios, i.e. robot-environment interactions occurring on feet and hands, up to the more general case of whole-body loco-manipulation, in which the robot is in contact with the environment also with the internal limbs, with a consequent loss of contact force controllability. Experimental tests were conducted with the Walk-Man robot (i) standing on flat terrain, (ii) standing on uneven terrain and (iii) interacting with the environment with both feet and a hand touching a vertical wall. Moreover, the influence of unmodeled weight on the robot, and the combination with a higher priority Cartesian tasks are shown. Results are presented also in the attached video.

}, keywords = {Robotics}, doi = {10.1109/IROS.2016.7759225}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7759225}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2898, title = {Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating A ective Physiology in Human-Robot Interaction}, booktitle = {IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN) 2016.}, year = {2016}, note = {
This work is supported in part by the European Re-
search Council under the Advanced Grant SoftHands {\textquotedblleft}A
Theory of Soft Synergies for a New Generation of Artificial
Hands{\textquotedblright} (no. ERC-291166), by the EU FP7 project {\textquotedblleft}WEAR-
able HAPtics for Humans and Robots (WEARHAP){\textquotedblright} (no.
601165) and by the EU H2020 project {\textquotedblleft}SoftPro: Synergy-
based Open-source Foundations and Technologies for Pros-
thetics and RehabilitatiOn{\textquotedblright} (H2020-ICT-688857).
}, address = {New York, August 26-31, 2016}, doi = {10.1109/ROMAN.2016.7745100}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7745100}, author = {M. Bianchi and G. Valenza and A. Greco and M. Nardelli and E. Battaglia and A. Bicchi and E. P. Scilingo} } @conference {3234, title = {Towards the development of an EIT-based stretchable sensor for multi-touch industrial human-computer interaction systems}, booktitle = {Cross-Cultural Design 8th International Conference, CCD 2016, Held as Part of HCI International 2016, Toronto, ON, Canada, July 17-22, 2016, Proceedings}, volume = {9741}, year = {2016}, pages = {563{\textendash}573}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Dordrecht}, keywords = {Computer Science (all), Theoretical Computer Science}, doi = {10.1007/978-3-319-40093-855}, url = {http://springerlink.com/content/0302-9743/copyright/2005/}, author = {S. Russo and S. Nefti-meziani and Gulrez, T and N. Carbonaro and A. Tognetti} } @article {2846, title = {An unscented Kalman filter based navigation algorithm for autonomous underwater vehicles}, journal = {Mechatronics}, volume = {39}, year = {2016}, month = {11/2016}, pages = {185-195}, abstract = {

Robust and performing navigation systems for Autonomous Underwater Vehicles (AUVs) play a discriminant role towards the success of complex underwater missions involving one or more AUVs. The quality of the filtering algorithm for the estimation of the AUV navigation state strongly affects the performance of the overall system. In this paper, the authors present a comparison between the Extended Kalman Filter (EKF) approach, classically used in the field of underwater robotics and an Unscented Kalman Filter (UKF). The comparison results to be significant as the two strategies of filtering are based on the same process and sensors models. The UKF-based approach, here adapted to the AUV case, demonstrates to be a good trade-off between estimation accuracy and computational load. UKF has not yet been extensively used in practical underwater applications, even if it turns out to be quite promising. The proposed results rely on the data acquired during a sea mission performed by one of the two Typhoon class vehicles involved in the NATO CommsNet13 experiment (held in September 2013). As ground truth for performance evaluation and comparison, performed offline, position measurements obtained through Ultra-Short BaseLine (USBL) fixes are used. The result analysis leads to identify both the strategies as effective for the purpose of being included in the control loop of an AUV. The UKF approach demonstrates higher performance encouraging its implementation as a more suitable navigation algorithm even if, up to now, it is still not used much in this field.

}, keywords = {Robotics}, doi = {http://dx.doi.org/10.1016/j.mechatronics.2016.05.007}, url = {http://www.sciencedirect.com/science/article/pii/S095741581630037X}, author = {B. Allotta and A. Caiti and L. Chisci and R. Costanzi and F. Di Corato and D. Fantacci and D. Fenucci and E. Meli and A. Ridolfi} } @article {2904, title = {Variable Stiffness Actuators: Review on Design and Components}, journal = { IEEE/ASME Transactions on Mechatronics }, volume = {21}, year = {2016}, month = {10/2016}, pages = {2418 - 2430}, abstract = {

Variable stiffness actuators (VSAs) are complex mechatronic devices that are developed to build passively compliant, robust, and dexterous robots. Numerous different hardware designs have been developed in the past two decades to address various demands on their functionality. This review paper gives a guide to the design process from the analysis of the desired tasks identifying the relevant attributes and their influence on the selection of different components such as motors, sensors, and springs. The influence on the performance of different principles to generate the passive compliance and the variation of the stiffness are investigated. Furthermore, the design contradictions during the engineering process are explained in order to find the best suiting solution for the given purpose. With this in mind, the topics of output power, potential energy capacity, stiffness range, efficiency, and accuracy are discussed. Finally, the dependencies of control, models, sensor setup, and sensor quality are addressed.

}, keywords = {Robotics}, doi = {10.1109/TMECH.2015.2501019}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7330025}, author = {S. Wolf and G. Grioli and O. Eiberger and W. Friedl and M. Grebenstein and H. Hoppner and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and D. Lefeber and S. Stramigioli and N. G. Tsagarakis and M. Van Damme and R. Van Ham and B. Vanderborght and L. C. Visser and A. Bicchi and A Albu-Schaeffer} } @conference {2788, title = { WALK-MAN humanoid lower body design optimization for enhanced physical performance}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, pages = {1817 - 1824}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21, 2016 }, abstract = {
The deployment of robots to assist in environments hostile for humans during emergency scenarios require robots to demonstrate enhanced physical performance, that includes adequate power, adaptability and robustness to physical interactions and efficient operation. This work presents the design and development of the lower body of the new high performance humanoid WALK-MAN, a robot developed recently to assist in disaster response scenarios. The paper introduces the details of the WALK-MAN lower-body, highlighting the innovative design optimization features considered to maximize the leg performance. Starting from the general lower body specifications the objectives of the design and how they were addressed are introduced, including the selection of the leg kinematics, the arrangement of the actuators and their integration with the leg structure to maximize the range of motion, reduce the leg mass and inertia, and shape the leg mass distribution for better dynamic performance. Physical robustness is ensured with the integration of elastic transmission and impact energy absorbing covers. Experimental walking trials demonstrate the correct operation of the legs while executing a walking gait.
}, keywords = {Robotics}, doi = {10.1109/ICRA.2016.7487327}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487327}, author = {F. Negrello and M. Garabini and M. G. Catalano and P. Kryczka and W. Choi and D. G. Caldwell and A. Bicchi and N. G. Tsagarakis} } @article {2749, title = {The Walk-Man Robot Software Architecture}, journal = {Front. Robot. AI}, year = {2016}, month = {05/2016}, abstract = {

A software and control architecture for a humanoid robot is a complex and large project, which involves a team of developers/researchers to be coordinated and requires many hard design choices. If such project has to be done in a very limited time, i.e., less than 1 year, more constraints are added and concepts, such as modular design, code reusability, and API definition, need to be used as much as possible. In this work, we describe the software architecture developed for Walk-Man, a robot participant at the Darpa Robotics Challenge. The challenge required the robot to execute many different tasks, such as walking, driving a car, and manipulating objects. These tasks need to be solved by robotics specialists in their corresponding research field, such as humanoid walking, motion planning, or object manipulation. The proposed architecture was developed in 10 months, provided boilerplate code for most of the functionalities required to control a humanoid robot and allowed robotics researchers to produce their control modules for DRC tasks in a short time. Additional capabilities of the architecture include firmware and hardware management, mixing of different middlewares, unreliable network management, and operator control station GUI. All the source code related to the architecture and some control modules have been released as open source projects.

}, keywords = {Robotics}, doi = { http://dx.doi.org/10.3389/frobt.2016.00025}, url = {http://bit.ly/2jAPke2}, author = {M. Ferrati and A Settimi and L. Muratore and N. G. Tsagarakis and L. Natale and L. Pallottino} } @conference {2723, title = {A Wearable Fabric-based Display for Haptic Multi-Cue Delivery}, booktitle = {IEEE Haptics Symposium}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, address = {Philadelphia, USA, April 8-11, 2016}, abstract = {

Softness represents one of the most informative

haptic properties, which plays a fundamental role in both

everyday tasks and more complex procedures. Thus, it is not

surprising that much effort has been devoted to designing haptic

systems able to suitably reproduce this information. At the

same time, wearability has gained an increasing importance as

a novel paradigm to enable a more effective and naturalistic

human robot interaction. Capitalizing upon our previous works

on grounded softness devices, in this paper we present the

Wearable Fabric Yielding Display (W-FYD), a fabric-based

tactile display for multi-cue delivery that can be worn by

user{\textquoteright}s finger. W-FYD enables to implement both passive and

active tactile exploration. Different levels of stiffness can be

reproduced by modulating the stretching state of a fabric

through two DC motors. An additional vertical degree of

freedom is implemented through a lifting mechanism, which

enables to convey softness stimuli to the user{\textquoteright}s finger pad.

Furthermore, a sliding effect on the finger can be also induced.

Experiments with humans show the effectiveness of W-FYD for

haptic multi-cue delivery.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2016.7463190}, url = {http://ieeexplore.ieee.org/search/searchresult.jsp?queryText=A\%20Wearable\%20Fabric-based\%20Display\%20for\%20Haptic\%20Multi-Cue\%20Delivery\&newsearch=true}, author = {M. Bianchi and E. Battaglia and M. Poggiani and S. Ciotti and A. Bicchi} } @article {3233, title = {Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions}, journal = {FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY}, volume = {4}, year = {2016}, pages = {1{\textendash}28}, keywords = {ambulatory monitoring, data fusion, gait, Grasping, reaching, stroke rehabilitation, wearable sensors}, doi = {10.3389/fbioe.2016.00028}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and R. Paradiso and Veltink, P. and A. Tognetti} } @article {2513, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, volume = {18(13)}, year = {2015}, pages = {1386 -1391}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @conference {2593, title = {Arousal recognition system based on heartbeat dynamics during auditory elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {6110{\textendash}6113}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319786}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @book {3240, title = {Autonomic Nervous System Dynamics for Mood and Emotional-State Recognition [electronic resource]: Significant Advances in Data Acquisition, Signal Processing and Classification}, series = {Series in BioEngineering}, year = {2015}, publisher = {Springer}, organization = {Springer}, keywords = {Bioengineering}, author = {G. Valenza and E. P. Scilingo} } @article {2499, title = {Biomimicking of the Breast Tumor Microenvironment}, journal = {Current Molecular Biology Reports}, volume = {1 (2)}, year = {2015}, pages = {71-76}, keywords = {Bioengineering}, author = {M. Giussani and C. De Maria and M. Vasso and F. Montemurro and T. Triulzi and E. Tagliabue and C. Gelfi and G. Vozzi} } @conference {3250, title = {Brain dynamics during emotion elicitation in healthy subjects: An EEG study}, booktitle = {AEIT International Annual Conference (AEIT), 2015}, year = {2015}, pages = {1{\textendash}3}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A. Greco and A. Lanat{\`a} and C. Gentili and D. Menicucci and Sebastiani, L. and A. Gemignani and E. P. Scilingo} } @article {2509, title = {CFD modelling of a mixing chamber for the realisation of functionally graded scaffolds}, journal = {Computers and Chemical Engineering}, year = {2015}, abstract = {

Biological tissues are characterised by spatially distributed gradients, intricately linked with functions. It widely accepted that ideal tissue engineered scaffolds should exhibit similar functional gradients to promote successful tissue regeneration. Focusing on bone, in previous work we proposed simple methods to obtain osteochondral functionally graded scaffolds (FGSs), starting from homogeneous suspensions of hydroxyapatite (HA) particles in gelatin solutions. With the main aim of developing an automated device to fabricate FGSs, this work is focused on designing a stirred tank to obtain homogeneous HA-gelatin suspensions. The HA particles transport within the gelatin solution was investigated through computational fluid dynamics (CFD) modelling. First, the steady-state flow field was solved for the continuous phase only. Then, it was used as a starting point for solving the multi-phase transient simulation. CFD results showed that the proposed tank geometry and setup allow for obtaining a homogeneous suspension of HA micro-particles within the gelatin solution.

}, keywords = {Bioengineering}, issn = {00981354}, doi = {10.1016/j.compchemeng.2015.08.021}, url = {http://www.sciencedirect.com/science/article/pii/S0098135415002823}, author = {G. Mattei and G. Vozzi} } @conference {3248, title = {Changes in instantaneous complex dynamics during exercise in Chronic Mountain Sickness}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {997{\textendash}1000}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and F. Faita and L. Pratali and N. Vanello and A Lanata and R. Barbieri and E. P. Scilingo} } @article {3237, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {263{\textendash}274}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @conference {2454, title = {Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering}, booktitle = {IEEE World Haptics Conference}, year = {2015}, note = {

softhands, werahap

}, pages = {63-68}, address = {Chicago, USA, 22-25 June 2015}, abstract = {

The computation of skin forces and deformations for\ tactilerendering\ requires an accurate model of the extremely\ nonlinear\ behavior of the skin. In this work, we investigate the\ characterization\ of\ fingermechanics\ with the goal of designing accurate\ nonlinear\ models for\ tactilerendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled\ finger\ indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches\ nonlinear\ models that match the measured data with high accuracy.

}, keywords = {Haptics, Robotics}, doi = {10.1109/WHC.2015.7177692}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7177692}, author = {E. Miguel and M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M Memeo and A. Bicchi and D. G. Caldwell and M. A. Otaduy} } @article {2387, title = {Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics}, journal = {Frontiers in Computational Neuroscience}, volume = {9}, year = {2015}, month = {03/2015}, doi = {dx.doi.org/10.3389/fncom.2015.00037}, author = {M. Nardelli and G. Valenza and Cristea, I. and C. Gentili and C. Cotet and David, D. and A Lanata and E. P. Scilingo} } @article {2501, title = {Combining Inkjet Printing and Sol-Gel chemistry for Making pH-Sensitive surfaces}, journal = {Current topics in medicinal chemistry}, volume = {15(3)}, year = {2015}, pages = {271-278}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @article {3238, title = {Complexity Index from a Personalized Wearable Monitoring System for Assessing Remission in Mental Health}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {19}, year = {2015}, pages = {132{\textendash}139}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and M. Nardelli and C. Gentili and E. P. Scilingo} } @conference {2429, title = {Coordination of unmanned marine vehicles for asymmetric threats protection}, booktitle = {MTS/IEEE Oceans 2015}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = {May 18-21, Genoa, Italy}, abstract = {

A coordination protocol for systems of unmanned marine vehicles is proposed for protection against asymmetric threats. The problem is first modelled in a game theoretic framework, as a potential game. Then an extension of existing learning algorithms is proposed to address the problem of tracking the possibly moving threat. The approach is evaluated in scenarios of different geometric complexity such as open sea, bay, and harbours. Performance of the approach is evaluated in terms of a security index that will allow us to obtain a tool for team sizing. The tool provides the minimum number of marine vehicles to be used in the system, given a desired security level to be guaranteed and the maximum threat velocity.

}, keywords = {Robotics}, isbn = {978-1-4799-8736-8}, doi = {10.1109/OCEANS-Genova.2015.7271413}, url = {http://ieeexplore.ieee.org/document/7271413/}, author = {S. Nardi and C. Della Santina and D. Meucci and L. Pallottino} } @article {2489, title = {cvxEDA: a Convex Optimization Approach to Electrodermal Activity Processing}, journal = {IEEE Transactions on Biomedical Engineering}, year = {2015}, author = {A. Greco and G. Valenza and A Lanata and Scilingo E.P. and L. Citi} } @conference {2495, title = {Damasio{\textquoteright}s Somatic Marker for Social Robotics: Preliminary Implementation and Test}, booktitle = {Living Machines - The 4th International Conference on Biomimetic and Biohybrid Systems}, year = {2015}, pages = {316-328}, publisher = {Springer}, organization = {Springer}, address = {Barcelona, Spain, 28 - 31 July 2015}, keywords = {Bioengineering}, url = {http://link.springer.com/chapter/10.1007/978-3-319-22979-9_31$\#$page-1}, author = {Cominelli, L. and D. Mazzei and M. Pieroni and A. Zaraki and R. Garofalo and D. De Rossi} } @article {2510, title = {Decoupling the role of stiffness from other hydroxyapatite signalling cues in periosteal derived stem cell differentiation}, journal = {Scientific Reports}, volume = {5}, year = {2015}, pages = {10778}, keywords = {Bioengineering}, issn = {2045-2322}, doi = {10.1038/srep10778}, url = {http://www.nature.com/doifinder/10.1038/srep10778}, author = {G. Mattei and Ferretti, C. and Tirella, A and A. Ahluwalia and Mattioli-Belmonte, M.} } @article {2339, title = {Design and Characterization of a Fabric-based Softness Display}, journal = {IEEE Transactions on Haptics}, volume = {8}, year = {2015}, note = {

This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} (no. ERC-291166), and by the EU FP7 project (no. 601165) {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}

}, pages = {152-163}, abstract = {

To enable a realistic tactile interaction with remote or virtual objects, softness information represents a fundamental property to be rendered via haptic devices. What is challenging is to reduce the complexity of such an information as it arises from contact mechanics and to find suitable simplifications that can lead an effective development of softness displays. A possible approach is to surrogate detailed tactile cues with information on the rate of spread of the contact area between the object and the finger as the contact force increases, i.e. force/area relation. This paradigm is called contact area spread rate. In this paper we discuss how such a paradigm has inspired the design of a tactile device (hereinafter referred to as Fabric Yielding Display, FYD-2), which exploits the elasticity of a fabric to mimic different levels of stiffness, while the contact area on the finger indenting the fabric is measured. In this manner, the FYD-2 can be controlled to reproduce force-area characteristics. In this work, we describe the FYD-2 architecture and report a psychophysical characterization. FYD-2 is shown to be able to accurately reproduce force-area curves of typical objects and to enable a reliable softness discrimination in human users.

}, keywords = {Haptics, Robotics}, doi = {10.1109/TOH.2015.2404353}, author = {M. Bianchi and A. Serio} } @conference {2560, title = {Design and Realization of the CUFF - Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, note = {

The authors want to thank Cosimo della Santina, Andrea Di Basco, Riccardo Persichini and Fabio Bonomo for their really valuable support in the development of the hardware prototype. This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} (no. ERC-291166), and by the EU FP7 project (no. 601165) {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP)

}, pages = {1186 - 1193}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Rendering forces to the user is one of the main goals of haptic technology. While most force-feedback interfaces are robotic manipulators, attached to a fixed frame and designed to exert forces on the users while being moved, more recent haptic research introduced two novel important ideas. On one side, cutaneous stimulation aims at rendering haptic stimuli at the level of the skin, with a distributed, rather than, concentrated approach. On the other side, wearable haptics focuses on highly portable and mobile devices, which can be carried and worn by the user as the haptic equivalent of an mp3 player. This paper presents a light and simple wearable device (CUFF) for the distributed mechano-tactile stimulation of the user{\textquoteright}s arm skin with pressure and stretch cues, related to normal and tangential forces, respectively. The working principle and the mechanical and control implementation of the CUFF device are presented. Then, after a basic functional validation, a first application of the device is shown, where it is used to render the grasping force of a robotic hand (the Pisa/IIT SoftHand). Preliminary results show that the device is capable to deliver in a reliable manner grasping force information, thus eliciting a good softness discrimination in users and enhancing the overall grasping experience.

}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7353520}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353520\&newsearch=true\&queryText=Design\%20and\%20Realization\%20of\%20the\%20CUFF\%20-\%20Clenching\%20Upper-Limb\%20Force\%20Feedback\%20Wearable\%20Device\%20for\%20Distributed\%20Mechano-Tactile\%20Stimulatio}, author = {S. Casini and M. Morvidoni and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {2498, title = {Design and Validation of an Open-Hardware Print-Head forBioprinting Application}, journal = {Procedia Engineering}, volume = {110}, year = {2015}, pages = {98-105}, keywords = {Bioengineering}, author = {C. De Maria and L. Ferrari and F. Montemurro and G. Vozzi and I. Guerrazzi and Boland, T. and G. Vozzi} } @conference {2537, title = {Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

Softhands, SOMA

Best Interactive Paper Award

}, pages = {497 - 503}, publisher = {IEEE}, organization = {IEEE}, address = {Seoul, Korea, November 3 - 5, 2015}, abstract = {
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2015.7363595}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363595}, author = {C. Della Santina and G. Grioli and M. G. Catalano and Brando, A. and A. Bicchi} } @article {2473, title = {Distributed motion misbehavior detection in teams of heterogeneous aerial robots}, journal = {Robotics and Autonomous Systems information}, volume = {74 part A}, year = {2015}, month = {12/2015}, pages = {30-39}, abstract = {

This paper addresses the problem of detecting possible misbehavior in a group of autonomous mobile robots, which coexist in a shared environment and interact with each other and coordinate according to a set of common\ interaction rules. Such rules specify what actions each robot is allowed to perform in order to interact with the other members of the group. The rules are distributed, i.e., they can be evaluated only starting from the knowledge of the individual robot and the information the robot gathers from neighboring robots. We consider\ misbehaving\ those robots which, because of either spontaneous failures or malicious tampering, do not follow the rules and whose behavior thus deviates from the nominal assigned one. The main contribution of the paper is to provide a methodology to detect such misbehavior by observing the congruence of actual behavior with the assigned rules as applied to the actual state of the system. The presented methodology is based on a consensus protocol on the events observed by robots. The methodology is fully distributed in the sense that it can be performed by individual robots based only on the local available information, it has been theoretically proven and validated with experiments involving real aerial heterogeneous robots.

}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.robot.2015.06.008}, url = {http://www.sciencedirect.com/science/article/pii/S0921889015001360}, author = {S. Martini and D. Di Baccio and F. Alarc{\`o}n-Romero and A. Viguria-Jim{\'e}nez and L. Pallottino and G. Dini and A. Ollero} } @conference {2538, title = {Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {
This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} no. ERC-291166 and under the EU FP7 project WEARHAP {\textquotedblleft}WEARable HAPtics for Humans and Robots{\textquotedblright} no. 601165.
}, pages = {6704 - 6707}, publisher = {IEEE}, organization = {IEEE}, address = { Milano, Italy, August 25th-29th, 2015}, abstract = {
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing cocontraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight.
}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7319931}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7319931}, author = {S. B. Godfrey and Altobelli, A and M. Rossi and A. Bicchi} } @conference {2596, title = {Electrodermal activity analysis during affective haptic elicitation}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {5777{\textendash}5780}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319705}, author = {A. Greco and G. Valenza and M. Nardelli and M. Bianchi and A Lanata and E. P. Scilingo} } @conference {2592, title = {Electroencephalographic spectral correlates of caress-like affective haptic stimuli}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {4733{\textendash}4736}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7319451}, author = {G. Valenza and A. Greco and M. Nardelli and M. Bianchi and A Lanata and S. Rossi and E. P. Scilingo} } @conference {2398, title = {Electromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept}, booktitle = {International Conference on Rehabilitation Robotics (ICORR), 2015}, year = {2015}, note = {

softhands, wearhap

}, pages = {181-186}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 11 {\textendash} 14 August 2015}, abstract = {

Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the\ fingers\ be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the\ finger\ motion and\ stiffnesstrajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the\ concept\ of hand synergies. While the exploitation of this\ concept\ in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the\ fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human\ fingers\ and establish initial steps towards a real-time and effective modelling of the\ fingerstiffness\ in a\ tripodgrasp. To achieve this goal, the endpoint\ stiffness\ of the thumb, index and middle\ fingers\ of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of thestiffness\ ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses{\textquoteright} axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICORR.2015.7281196}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7281196}, author = {M. Rossi and Altobelli, A and S. B. Godfrey and A. Ajoudani and A. Bicchi} } @article {2530, title = {Epsilon-Optimal Synthesis for Unicycle-like Vehicles with Limited Field-Of-View Sensors}, journal = {IEEE Transactions on Robotics (T-RO)}, volume = {31}, year = {2015}, pages = {1404 - 1418}, abstract = {

In this paper we study the minimum length paths covered by the center of a unicycle equipped with a limited Field{\textendash}Of{\textendash}View (FOV) camera, which must keep a given landmark in sight. Previous works on this subject have provided the optimal synthesis for the cases in which the FOV is only limited in the horizontal directions (i.e. left and right bounds) or in the vertical directions (i.e. upper and lower bounds). In this paper we show how to merge previous results and hence obtaining, for a realistic image plane modeled as a rectangle, a finite alphabet of extremal arcs and the overall synthesis. As shown, this objective can not be straightforwardly achieved from previous results but needs further analysis and developments. Moreover, there are initial configurations such that there exists no optimal path. Nonetheless, we are always able to provide an e{\textendash}optimal path whose length approximates arbitrarily well any other shorter path. As final results, we provide a partition of the motion plane in regions such that the optimal or e{\textendash}optimal path from each point in thatregion is univocally determined.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/TRO.2015.2492878}, author = {P Salaris and A. Cristofaro and L. Pallottino} } @article {2207, title = {Epsilon{\textendash}optimal synthesis for vehicles with vertically bounded Field-Of-View}, journal = {IEEE Transactions on Automatic Control}, volume = {60}, year = {2015}, pages = {1204 - 1218}, abstract = {

This paper presents a contribution to the problem of obtaining an optimal synthesis for shortest paths for a unicycle guided by an on{\textendash}board limited Field Of{\textendash}View (FOV) sensor, which must keep a given landmark in sight. Previous works on this subject have provided an optimal synthesis for the case in which the FOV is limited in the horizontal directions (H{\textendash} FOV, i.e. left and right boundaries). In this paper we study the complementary case in which the FOV is limited only in the vertical direction (V{\textendash}FOV, i.e. upper and lower boundaries). With respect to the H{\textendash}FOV case, the vertical limitation is all but a simple extension. Indeed, not only the geometry of extremal arcs is different, but also a more complex structure of the synthesis is revealed by analysis. We will indeed show that there exist initial configurations for which the optimal path does not exist. In such cases, we provide an e{\textendash}optimal path whose length approximates arbitrarily well any other shorter path. Finally, we provide a partition of the motion plane in regions such that the optimal or e{\textendash}optimal path from each point in that region is univocally determined.

}, keywords = {Embedded Control, Robotics}, issn = {0018-9286}, doi = {10.1109/TAC.2014.2366271}, author = {Salaris, P. and Cristofaro, A. and L. Pallottino and A. Bicchi} } @conference {2718, title = {Evaluation of wearable KPF goniometers in knee flexion-extension measurement for daily-life applications}, booktitle = {Proceedings of Wireless EAI 4th International Conference on Mobile Communication and Healthcare (Mobihealth)}, year = {2015}, pages = {1-4}, publisher = {ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering}, organization = {ICST (Institute for Computer Sciences, Social-Informatics and Telecommunications Engineering}, keywords = {Bioengineering}, doi = {10.4108/eai.14-10-2015.2261613}, url = {http://dl.acm.org/citation.cfm?id=2897477}, author = {F. Lorussi and N. Carbonaro and D. De Rossi and A. Tognetti} } @conference {2539, title = {A Finite Element Model of Tactile Flow for Softness Perception}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {

This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.

}, pages = {2430 - 2433}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, Italy, August 25th-29th, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7318884}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7318884}, author = {E. Battaglia and M. Bianchi and M. L. D{\textquoteright}Angelo and M. D{\textquoteright}Imperio and F. Cannella and E. P. Scilingo and A. Bicchi} } @conference {2594, title = {Gender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {298{\textendash}301}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7318359}, author = {M. Nardelli and G. Valenza and M. Bianchi and A. Greco and A Lanata and A. Bicchi and E. P. Scilingo} } @conference {2465, title = {Grasp Planning with Soft Hands using Bounding Box Object Decomposition}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2015)}, year = {2015}, note = {

softhands pacman walkman

}, pages = {518 - 523}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, September 28 - October 02, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2015.7353421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353421\&queryText=Grasp\%20Planning\%20with\%20Soft\%20Hands\%20using\%20Bounding\%20Box\%20Object\%20Decomposition\&newsearch=true}, author = {M. Bonilla and D. Resasco and M Gabiccini and A. Bicchi} } @article {2507, title = { HisTOOLogy: an open-source tool for quantitative analysis of histological sections }, journal = {Journal of Microscopy}, year = {2015}, month = {08/2015}, keywords = {Bioengineering}, doi = {10.1111/jmi.12292. }, author = {C. Magliaro and Tirella, A and G. Mattei and Pirone, A. and A. Ahluwalia} } @article {2263, title = {How the autonomic nervous system and driving style change with incremental stressing conditions during simulated driving}, journal = {IEEE Transactions on Intelligent Transportation Systems}, year = {2015}, pages = {1505 - 1517 }, keywords = {Bioengineering}, doi = {10.1109/TITS.2014.2365681}, author = {A Lanata and G. Valenza and A. Greco and C. Gentili and F. Bucchi and F. Frendo and E. P. Scilingo} } @article {2497, title = {Improving African Healthcare through Open Source Biomedical Engineering}, journal = {International Journal On Advances in Life Sciences}, year = {2015}, month = {01/2015}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @inbook {2502, title = {Indirect Rapid Prototyping for Tissue Engineering}, booktitle = {Essential of 3D Biofabrication and Translation}, year = {2015}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Bioengineering}, issn = {978-0-12-800972-7}, author = {C. De Maria and De Acutis, A and G. Vozzi} } @conference {3251, title = {Instantaneous Bispectral Analysis of Heartbeat Dynamics for the Assessment of Major Depression}, booktitle = {Computing in Cardiology Conference (CinC)}, year = {2015}, keywords = {Bioengineering}, author = {R. G. Garcia and G. Valenza and C. A. Tomaz and R. Barbieri} } @conference {3245, title = {Instantaneous transfer entropy for the study of cardio-respiratory dynamics}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, pages = {7885{\textendash}7888}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Faes and L. Citi and Orini, M. and R. Barbieri} } @conference {2621, title = {An instrumented manipulandum for human grasping studies}, booktitle = {14th IEEE/RAS-EMBS International Conference on Rehabilitation Robotics, ICORR 2015}, year = {2015}, pages = {169-174}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 11-14 Aug. 2015}, doi = {10.1109/ICORR.2015.7281194}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7281194}, author = {Altobelli, A and M. Bianchi and M. G. Catalano and A. Serio and Baud-Bovy, G and A. Bicchi} } @conference {2336, title = {Kinematic Analysis and Design Considerations for Optimal Base Frame Arrangement of Humanoid Shoulders}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {2710 - 2715}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139566}, author = {M. Bagheri and A. Ajoudani and J. Lee and D. G. Caldwell and N G Tsagarakis} } @conference {2205, title = {Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands wearhap

}, pages = {2728 - 2735}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139569}, author = {G. Santaera and Luberto, E. and A. Serio and M Gabiccini and A. Bicchi} } @conference {3247, title = {Lower instantaneous entropy of heartbeat dynamics during seizures in untreated temporal lobe epilepsy}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {1037{\textendash}1040}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {Barbieri, R. and G. Valenza and L. Citi and F. Placidi and F. Izzi and M. Albanese and M. Marciani and M. Guerrisi and A. Romigi and N. Toschi} } @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.} } @article {2508, title = {The nano-epsilon dot method for strain rate viscoelastic characterisation of soft biomaterials by spherical nano-indentation}, journal = {Journal of the Mechanical Behavior of Biomedical Materials}, volume = {50}, year = {2015}, pages = {150{\textendash}159}, keywords = {Bioengineering}, issn = {17516161}, doi = {10.1016/j.jmbbm.2015.06.015}, url = {http://linkinghub.elsevier.com/retrieve/pii/S1751616115002088}, author = {G. Mattei and G. Gruca and Rijnveld, N. and A. Ahluwalia} } @article {2511, title = {Nano-in-Micro Self-Reporting Hydrogel Constructs}, journal = {Journal of Biomedical Nanotechnology}, volume = {11}, year = {2015}, pages = {1451{\textendash}1460}, keywords = {Bioengineering}, issn = {15507033}, doi = {10.1166/jbn.2015.2085}, url = {http://openurl.ingenta.com/content/xref?genre=article\&issn=1550-7033\&volume=11\&issue=8\&spage=1451}, author = {Tirella, A and La Marca, M and Brace, L.A. and G. Mattei and Aylott, J. and A. Ahluwalia} } @article {2717, title = {Neuro-fuzzy physiological computing to assess stress levels in virtual reality therapy}, journal = {INTERACTING WITH COMPUTERS}, volume = {27}, year = {2015}, pages = {521{\textendash}533}, keywords = {Bioengineering}, issn = {0953-5438}, doi = {10.1093/iwc/iwv010}, url = {http://dx.medra.org/10.1093/iwc/iwv010}, author = {Tartarisco, G. and N. Carbonaro and A. Tonacci and G. M. Bernava and A. Arnao and G. Crifaci and P. Cipresso and G. Riva and A. Gaggioli and D. De Rossi and A. Tognetti and G. Pioggia} } @article {3239, title = {Nonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics}, journal = {Frontiers in physiology}, volume = {6}, year = {2015}, keywords = {Bioengineering}, author = {G. Valenza and R. G. Garcia and L. Citi and E. P. Scilingo and C. A. Tomaz and R. Barbieri} } @article {3242, title = {A novel algorithm for movement artifact removal in ECG signals acquired from wearable systems applied to horses}, journal = {PloS one}, volume = {10}, year = {2015}, pages = {e0140783}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and G. Valenza and E. P. Scilingo} } @conference {2453, title = {A Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks}, booktitle = { IEEE World Haptics Conference}, year = {2015}, note = {

This work is supported in part by the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands{\textquotedblright} no. ERC-291166, and by the EU FP7 project (no. 601165), {\textquotedblleft}WEARable HAPtics for Humans and Robots (WEARHAP){\textquotedblright}

}, pages = {49-56}, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, USA, 22-25 June 2015}, abstract = {

Softness\ and\ texture\ high-frequency information represent fundamental haptic properties for every day life activities and environment tactual exploration. While several\ displays\ have been produced to convey either\ softness\ or high-frequency information, there is no or little evidence of systems that are able to reproduce both these properties in an integrated fashion. This aspect is especially crucial in medical\ tele-operated procedures, where roughness and stiffness of human tissues are both important to correctly identify given pathologies through palpation (e.g. in\ tele-dermatology). This work presents a fabric yielding\ display\ (FYD-pad), a fabric-based\ tactiledisplay\ for\ softness\ and\ texturerendering. The system exploits the control of two motors to modify both the stretching state of the elastic fabric forsoftnessrendering\ and to convey\ texture\ information on the basis of accelerometer-based data. At the same time, the measurement of the contact area can be used to control remote or virtual robots. In this paper, we discuss the architecture of FYD-pad and the techniques used for\ softness\ and\ texturereproduction as well as for synthesizing probe-surface interactions from real data.\ Tele-operationexamples and preliminary experiments with humans are reported, which show the effectiveness of the device in delivering both\ softness\ and\ texture\ information.

}, keywords = {Haptics, Robotics}, doi = {10.1109/WHC.2015.7177690}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7177690}, author = {M. Bianchi and M. Poggiani and A. Serio and A. Bicchi} } @conference {2504, title = {Open Biomedical Engineering Education in Africa}, booktitle = {The 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)}, year = {2015}, publisher = {IEEE}, organization = {IEEE}, address = { Milan, Italy, 25-29 August 2015}, keywords = {Bioengineering}, author = {A. Ahluwalia and D. Atwine and C. De Maria and C. Ibingira and E. Kipkorir and F. Kiros and J. Madete and D. Mazzei and E. Molyneux and K. Moonga and M. Moshi and M. Nzomo and V. Oduol and J. Okuonzi} } @conference {2337, title = {Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {5675 - 5681}, address = {Seattle, USA, 25 - 30 May}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2015.7139994}, author = {E. Farnioli and M Gabiccini and A. Bicchi} } @conference {2512, title = {P2SF: Physically-based Point Spread Function for digital image processing}, booktitle = {Imaging Systems and Applications}, year = {2015}, pages = {IT3A{\textendash}5}, publisher = {Optical Society of America}, organization = {Optical Society of America}, keywords = {Bioengineering}, author = {M. Pieroni and B. Wandell and P. Catrysse and D. De Rossi} } @article {2505, title = {Parvalbumin expression in the claustrum of human dog. An immunohistochemical and topographical study with comparative notes of the structure of the nucleus}, journal = {Journal of chemical neuroanatomy}, volume = {64-65}, year = {2015}, month = {03/2015}, pages = {33-42}, keywords = {Bioengineering}, doi = {10.1016/j.jchemneu.2015.02.004}, url = {http://www.sciencedirect.com/science/article/pii/S0891061815000149}, author = {Pirone, A. and C. Magliaro and Giannessi, E. and A. Ahluwalia} } @conference {2478, title = {Potential merits for space robotics from novel concepts of actuation for soft robotics}, booktitle = {Advanced Space Technologies for Robotics and Automation (ASTRA) }, year = {2015}, address = {Noordwijk, The Netherlands May 11-13, 2015}, keywords = {Robotics}, author = {G. Mathijssen and S. Terryn and R. Funemont and M. Garabini and M. G. Catalano and G. Grioli and D. Lefeber and A. Bicchi and B. Vanderborght} } @conference {3249, title = {Predicting mood changes in bipolar disorder through heartbeat nonlinear dynamics: A preliminary study}, booktitle = {Computing in Cardiology Conference (CinC), 2015}, year = {2015}, pages = {801{\textendash}804}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A. Lanat{\`a} and C. Gentili and G. Bertschy and E. P. Scilingo} } @article {2506, title = {Profile analysis of hepatic porcine and murine brain tissue slices obtained with a vibratome}, journal = {PeerJ}, volume = {3:e932}, year = {2015}, month = {04/2015}, keywords = {Bioengineering}, doi = {10.7717/peerj.932}, url = {https://peerj.com/articles/932/}, author = {G. Mattei and I. Cristiani and C. Magliaro and A. Ahluwalia} } @article {2514, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research - Part B Applied Biomaterials}, volume = {103}, year = {2015}, pages = {1107-1119}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @article {2417, title = {Recognizing Emotions Induced by Affective Sounds through Heart Rate Variability}, journal = {IEEE Transactions on Affective Computing}, year = {2015}, author = {M. Nardelli and G. Valenza and A. Greco and A Lanata and E. P. Scilingo} } @conference {2559, title = {A Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, note = {

softhands, wearhap

}, pages = {1017 - 1023}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Effective 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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2015.7353495}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7353495}, author = {A. Ajoudani and C. Fang and N G Tsagarakis and A. Bicchi} } @conference {3243, title = {Removing movement artifacts from equine ECG recordings acquired with textile electrodes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, pages = {1955{\textendash}1958}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and Guidi, A. and P. Baragli and R. Paradiso and G. Valenza and E. P. Scilingo} } @article {3244, title = {Robust Head Mounted Wearable Eye Tracking System for Dynamical Calibration}, journal = {Journal of Eye Movement Research}, volume = {8}, year = {2015}, pages = {1{\textendash}15}, keywords = {Bioengineering}, author = {A Lanata and A. Greco and G. Valenza and E. P. Scilingo} } @conference {2335, title = {On the Role of Robot Configuration in Cartesian Stiffness Control}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, pages = {1010 - 1016}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139300}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} } @conference {2338, title = {Sample-Based Motion Planning for Robot Manipulators with Closed Kinematic Chains}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2015)}, year = {2015}, note = {

softhands pacman walkman

}, pages = {2522 - 2527}, publisher = {IEEE}, organization = {IEEE}, address = {Seattle, USA, 25 - 30 May}, keywords = {Robotics}, doi = {10.1109/ICRA.2015.7139537}, author = {M. Bonilla and E. Farnioli and L. Pallottino and A. Bicchi} } @conference {2561, title = {A Selective Recruitment Strategy for Exploiting Muscle-Like Actuator Impedance Properties}, booktitle = {IEEE International Conference of Intelligent Robots and Systems - IROS2015}, year = {2015}, pages = {2231-2237}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, 28 Sept - 2 Oct 2015}, abstract = {

Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties and replicating them in actuators for robotic devices. This paper describes a method to harness the redundancy present in muscle-like actuation systems composed of multiple motor units and shows that they have these same two qualities. By carefully choosing which motor units are recruited, the impedance viewed from the environment can be modulated while maintaining the same overall activation level. The degree to which the impedance can be controlled varies with total activation level and actuator length.

Discretizing the actuation effort into multiple parts that work together, inspired by the way muscle fibers work in the human body, produces damage-tolerant behavior. This paper shows that this not only produces reasonably good resolutions without inordinate numbers of units, but gives the control system the ability to set the impedance along with the drive effort to the load.

}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7353676}, author = {J. Shultz and G. Mathijssen and B. Vanderborght and A. Bicchi} } @article {1976, title = {Social Robotics and Societies of Robots}, journal = {The Information Society Special Issue: Beyond Industrial Robotics: Social Robots Entering Public and Domestic Spheres}, volume = {31}, year = {2015}, abstract = {

The sustainability of social robotics and other ambitious research programs

depends on the identification of lines of research that are coherent with its

visionary goals while satisfying more stringent constraints of feasibility and near-
term pay-offs. These multiple constraints are naturally conducive to the idea of a

society of robots operating within the physical environments of everyday human

life, developing there rich robot-robot social exchanges, and yet refraining from

any physical contact with human beings.

Achieving the visionary goals of social robotics or its more realistic objectives

requires extensive multidisciplinary cooperation. Accordingly, social robotics

may come to play a significant coordinating role for the constellation of research

communities in robotics. This coordinating role is exemplified here by reference

to a principled approach to robotic hand control based on sensory-motor soft

synergies: pursued in some current investigations on artificial hands, this

approach promises to meet distinctive needs arising in social robotics in the way

of dexterous manipulation of objects that are primarily conceived for human use.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tamburrini} } @conference {2543, title = {Soft Actuation in Cyclic Motions: Stiffness Profile Optimization for Energy Efficiency}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

saphari walkman

}, pages = {107 - 113}, publisher = {IEEE}, organization = {IEEE}, abstract = {
In this paper, we investigate the role of variable stiffness in the reduction of the energy cost for mechanical systems that perform desired tasks. The objective is to assess the use of Variable Stiffness Actuation (VSA) by determining an optimal stiffness profile and the associated energy cost of performing a desired task. For the analysis we consider mechanical systems of n-Degrees of Freedom (DoF), using VSA. We find an analytical solution that expresses the optimal stiffness profile during the task as a function of joint trajectories. This stiffness profile can be either constant or variable in time, and it minimizes a cost function, when performing a desired task.
We calculate the cost related to the torque of the system and the additional cost of changing or keeping a stiffness actively constant. Additionally, we discuss some cases for which it is worth to change the stiffness during a task and cases for which a constant stiffness may be better solution. Furthermore, from simulations and experiments we show cases in which using a variable stiffness profile allows cost savings w.r.t. constant
stiffness. The use of variable stiffness depends on the task, i.e. on the joint trajectories and their frequency, as well as on the mechanical implementation of the actuator used.
}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2015.7363522}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363522}, author = {A. Velasco and M. Garabini and M. G. Catalano and A. Bicchi} } @conference {2562, title = {Teaching by Demonstration on Dual-arm Robot using HRI Variable Stiffness Transferring}, booktitle = {IEEE International Conference on Robotics and Biomimetics - ROBIO2015}, year = {2015}, pages = {1202-1208}, publisher = {IEEE}, organization = {IEEE}, address = {Zhuhai, China, December 6-9, 2015}, keywords = {Robotics}, doi = {10.1109/ROBIO.2015.7418935}, url = {http://ieeexplore.ieee.org/document/7418935/}, author = {C. Yang and P. Liang and Z. Li and A. Ajoudani and C. Su and A. Bicchi} } @article {2158, title = {Tele- Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance}, journal = {Robotics and Autonomous Systems}, volume = {73 part A}, year = {2015}, note = {

special issue\ "Wearable Robotics"

}, month = {11/2015}, pages = {78-90}, abstract = {

This paper presents a tele-impedance based assistive control scheme for a knee exoskeleton device. The proposed controller captures the user{\textquoteright}s intent to generate task-related assistive torques by means of the exoskeleton in different phases of the subject{\textquoteright}s normal activity. To do so, a detailed musculoskeletal model of the human knee is developed and experimentally calibrated to best match the user{\textquoteright}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{\textquoteright}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{\textendash}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{\textquoteright}s muscle activity.

}, keywords = {Robotics}, doi = {10.1016/j.robot.2014.09.027}, url = {http://www.sciencedirect.com/science/article/pii/S0921889014002127}, author = {N. Karavas and A. Ajoudani and N G Tsagarakis and J. Saglia and A. Bicchi and D. Caldwell} } @conference {2595, title = {On the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE}, year = {2015}, note = {

Published

}, pages = {2283{\textendash}2286}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, ITA}, keywords = {Bioengineering}, doi = {10.1109/EMBC.2015.7318848}, author = {A Lanata and A. Greco and G. Valenza and E. P. Scilingo} } @inbook {2503, title = {Utilizzo di Phantom in oftalmologia}, booktitle = {Metodiche alternative alla sperimentazione animale}, volume = {34}, year = {2015}, publisher = {P{\`a}tron Editore}, organization = {P{\`a}tron Editore}, address = {Bologna}, keywords = {Bioengineering}, issn = {9788855533157}, author = {G. Vozzi and C. De Maria and F. Montemurro} } @article {2080, title = {Variable Stiffness Actuators: the user{\textquoteright}s point of view}, journal = {Int. J. Robotics Research}, volume = {34}, year = {2015}, note = {

Extensions.zip

}, month = {05/2015}, pages = {727-743}, keywords = {Robotics}, doi = {10.1177/0278364914566515}, url = {http://ijr.sagepub.com/cgi/reprint/0278364914566515v1.pdf?ijkey=anmgudvoLz7ZloP\&keytype=finite}, author = {G. Grioli and S. Wolf and M. Garabini and M. G. Catalano and E. Burdet and D. G. Caldwell and R. Carloni and W. Friedl and M. Grebenstein and M. Laffranchi and D. Lefeber and S. Stramigioli and N G Tsagarakis and M. Van Damme and B. Vanderborght and A Albu-Schaeffer and A. Bicchi} } @conference {2450, title = {Variable Stiffness Control for Oscillation Damping}, booktitle = {IEEE International Conference of Intelligent Robots and Systems (IROS2015)}, year = {2015}, note = {
This work is supported by the EC under the grant agreements no.611832 Walk-Man and ICT-287513 {\textquotedblleft}SAPHARI{\textquotedblright}
}, pages = {6543 - 6550}, publisher = {IEEE}, organization = {IEEE}, address = {Hamburg, Germany, September 28 - October 02, 2015}, keywords = {Robotics}, doi = {10.1109/IROS.2015.7354312}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7354312}, author = {G M Gasparri and M. Garabini and L. Pallottino and L. Malagia and M. G. Catalano and G. Grioli and A. Bicchi} } @article {2715, title = {Wearable goniometer and accelerometer sensory fusion for knee joint angle measurement in daily-life}, journal = {SENSORS}, volume = {15}, year = {2015}, pages = {28435{\textendash}28455}, keywords = {Bioengineering}, issn = {1424-8220}, doi = {10.3390/s151128435}, url = {http://dx.medra.org/10.3390/s151128435}, author = {A. Tognetti and F. Lorussi and N. Carbonaro and D. De Rossi} } @conference {2121, title = {Active gathering of frictional properties from objects}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {3982 - 3987 }, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, USA}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6943122}, author = {C. Rosales and A. Ajoudani and M Gabiccini and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @article {2191, title = {ADMET: ADipocyte METabolism mathematical model}, journal = {Computer methods in biomechanics and biomedical engineering}, year = {2014}, pages = {1{\textendash}6}, keywords = {Bioengineering}, author = {Micheloni, A. and G. Orsi and C. De Maria and G. Vozzi} } @conference {2129, title = {ASCARI: a component based simulator for distributed mobile robot systems}, booktitle = {Modelling \& Simulation for Autonomous Systems - MESAS2014}, volume = { Lecture Notes in Computer Science, Volume 8906, 2014}, year = {2014}, pages = {152-163}, publisher = {Springer}, organization = {Springer}, address = {Rome, 5-6 May 2014}, keywords = {Embedded Control, Robotics}, author = {M. Ferrati and A Settimi and L. Pallottino} } @conference {2342, title = {Assessment of Dynamic Autonomic Changes with Posture using Instantaneous Entropy Measures}, booktitle = {Computers in Cardiology}, volume = { 41}, year = {2014}, note = {

Winner of a Mortara Fellowship

}, pages = {489-492}, address = {Cambridge (MA, USA)}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @article {2192, title = {An Autologously Generated Platelet-Rich Plasma Suturable Membrane May Enhance Peripheral Nerve Regeneration after Neurorraphy in an Acute Injury Model of Sciatic Nerve Neurotmesis}, journal = {Journal of reconstructive microsurgery}, year = {2014}, keywords = {Bioengineering}, author = {Giannessi, E. and Coli, A. and Stornelli, M. R. and Miragliotta, V. and Pirone, A. and Lenzi, C. and Burchielli, S. and G. Vozzi and C. De Maria and Giorgetti, M.} } @conference {2278, title = {Autonomous bioreactor modules for disease models and detection of systemic toxicity}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {43}, address = {Prague, Czech Republic}, abstract = {

Advanced systems based on bioreactors and scaffolds are an essential step towards the development of more predictive and ethical alternatives to animal experiments. Size, modularity, automation, monitoring and essential design are crucial because these elements will ease the transition from old technology and accelerate their acceptance into mainstream research. Based on these requirements, the interconnected transparent sensorised {\^a}{\texteuro}{\oe}lego{\^a}{\texteuro} bioreactors designed in our labs have been used to generate physiologically relevant disease and toxicity models which recapitulate systemic responses impossible to observe in standard cell cultures. The disease model is an interconnected bioreactor circuit with i) adipose tissue in 3D in 3 different concentrations representing normo-weight, over weight and obese body mass indices, ii) human hepatocytes on porous collagen scaffolds and iii) monolayers of human endothelial cells. High adiposity and elevated glucose levels induce systemic and endothelial inflammation in the circuit, as observed in overweight and diabetic humans (Iori et al., 2012). Using similar technology a three-tissue circuit for monitoring the absorption, distribution, metabolism and toxicity of nanoparticles was developed in the context of the EU project InLiveTox (Ucciferri et al., 2014). The results were strikingly similar to those observed in animal experiments demonstrating that the dynamic 3D in-vitro models are ethical, meaningful and economically viable replacements.

}, keywords = {Bioengineering}, author = {A. Ahluwalia and S. Giusti and Sbrana, T. and M. Wilkinson and A. Misto and Lehr, C.-M. and M. Liley}, editor = {S. Horst and D. J{\'\i}rov{\'a}} } @article {1445, title = {Biomechanisch sichere Geschwindigkeitsregelung fur die Mensch-Roboter Interaktion}, journal = {At-Automatisierungstechnik }, volume = {62}, year = {2014}, pages = {175 - 187}, keywords = {Robotics}, issn = {0178-2312}, 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} } @conference {2086, title = {A change in the fingertip contact area induces an illusory displacement of the finger}, booktitle = {Eurohaptics}, volume = {LNCS - Free Preview Haptics: Neuroscience, Devices, Modeling, and Applications}, year = {2014}, pages = {72 - 79}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Versailles, France), June 2014}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-662-44196-1_10}, author = {A. Moscatelli and M. Bianchi and A. Serio and Al Atassi, O. and S. Fani and A. Terekhov and V. Hayward and M. Ernst and A. Bicchi} } @article {2216, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell biochemistry and biophysics}, volume = {68}, year = {2014}, pages = {37{\textendash}47}, author = {G. Orsi and Ghelardoni, S. and Saba, A. and R. Zucca and G. Vozzi} } @article {2145, title = {Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2217, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {Journal of Biomedical Materials Research Part A}, volume = {102}, year = {2014}, pages = {1415{\textendash}1421}, author = {G. Vozzi and Corallo, C. and Carta, S. and Fortina, M. and Gattazzo, F. and Galletti, M. and N. Giordano} } @article {1785, title = {CREPE: mathematical model for CRosstalking of Endothelial cells and hePatocytE metabolism}, journal = {IEEE Transactions of Biomedical Engineeirng}, volume = {61}, year = {2014}, month = {01/2014}, pages = {224 - 230}, keywords = {Bioengineering}, doi = { 10.1109/TBME.2013.2272942}, author = {Valvano, G and G. Orsi and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @conference {2214, title = {Daily-Life Monitoring of Stroke Survivors Motor Performance: The INTERACTION Sensing System}, year = {2014}, abstract = {

The objective of the INTERACTION Eu project is to develop and validate an unobtrusive and modular system for monitoring daily life activities, physical interactions with the environment and for training upper and lower extremity motor function in stroke subjects. This paper describes the development and preliminary testing of the project sensing platform made of sensing shirt, trousers, gloves and shoes. Modular prototypes were designed and built considering the minimal set of inertial, force and textile sensors that may enable an efficient monitoring of stroke patients. The single sensing elements are described and the results of their preliminary lab-level testing are reported.

}, author = {A. Tognetti and F. Lorussi and N. Carbonaro and D. De Rossi and De Toma, G. and Mancuso, C. and Paradiso, R. and Luinge, H. and Reenalda, J. and Droog, E. and Veltink, P.} } @conference {2215, title = {Daily-life tele-monitoring of motor performance in stroke survivors}, booktitle = {Proceedings of XIII International Symposium on 3D Analysis of Human Movement}, year = {2014}, month = {17 July 2014}, pages = {159{\textendash}162}, abstract = {

The objective of the EU project INTERACTION is to develop an unobtrusive and modular sensing system for objective monitoring of daily-life motor performance of stroke survivors. This will enable clinical professionals to advise their patients about their continued daily-life activity profile and home training, and evaluate and optimize rehabilitation programs.A modular textile-integrated sensing system was developed and performance and capacity measures were proposed and clinically tested in stroke subject.Telemonitoring facilities were developed and tested. In the last stage of the project, the system will be tested during daily-life.

}, author = {Veltink, P.H. and van Meulen, F.B. and van Beijnum, B.J.F. and Klaassen, B. and Hermens, H. J. and Droog, E. and Weusthof, M. H. H. and F. Lorussi and A. Tognetti and Reenalda, J. and Nikamp, C. D. M. and Baten, C. T. M. and Buurke, J. H. and Held, J. and Luft, A. R. L. and Luinge, H. and De Toma, G. and Mancuso, C. and Paradiso, R.} } @article {2228, title = {A Decision Support System for Real-Time Stress Detection During Virtual Reality Exposure}, year = {2014}, pages = {114{\textendash}120}, abstract = {

Virtual Reality (VR) is increasingly being used in combination with psycho-physiological measures to improve assessment of distress in mental health research and therapy. However, the analysis and interpretation of multiple physiological measures is time consuming and requires specific skills, which are not available to most clinicians. To address this issue, we designed and developed a Decision Support System (DSS) for automatic classification of stress levels during exposure to VR environments. The DSS integrates different biosensor data (ECG, breathing rate, EEG) and behavioral data (body gestures correlated with stress), following a training process in which self-rated and clinical-rated stress levels are used as ground truth. Detected stress events for each VR session are reported to the therapist as an aggregated value (ranging from 0 to 1) and graphically displayed on a diagram accessible by the therapist through a web-based interface.

}, doi = {10.3233/978-1-61499-375-9-114}, author = {A. Gaggioli and P. Cipresso and Serino, S. and G. Pioggia and Tartarisco, G. and Baldus, G. and Corda, D. and M. Ferro and N. Carbonaro and A. Tognetti and D. De Rossi and Giakoumis, D. and Tzovaras, D. and Riera, A. and G. Riva} } @conference {1997, title = {Decoding 2D kinematics of human arm for body machine interfaces}, booktitle = {Proceedings of the 2013 IEEE 8th Conference on Industrial Electronics and Applications, ICIEA 2013}, year = {2014}, pages = {719{\textendash}722}, doi = {10.1109/ICIEA.2013.6566461}, url = {http://dx.medra.org/10.1109/ICIEA.2013.6566461}, author = {Gulrez, T and Kavakli-Thorne, M. and A. Tognetti} } @conference {2082, title = {Design and preliminary affective characterization of a novel fabric-based tactile display}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, pages = { 591 - 596}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775522}, author = {M. Bianchi and G. Valenza and A. Serio and A Lanata and L. Greco and M. Nardelli and E. P. Scilingo and A. Bicchi} } @article {2276, title = {Design Criteria for Generating Physiologically Relevant In Vitro Models in Bioreactors}, journal = {Processes}, volume = {2}, year = {2014}, pages = {548{\textendash}569}, abstract = {

In this paper, we discuss the basic design requirements for the development of physiologically meaningful in vitro systems comprising cells, scaffolds and bioreactors, through a bottom up approach. Very simple micro- and milli-fluidic geometries are first used to illustrate the concepts, followed by a real device case-study. At each step, the fluidic and mass transport parameters in biological tissue design are considered, starting from basic questions such as the minimum number of cells and cell density required to represent a physiological system and the conditions necessary to ensure an adequate nutrient supply to tissues. At the next level, we consider the use of three-dimensional scaffolds, which are employed both for regenerative medicine applications and for the study of cells in environments which better recapitulate the physiological milieu. Here, the driving need is the rate of oxygen supply which must be maintained at an appropriate level to ensure cell viability throughout the thickness of a scaffold. Scaffold and bioreactor design are both critical in defining the oxygen profile in a cell construct and are considered together. We also discuss the oxygen-shear stress trade-off by considering the levels of mechanical stress required for hepatocytes, which are the limiting cell type in a multi-organ model. Similar considerations are also made for glucose consumption in cell constructs. Finally, the allometric approach for generating multi-tissue systemic models using bioreactors is described.

}, keywords = {Bioengineering}, issn = {2227-9717}, doi = {10.3390/pr2030548}, url = {http://www.mdpi.com/2227-9717/2/3/548/}, author = {G. Mattei and S. Giusti and A. Ahluwalia} } @article {2184, title = {Designing and Evaluating a Social Gaze-Control System for a Humanoid Robot }, journal = {IEEE Transactions on Human-Machine Systems }, volume = {44}, year = {2014}, pages = {157-168}, keywords = {Robotics}, author = {A. Zaraki and D. Mazzei and Giuliani, M. and D. De Rossi} } @article {2189, title = { Development and Testing of a Multimodal Acquisition Platform for Human-Robot Interaction Affective Studies}, journal = {Journal of Human robot Interaction }, volume = {3}, year = {2014}, pages = {1-24}, keywords = {Robotics}, doi = { http://dx.doi.org/10.5898/JHRI.3.2.Lazzeri}, url = {http://humanrobotinteraction.org/journal/index.php/HRI/article/view/142/pdf_3}, author = {Lazzeri, N. and D. Mazzei and D. De Rossi} } @article {2203, title = {Development of a novel Micro-Ablation System to realise micrometric and well-defined hydrogel structures for Tissue Engineering applications}, journal = {Rapid Prototyping Journal}, volume = {20}, year = {2014}, keywords = {Bioengineering}, author = {C. De Maria and Grassi, L. and Vozzi, F. and A. Ahluwalia and G. Vozzi and Campbell, R. I.} } @conference {2113, title = {Drum Stroke Variation Using Variable Stiffness Actuators}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {3892 - 3897 }, publisher = {IEEE}, organization = {IEEE}, address = {Chicago, IL, USA}, abstract = {

One interesting field of robotics technology is related to the entertainment industry. Performing a musical piece using a robot is a difficult task because music presents many features like melody, rhythm, tone, harmony and so on. Addressing these tasks with a robot is not trivial to implement. Most of approaches which related to this specific field lacks of quality to perform in front of human audience. Implementation of human-like motions can not be properly achieved with a conventional robot actuator. Consequently, we exploit a new type of actuator which simplifies the drawbacks of a conventional one. We used Variable Stiffness Actuator(VSA) instead of using conventional actuator. We can control position, force, and stiffness, simultaneously by using VSA. The most important novel feature is its controllable stiffness. When the stiffness of the actuator is changed, the characteristics of the actuator{\textquoteright}s response also changes. We implemented the specific stroke which is called {\textquotedblleft}double stroke{\textquotedblright} using one of variable stiffness actuator. Although the double stroke is known as a special stroke which could be performed by human only, double stroke is successfully implemented by stiffness variation.

}, keywords = {Robotics}, doi = {10.1109/IROS.2014.6943109}, author = {Y. Kim and M. Garabini and J. Park and A. Bicchi} } @article {2146, title = {Electrodermal Activity in Bipolar Patients during Affective Elicitation}, journal = {IEEE Journal of Biomedical and Health Informatics}, volume = {18}, year = {2014}, pages = {1865-1873}, author = {A. Greco and G. Valenza and A Lanata and G. Rota and E. P. Scilingo} } @article {2242, title = {Enabling variable-stiffness hand rehabilitation orthoses with dielectric elastomer transducers}, journal = {Medical Engineering and Physics}, volume = {36}, year = {2014}, pages = {205{\textendash}211}, abstract = {

Patients affected by motor disorders of the hand and having residual voluntary movements of fingers or wrist can benefit from self-rehabilitation exercises performed with so-called dynamic hand splints. These systems consist of orthoses equipped with elastic cords or springs, which either provide a sustained stretch or resist voluntary movements of fingers or wrist. These simple systems are limited by the impossibility of modulating the mechanical stiffness. This limitation does not allow for customizations and real-time control of the training exercise, which would improve the rehabilitation efficacy. To overcome this limitation, {\textquoteright}active{\textquoteright} orthoses equipped with devices that allow for electrical control of the mechanical stiffness are needed. Here, we report on a solution that relies on compact and light-weight electroactive elastic transducers that replace the passive elastic components. We developed a variable-stiffness transducer made of dielectric elastomers, as the most performing types of electromechanically active polymers. The transducer was manufactured with a silicone film and tested with a purposely-developed stiffness control strategy that allowed for electrical modulations of the force-elongation response. Results showed that the proposed new technology is a promising and viable solution to develop electrically controllable dynamic hand orthoses for hand rehabilitation. ? 2013 IPEM.

}, doi = {10.1016/j.medengphy.2013.10.015}, author = {F. Carpi and G. Frediani and C. Gerboni and J. Gemignani and D. De Rossi} } @article {2340, title = {Estimation of Instantaneous Complex Dynamics through Lyapunov Exponents: A Study on Heartbeat Dynamics}, journal = {PLoS One}, volume = {9}, year = {2014}, pages = {e105622}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and R. Barbieri} } @conference {2186, title = {An Experimental Eye-Tracking Study for the Design of a Context-Dependent Social Robot Blinking Model}, booktitle = {Living Machines 2014}, year = {2014}, pages = {356-366}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Milan, Italy, July 30 {\textendash} August 1}, abstract = {

uman gaze and blinking behaviours have been recently considered, to empower humanlike robots to convey a realistic behaviour in a social human-robot interaction. This paper reports the findings of our investigation on human eye-blinking behaviour in relation to human gaze behaviour, in a human-human interaction. These findings then can be used to design a humanlike eye-blinking model for a social humanlike robot. In an experimental eye-tracking study, we showed to 11 participants, a 7-minute video of social interactions of two people, and collected their eye-blinking and gaze behaviours with an eye-tracker. Analysing the collected data, we measured information such as participants{\textquoteright} blinking rate, maximum and minimum blinking duration, number of frequent (multiple) blinking, as well as the participants{\textquoteright} gaze directions on environment. The results revealed that participants{\textquoteright} blinking rate in a social interaction are qualitatively correlated to the gaze behaviour, as higher number of gaze shift increased the blinking rate. Based on the findings of this study, we can propose a context-dependent blinking model as an important component of the robot{\textquoteright}s gaze control system that can empower our robot to mimic human blinking behaviour in a multiparty social interaction.

}, keywords = {Robotics}, doi = {10.1007/978-3-319-09435-9_31}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_31}, author = {A. Zaraki and Dehkordi, M. B. and D. Mazzei and D. De Rossi} } @conference {2233, title = {Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition}, booktitle = { 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies" }, year = {2014}, address = {November 3{\textendash}5, 2014 Athens, Greece}, keywords = {Haptics, Robotics}, doi = { http://dx.doi.org/10.4108/icst.mobihealth.2014.257228}, author = {M. Bianchi and N. Carbonaro and E. Battaglia and F. Lorussi and A. Bicchi and D. De Rossi and A. Tognetti} } @article {2211, title = {Exploiting wearable goniometer technology for motion sensing gloves}, journal = {IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS}, year = {2014}, abstract = {

This paper presents an innovative wearable kinesthetic glove realized with knitted piezoresistive fabric (KPF) sensor technology. The glove is conceived to capture hand movement and gesture by using KPF in a double layer configuration working as angular sensors (electro-goniometers). The sensing glove prototype is endowed by three KPF goniometers, used to track flexion and extension movement of metacarpo-phalangeal joint of thumb, index and middle fingers. The glove is devoted to the continuous monitoring of patients during their daily life activities, in particular for stroke survivors during their rehabilitation. The prototype performances have been evaluated in comparison with an optical tracking system considered as a gold standard both for relieving static and dynamic posture and gesture of the hand. The introduced prototype has shown very interesting figures of merit. The angular error, evaluated through the standard Bland Altman analysis, has been estimated in ? 3? which is slightly less accurate than commercial electro-goniometers. Moreover, a new conceptual prototype design, preliminary evaluated within this work, is presented and discussed in order to solve actual limitations in terms of number and type of sensor connections, avoiding mechanical constraints given by metallic inextensible wires and improving user comfort.

}, doi = {10.1109/JBHI.2014.2324293}, author = {N. Carbonaro and Dalle Mura, G. and F. Lorussi and Paradiso, R. and D. De Rossi and A. Tognetti} } @conference {2081, title = {Exploring haptic feedback for the Pisa/IIT SoftHand}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775572}, author = {S. B. Godfrey and A. Ajoudani and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {1668, title = {Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand}, journal = { IEEE Transactions on Haptics}, volume = {7}, year = {2014}, pages = {203 - 215}, keywords = {Haptics, Robotics}, doi = {10.1109/TOH.2014.2309142 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6755554}, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and M. Bianchi and G. Grioli and N G Tsagarakis and A. Bicchi} } @inbook {2087, title = {A Fabric-based Approach for Softness Rendering}, booktitle = {Multisensory Softness: Perceived Compliance from Multiple Sources of Information}, volume = {Springer Series on Touch and Haptic Systems}, year = {2014}, pages = {219 - 240}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {11}, abstract = {

In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.

}, keywords = {Haptics, Robotics}, issn = {978-1-4471-6532-3}, doi = {10.1007/978-1-4471-6533-0_11}, url = {http://link.springer.com/chapter/10.1007\%2F978-1-4471-6533-0_11}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {2273, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Gruppo Nazionale Bioingegneria IV Congresso}, year = {2014}, address = {Pavia, 25-27 June}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on the cells and recreate a physiological environment for cardiomyocytes cultures. This work is focused on an innovative Sensorized Squeeze PRessure (S2PR) bioreactor, able to apply a periodic contactless hydrodynamic pressures on 3D porous constructs. The fluid-dynamic environment inside the bioreactor was fully characterized using computational models, focusing on the pressures and fluid velocity profiles generated in the porous scaffold during the cyclic stimulation.

}, keywords = {Bioengineering}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @conference {2277, title = {Fluid dynamics in porous scaffolds stimulated with cyclic squeeze pressure in the S2PR bioreactor}, booktitle = {Proceedings of ICMMB2014}, year = {2014}, pages = {363{\textendash}68}, keywords = {Bioengineering}, doi = {10.6092/unibo/amsacta/4085. In: Proceedings ICMMB A cura di: Zannoli, Romani ; Corazza, Ivan ; Stagni, Rita.}, url = {http://amsacta.unibo.it/4085/1/Proceedings{\.I}CMMB2014.pdf}, author = {M. Ferroni and S. Giusti and G. Spatafora and F. Boschetti and A. Ahluwalia} } @article {2240, title = {For every thing there is a season and a time ? the construction of a humanoid. A tribute to Vincenzo Tagliasco}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {2}, year = {2014}, abstract = {

"There is a time to be born, and a time to die; a time to break down, and a time to build up; a time to weep, and a time to laugh; a time to keep silence, and a time to speak" (Ecclesiastes 3, 2?7). There was a time when automata were designed like clocks. Androids will have the time of their creators, the state of the art in technology, a wealth of experience to draw from, as well as the capacity to carry out actions as being endowed with meaning. The machine will undergo a long period of nurturing, from which it will learn to shape some sort of identity.

}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2014.00019}, url = {http://journal.frontiersin.org/Journal/10.3389/fbioe.2014.00019/abstract}, author = {D. De Rossi and A. D{\textquoteright}Ursi} } @article {2178, title = {Grasping devices and methods in automated production processes }, journal = {CIRP Annals - Manufacturing Technology}, volume = {63}, year = {2014}, pages = {679-701}, abstract = {

In automated production processes grasping devices and methods play a crucial role in the handling of many parts, components and products. This keynote paper starts with a classification of grasping phases, describes how different principles are adopted at different scales in different applications and continues explaining different releasing strategies and principles. Then the paper classifies the numerous sensors used to monitor the effectiveness of grasping (part presence, exchanged force, stick-slip transitions, etc.). Later the grasping and releasing problems in different fields (from mechanical assembly to disassembly, from aerospace to food industry, from textile to logistics) are discussed. Finally, the most recent research is reviewed in order to introduce the new trends in grasping. They provide an outlook on the future of both grippers and robotic hands in automated production processes.

}, keywords = {Robotics}, doi = {10.1016/j.cirp.2014.05.006}, url = {http://www.sciencedirect.com/science/article/pii/S0007850614001887}, author = {G Fantoni and Santochi, M. and Dini, G. and Tracht, K. and Scholz-Reiter, B. and Fleischer, J. and Kristoffer Lien, T. and Seliger, G. and Reinhart, G. and Franke, J. and N{\o}rgaard Hansen, H. and Verl, A.} } @conference {2232, title = {Grasping with Soft Hands}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {581 - 587}, address = {Madrid, Spain, November 18 - 20}, abstract = {

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple {\textemdash} in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) {\textemdash} but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=7041421\&queryText\%3DGrasping+with+Soft+Hands}, author = {M. Bonilla and E. Farnioli and C. Piazza and M. G. Catalano and G. Grioli and M. Garabini and M Gabiccini and A. Bicchi} } @conference {2179, title = {Gripping device for heavy and deformable materials handling: concept, design, selection and test}, booktitle = {24th CIRP Design Conference}, year = {2014}, address = {Milan, April 14 - 16}, keywords = {Robotics}, author = {Tilli, J. and Brando, A. and G Fantoni} } @inbook {1694, title = {HANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS}, booktitle = {Gearing up and accelerating cross-fertilization between academic and industrial robotics research in Europe - Technology transfer experiments from the ECHORD project}, volume = {94}, number = {Springer Tracts in Advanced Robotics}, year = {2014}, pages = {197-215}, abstract = {

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.

}, keywords = {Haptics, Robotics}, doi = {10.1007/978-3-319-02934-4_10}, author = {G. Salvietti and G. Gioioso and M. Malvezzi and D Prattichizzo and A. Serio and E. Farnioli and M Gabiccini and A. Bicchi and I. Sarakoglou and N G Tsagarakis and D. G. Caldwell} } @conference {2119, title = {Haptic Exploration of Unknown Surfaces with Discontinuities}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, month = {09/2014}, pages = {1255 - 1260}, address = {Chicago, USA}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6942718}, url = {http://kormushev.com/papers/Jamisola_IROS-2014.pdf}, author = {Jamisola, R. S. and Kormushev, P. and A. Bicchi and D. G. Caldwell} } @conference {2185, title = {I-CLIPS Brain: A Hybrid Cognitive System for Social Robots }, booktitle = { Living Machines 2014}, year = {2014}, pages = {213-224}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = { Milan, Italy, July 30 {\textendash} August 1}, abstract = {

Sensing and interpreting the interlocutor{\textquoteright}s social behaviours is a core challenge in the development of social robots. Social robots require both an innovative sensory apparatus able to perceive the {\textquotedblleft}social and emotional world{\textquotedblright} in which they act and a cognitive system able to manage this incoming sensory information and plan an organized and pondered response. In order to allow scientists to design cognitive models for this new generation of social machines, it is necessary to develop control architectures that can be easily used also by researchers without technical skills of programming such as psychologists and neuroscientists. In this work an innovative hybrid deliberative/reactive cognitive architecture for controlling a social humanoid robot is presented. Design and implementation of the overall architecture take inspiration from the human nervous system. In particular, the cognitive system is based on the Damasio{\textquoteright}s thesis. The architecture has been preliminary tested with the FACE robot. A social behaviour has been modeled to make FACE able to properly follow a human subject during a basic social interaction task and perform facial expressions as a reaction to the social context.

}, keywords = {Robotics}, isbn = {978-3-319-09434-2}, doi = {10.1007/978-3-319-09435-9_19}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_19}, author = {D. Mazzei and Cominelli, L. and Lazzeri, N. and A. Zaraki and D. De Rossi} } @article {2230, title = {Improving sodium Magnetic Resonance in humans by design of a dedicated Na-23 surface coil }, journal = {MEASUREMENT }, volume = {50}, year = {2014}, month = {04/2014}, chapter = {285-292}, doi = {10.1016/j.measurement.2014.01.006}, author = {G. Giovannetti and Pingitore, A. and V. Positano and De Marchi, D. and Valvano, G. and Gibiino, F. and Aquaro, G. D. and Lombardi, M. and L. Landini and M. F. Santarelli} } @article {2220, title = {In vitro development of engineered muscle using a scaffold based on the pressure-activated microsyringe (PAM) technique}, journal = {Journal of tissue engineering and regenerative medicine}, year = {2014}, author = {D. Cei and Malena, A. and C. De Maria and Loro, E. and Sandri, F. and Moro, G. and Bettio, S. and Vergani, L. and G. Vozzi} } @article {2196, title = {In vivo assessment of printed microvasculature in a bilayer skin graft to treat full-thickness wounds}, journal = {Tissue Engineering Part A}, year = {2014}, keywords = {Bioengineering}, author = {Yanez, M. and Rincon, J. and Dones, A. and C. De Maria and Gonzales, R. and Boland, T.} } @article {2209, title = {Inference of Human Affective States from Psychophysiological Measurements Extracted under Ecologically Valid Conditions}, journal = {FRONTIERS IN NEUROSCIENCE}, volume = {8}, year = {2014}, abstract = {

Compared to standard laboratory protocols, the measurement of psychophysiological signals in real world experiments poses technical and methodological challenges due to external factors that cannot be directly controlled. To address this problem, we propose a hybrid approach based on an immersive and human accessible space called the eXperience Induction Machine (XIM), that incorporates the advantages of a laboratory within a life-like setting. The XIM integrates unobtrusive wearable sensors for the acquisition of psychophysiological signals suitable for ambulatory emotion research. In this paper, we present results from two different studies conducted to validate the XIM as a general-purpose sensing infrastructure for the study of human affective states under ecologically valid conditions. In the first investigation, we recorded and classified signals from subjects exposed to pictorial stimuli corresponding to a range of arousal levels, while they were free to walk and gesticulate. In the second study, we designed an experiment that follows the classical conditioning paradigm, a well-known procedure in the behavioral sciences, with the additional feature that participants were free to move in the physical space, as opposed to similar studies measuring physiological signals in constrained laboratory settings. Our results indicate that, by using our sensing infrastructure, it is indeed possible to infer human event-elicited affective states through measurements of psychophysiological signals under ecological conditions.

}, doi = {10.3389/fnins.2014.00286}, author = {A. Betella and R. Zucca and Cetnarski, A and A. Greco and A Lanata and D. Mazzei and A. Tognetti and X. D. Arsiwalla and P Omedas and D. De Rossi and Verschure, P} } @article {2269, title = {Inhomogeneous point-process entropy: An instantaneous measure of complexity in discrete systems}, journal = {Physical Review E}, volume = {89}, year = {2014}, author = {G. Valenza and Citi, L. and E. P. Scilingo and Barbieri, R.} } @conference {2197, title = {In-silico model of cell metabolism in dynamic cell culture system}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {487{\textendash}488}, 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 = {Andreoni, C. and G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @article {2247, title = {Instantaneous monitoring of heart beat dynamics during anesthesia and sedation}, journal = {Journal of Computational Surgery}, volume = {3}, year = {2014}, author = {G. Valenza and O. Akeju and K. J. Pavone and L. Citi and K. E. Hartnack and A. Sampson and Purdon, P.L. and Brown, E.N. and R. Barbieri} } @conference {2213, title = {Interpreting Psychophysiological States Using Unobtrusive Wearable Sensors in Virtual Reality}, booktitle = {Proc. of The Seventh International Conference on Advances in Computer-Human Interactions}, year = {2014}, abstract = {

One of the main challenges in the study of human be- havior is to quantitatively assess the participants? affective states by measuring their psychophysiological signals in ecologically valid conditions. The quality of the acquired data, in fact, is often poor due to artifacts generated by natural interactions such as full body movements and gestures. We created a technology to address this problem. We enhanced the eXperience Induction Machine (XIM), an immersive space we built to conduct experiments on human behavior, with unobtrusive wearable sensors that measure electrocardiogram, breathing rate and electrodermal response. We conducted an empirical validation where participants wearing these sensors were free to move in the XIM space while exposed to a series of visual stimuli taken from the International Affective Picture System (IAPS). Our main result consists in the quan- titative estimation of the arousal range of the affective stimuli through the analysis of participants? psychophysiological states. Taken together, our findings show that the XIM constitutes a novel tool to study human behavior in life-like conditions.

}, author = {A. Betella and Pacheco, D. and R. Zucca and X. D. Arsiwalla and P Omedas and A Lanata and D. Mazzei and A. Tognetti and A. Greco and N. Carbonaro and Wagner, J. and Lingenfelser, F. and Andr{\`e}, E. and D. De Rossi and Verschure, P.} } @conference {2201, title = {Keratin based hydrogels for tissue engineering and regenerative medicine}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {357{\textendash}358}, 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 = {F. Montemurro and Gattazzo, F. and C. De Maria and G. Vozzi} } @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} } @conference {2199, title = {Nanoparticles doped sol-gel ink for inkjet printers}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {197{\textendash}198}, 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 = {G. Orsi and C. De Maria and F. Montemurro and Chauhan, V. and Aylott, J. and G. Vozzi} } @conference {1983, title = {Natural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, year = {2014}, pages = {1480 - 1486}, publisher = {IEEE}, organization = {IEEE}, address = {Hong Kong, May 31 2014-June 7 2014 }, abstract = {

Incorporation 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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907047}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6945252}, author = {A. Ajoudani and N G Tsagarakis and J. Lee and M Gabiccini and A. Bicchi} } @conference {2279, title = {The need of innovative technologies for new 3D relevant in-vitro models and the answer of Ivtech}, booktitle = {ALTEX Proceedings}, year = {2014}, pages = {45{\textendash}6}, address = {Prague, Czech Republic}, abstract = {

New relevant in-vitro models are priorities in pharmaco-toxicology, cosmetic and food research to reduce the animal tests. Therefore, invivo models show ethical issues, are not time and cost effective and are progressively showing scientific limitations: for instance they fail in detection of pathogens that are species specific (Mazzoleni et al., 2009). The search of more relevant pre-clinical models forced the researcher to move from 2D to 3D in-vitro models in order to maintain the phenotype of cells (Lovit et al., 2013; Mattei et al., 2014). Even if the significant progress in material science, the metabolic requirement of 3D tissues is higher than a 2D culture and the scaffold is a limitation in nutrients transport. Dynamic cell culture chambers are then required to assure the gas/nutrient supply, waste elimination, mechanical stimulation of cells, study of cross talk between different tissues and real time monitoring of cells. Nowadays the only systems that meet all these specifications are the Ivtech technologies. Ivtech is an innovative Italian start-up that grows up to solve the needs of in-vitro experts, offering and customizing several type of transparent, dynamic and modular cell culture systems, organizing workshops and training. The goal is to expand the 3D approach and permits a significant evolution towards highly relevant in-vitro models.

}, keywords = {Bioengineering}, author = {Sbrana, T. and G. Mattei and S. Giusti and A. Ahluwalia}, editor = {J. Dagmar and S. Horst} } @article {2194, title = {A new 3D concentration gradient maker and its application in building hydrogels with a 3D stiffness gradient}, journal = {Journal of Tissue Engineering and Regenerative Medicine}, year = {2014}, keywords = {Bioengineering}, author = {G. Orsi and Fagnano, M. and C. De Maria and F. Montemurro and G. Vozzi} } @article {2193, title = {New eye phantom for ophthalmic surgery.}, journal = {Journal of biomedical optics}, volume = {19}, year = {2014}, pages = {68001}, keywords = {Bioengineering}, author = {Fogli, G. and G. Orsi and C. De Maria and F. Montemurro and Palla, M. and Rizzo, S. and G. Vozzi} } @article {2212, title = {New generation of wearable goniometers for motion capture systems}, journal = {JOURNAL OF NEUROENGINEERING AND REHABILITATION}, volume = {11}, year = {2014}, abstract = {

Background Monitoring joint angles through wearable systems enables human posture and gesture to be reconstructed as a support for physical rehabilitation both in clinics and at the patient{\textquoteright}s home. A new generation of wearable goniometers based on knitted piezoresistive fabric (KPF) technology is presented. Methods KPF single-and double-layer devices were designed and characterized under stretching and bending to work as strain sensors and goniometers. The theoretical working principle and the derived electromechanical model, previously proved for carbon elastomer sensors, were generalized to KPF. The devices were used to correlate angles and piezoresistive fabric behaviour, to highlight the differences in terms of performance between the single layer and the double layer sensors. A fast calibration procedure is also proposed. Results The proposed device was tested both in static and dynamic conditions in comparison with standard electrogoniometers and inertial measurement units respectively. KPF goniometer capabilities in angle detection were experimentally proved and a discussion of the device measurement errors of is provided. The paper concludes with an analysis of sensor accuracy and hysteresis reduction in particular configurations. Conclusions Double layer KPF goniometers showed a promising performance in terms of angle measurements both in quasi-static and dynamic working mode for velocities typical of human movement. A further approach consisting of a combination of multiple sensors to increase accuracy via sensor fusion technique has been presented.

}, doi = {10.1186/1743-0003-11-56}, author = {A. Tognetti and F. Lorussi and Dalle Mura, G. and N. Carbonaro and Pacelli, M. and Paradiso, R. and D. De Rossi} } @conference {2200, title = {A novel concentration gradient bioreactor by PMMA laser micromachining}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {482{\textendash}482}, 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 = {G. Orsi and C. De Maria and F. Montemurro and G. Vozzi} } @article {2274, title = {A novel dual-flow bioreactor simulates increased fluorescein permeability in epithelial tissue barriers}, journal = {Biotechnology journal}, year = {2014}, abstract = {

Permeability studies across epithelial barriers are of primary importance in drug delivery as well as in toxicology. However, traditional in vitro models do not adequately mimic the dynamic environment of physiological barriers. Here, we describe a novel two-chamber modular bioreactor for dynamic in vitro studies of epithelial cells. The fluid dynamic environment of the bioreactor was characterized using computational fluid dynamic models and measurements of pressure gradients for different combinations of flow rates in the apical and basal chambers. Cell culture experiments were then performed with fully differentiated Caco-2 cells as a model of the intestinal epithelium, comparing the effect of media flow applied in the bioreactor with traditional static transwells. The flow increases barrier integrity and tight junction expression of Caco-2 cells with respect to the static controls. Fluorescein permeability increased threefold in the dynamic system, indicating that the stimulus induced by flow increases transport across the barrier, closely mimicking the in vivo situation. The results are of interest for studying the influence of mechanical stimuli on cells, and underline the importance of developing more physiologically relevant in vitro tissue models. The bioreactor can be used to study drug delivery, chemical, or nanomaterial toxicity and to engineer barrier tissues.

}, keywords = {Bioengineering}, issn = {1860-7314}, doi = {10.1002/biot.201400004}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24756869}, author = {S. Giusti and Sbrana, T. and La Marca, M and V. Di Patria and V. Martinucci and Tirella, A and C. Domenici and A. Ahluwalia} } @conference {2183, title = {Object shaping with a sonotrode}, booktitle = { 25th symposium on Free Form Fabrication}, year = {2014}, keywords = {Robotics}, author = {Tilli, J. and G Fantoni and Currenti, S. and Razionale, A. V.} } @conference {2190, title = {Open Source Biomedical Engineering for Sustainability in African Healthcare: Combining Academic Excellence with Innovation}, booktitle = {ICDS 2014, The Eighth International Conference on Digital Society}, year = {2014}, pages = {48{\textendash}53}, keywords = {Bioengineering}, author = {C. De Maria and D. Mazzei and A. Ahluwalia} } @conference {2151, title = {Open Source VSA-CubeBots for Rapid Soft Robot Prototyping }, booktitle = { Robot Makers - Workshop in conjunction with 2014 Robotics Science and Systems}, year = {2014}, address = { July 12, 2014, Berkeley, California }, keywords = {Robotics}, author = {K. Melo and M. Garabini and G. Grioli and M. G. Catalano and L. Malagia and A. Bicchi} } @conference {2120, title = {The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps}, booktitle = {Proc. IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014)}, year = {2014}, pages = {1261 - 1268}, address = {Chicago, USA}, abstract = {

In 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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2014.6942719}, author = {A. Serio and E. Riccomini and V. Tartaglia and I. Sarakoglou and M Gabiccini and N G Tsagarakis and A. Bicchi} } @article {2153, title = {Peripheral Machine Interfaces: going beyond traditional surface electromyography}, journal = {Frontiers in Neurorobotics}, volume = {8}, year = {2014}, month = {08/2014}, pages = {1 - 17}, keywords = {Robotics}, doi = {10.3389/fnbot.2014.00022}, author = {C. Castellini and P. Artemiadis and M. Wininger and A. Ajoudani and M. Alimusaj and A. Bicchi and B. Caputo and W. Craelius and S. Dosen and K. Englehart and D. Farina and A. Gijsberts and S. B. Godfrey and L. Hargrove and M. Ison and T. Kuiken and M. Markovic and P. M. Pilarski and R. Rupp and E. Scheme} } @conference {1996, title = {Piezoresistive Goniometer Network for Sensing Gloves}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2014}, pages = {1547{\textendash}1550}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, doi = {10.1007/978-3-319-00846-2_382}, url = {http://dx.medra.org/10.1007/978-3-319-00846-2_382}, author = {Dalle Mura, G. and F. Lorussi and A. Tognetti and G. Anania and N. Carbonaro and M. Pacelli and R. Paradiso and D. De Rossi} } @article {2245, title = {Point-Process Nonlinear Autonomic Assessment of Depressive States in Bipolar Patient}, journal = {Methods of Information in Medicine}, year = {2014} } @article {2341, title = {Point-Process Nonlinear Autonomic Assessment of Depressive States in Bipolar Patients}, journal = {Methods of Information in Medicine}, volume = {53}, year = {2014}, note = {

invited

}, pages = {296{\textendash}302}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and C. Gentili and A Lanata and E. P. Scilingo and R. Barbieri} } @article {2210, title = {Psychometric Assessment of Cardio-Respiratory Activity Using a Mobile Platform}, journal = {INTERNATIONAL JOURNAL OF HANDHELD COMPUTING RESEARCH}, volume = {5}, year = {2014}, pages = {13{\textendash}29}, 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 psychophysi- ological parameter during daily life can be greatly helpful in stress evaluation. In this context, the European Collaborative Project INTERSTRESS is aimed at designing and developing advanced simulation and sensing technologies for the assessment and treatment of psychological stress, based on mobile biosensors.In this study a wearable biosensor platform able to collect physiological and behavioral parameters is reported. The developed mobile 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.

}, doi = {10.4018/ijhcr.2014010102}, author = {N. Carbonaro and Cipresso, P and A. Tognetti and G. Anania and D. De Rossi and Pallavicini, F and A. Gaggioli and Riva, G} } @article {2202, title = {Realisation and characterization of conductive hollow fibers for neuronal tissue engineering}, journal = {Journal of Biomedical Materials Research Part B: Applied Biomaterials}, year = {2014}, keywords = {Bioengineering}, author = {Gattazzo, F. and C. De Maria and Whulanza, Y. and Taverni, G. and A. Ahluwalia and G. Vozzi} } @conference {2222, title = {Realization of a soft-MI electrospun scaffold for tissue engineering applications}, booktitle = {JOURNAL OF TISSUE ENGINEERING AND REGENERATIVE MEDICINE}, year = {2014}, pages = {255{\textendash}256}, publisher = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, organization = {WILEY-BLACKWELL 111 RIVER ST, HOBOKEN 07030-5774, NJ USA}, author = {G. Criscenti and Cerulli, G. and Saris, D. and Van Blitterswijk, C. and G. Vozzi and Fernandes, H. and Moroni, L.} } @conference {2187, title = {Recognition and Expression of Emotions by a Symbiotic Android Head}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {134 - 139 }, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, keywords = {Bioengineering, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041349}, author = {D. Mazzei and A. Zaraki and Lazzeri, N. and D. De Rossi} } @article {2149, title = {Revealing Real-Time Emotional Responses: a Personalized Assessment based on Heartbeat Dynamics}, journal = {Nature Scientific Reports}, volume = {4}, year = {2014}, pages = {1{\textendash}13}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and A Lanata and E. P. Scilingo and R. Barbieri} } @conference {2188, title = {An RGB-D Based Social Behavior Interpretation System for a Humanoid Social Robot}, booktitle = {IEEE-RSI International Conference on Robotics and Mechatronics 2014 }, year = {2014}, pages = {185 - 190}, publisher = {IEEE}, organization = {IEEE}, address = {Tehran, Iran, October 15-17}, keywords = {Bioengineering, Robotics}, doi = {10.1109/ICRoM.2014.6990898}, author = {A. Zaraki and Giuliani, M. and Dehkordi, M. B. and D. Mazzei and D{\textquoteright}Ursi, A. and D. De Rossi} } @article {2219, title = {Role of IGF1 and IGF1/VEGF on Human Mesenchymal Stromal Cells in Bone Healing: Two Sources and Two Fates}, journal = {Tissue Engineering Part A}, year = {2014}, author = {Ferretti, C. and G. Vozzi and Falconi, M. and Orciani, M. and Gesi, M. and Di Primio, R. and Mattioli-Belmonte, M.} } @conference {2275, title = {Sensorized Squeeze Pressure Bioreactor For mechanical modulation of cardiomyocyte phenotype}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {8 Suppl 1}, year = {2014}, pages = {67{\textendash}8}, keywords = {Bioengineering}, doi = {10.1002/term.1943}, url = {http://www.ncbi.nlm.nih.gov/pubmed/24912686}, author = {S. Giusti and Vozzi, F. and F. Pagliari and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @conference {2181, title = {Shaping of foam-like materials through the use of a sonotrode}, booktitle = { International Conference On Innovative Design And Manufacturing}, year = {2014}, address = {Montreal, Quebec, Canada, August 13-15}, keywords = {Robotics}, author = {G Fantoni and Tilli, J. and F. A. W. Belo and Ishak, R.} } @article {2204, title = {Smart Sensing Scaffolds}, journal = {Smart Membranes and Sensors: Synthesis, Characterization, and Applications}, year = {2014}, pages = {337}, keywords = {Bioengineering}, author = {C. De Maria and Whulanza, Y. and G. Vozzi and A. Ahluwalia} } @article {2234, title = {Special Issue on the Mechanics and Design of Robotic Hands}, year = {2014}, keywords = {Haptics, Robotics}, author = {Dollar, A. and A. Bicchi and M. Cutkosky and Howe, D.} } @article {2290, title = {Sphyga: a multiparameter open source tool for fabricating smart and tunable hydrogel microbeads}, journal = {Biofabrication}, volume = {6}, year = {2014}, keywords = {Bioengineering}, doi = {10.1088/1758-5082/6/2/025009}, author = {Tirella, A and C. Magliaro and M. Penta and M. Troncone and Pimentel, R and A. Ahluwalia} } @article {1986, title = {A Stiffness Estimator for Agonistic{\textendash}Antagonistic Variable-Stiffness-Actuator Devices}, journal = { IEEE Transactions on Robotics}, volume = {30}, year = {2014}, pages = {1269 - 1278 }, abstract = {

Safe physical human-robot interaction, conservation of energy, and adaptability are the main robotic applications that prompted the development of a number of variable stiffness actuators (VSAs). Implemented in a variety of ways, they use various technologies and feature the most diverse mechanical solutions, all of which share a fundamentally unavoidable nonlinear behavior. The control schemes proposed for these actuators typically aim at independent control of the position of the link and its stiffness. Although effective feedback control schemes using position and force sensors are commonplace in robotics, control of stiffness is at present completely open loop: The stiffness is inferred from the mathematical model of the actuator. We consider here the problem of estimating the nonlinear stiffness of VSA in agonistic-antagonistic configuration. We propose an algorithm based on modulating functions that allow us to avoid the need for numerical derivative and for which the tuning is then very simple. An analysis of the error demonstrates the convergence. Simulations are provided, and the algorithm is validated on experimental data.

}, keywords = {Robotics}, issn = {1552-3098}, doi = {10.1109/TRO.2014.2329998}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6860244\&queryText\%3DA+stiffness+estimator+for+AA-VSA+devices}, author = {T. Menard and G. Grioli and A. Bicchi} } @conference {2084, title = {The tactile toolbox}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775573}, author = {A. Serio and M. Bianchi and M Gabiccini and A. Bicchi} } @conference {2083, title = {ThimbleSense: A new wearable tactile device for human and robotic fingers }, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775571}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Bianchi and A. Serio and M. Santello and A. Bicchi} } @conference {2130, title = {ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies}, booktitle = {IEEE International Conference on Robotics and Automation - ICRA 2014}, year = {2014}, pages = {2728 - 2735 }, publisher = {IEEE}, organization = {IEEE}, address = { Hong Kong, May 31 - June 7, 2014}, abstract = {

Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907250 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907250}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Santello and A. Bicchi} } @conference {2307, title = { Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies}, booktitle = {22nd Mediterranean Conference of Control and Automation (MED) 2014 }, year = {2014}, pages = {346 - 350}, publisher = {IEEE}, organization = {IEEE}, address = {Palermo, Italy, 16-19 June 2014 }, abstract = {

This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation and human grasping studies. We report and discuss preliminary results on device validation as well as some illustrative measurement examples.

}, keywords = {Haptics, Robotics}, doi = {10.1109/MED.2014.6961395}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6961395}, author = {Altobelli, A and M. Bianchi and A. Serio and Baud-Bovy, G and M Gabiccini and A. Bicchi} } @conference {2223, title = {On Time-Optimal Trajectories for Differential Drive Vehicles with Field-Of-View Constraints}, booktitle = {IEEE Conference on Decision and Control (CDC2014)}, year = {2014}, pages = {2191 - 2197}, publisher = {IEEE}, organization = {IEEE}, address = {Los Angeles, USA, December 15-17}, abstract = {

This paper presents the first step toward the study of minimum time trajectories for a differential drive robot, which is equipped with a fixed and limited Field-Of-View (FOV) camera, towards a desired configuration while keeping a given landmark in sight during maneuvers. While several previous works have provided a complete synthesis of shortest paths in case of both nonholonomic and FOV constraints, to the best of our knowledge, this paper represents the first analysis of minimum time trajectories with the two constraints. After showing the extremals of the problem at hand, i.e. straight lines, rotations on the spot, logarithmic spirals and involute of circles, we provide the optimal control laws that steer the vehicle along the path and the cost in terms of time along each extremal. Moreover, we compare some concatenations of extremals in order to reduce the complexity of the problem toward the definition of a sufficient finite set of optimal maneuvers.

}, keywords = {Embedded Control, Robotics}, isbn = {978-1-4799-7746-8}, doi = {10.1109/CDC.2014.7039723}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7039723}, author = {Cristofaro, A. and Salaris, P. and L. Pallottino and Giannoni, F. and A. Bicchi} } @conference {2343, title = {Tracking Instantaneous Entropy in Heartbeat Dynamics through Inhomogeneous Point-Process Nonlinear Models}, booktitle = {36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @article {2177, title = {Tuning of the freezing and melting points of [Hmim][NO3] by the addition of water and nitrate salts }, journal = {RSC Advances}, volume = {4}, year = {2014}, pages = {40407 - 40413}, keywords = {Bioengineering}, doi = {10.1039/c4ra06290f}, author = {Di Francesco, F. and Ferrari, F. and Moni, L. and Melai, B. and Bernazzania, L. and Chiappe, C.} } @conference {2182, title = {Underwater drilling of foam-like materials and wax using ultrasound technology}, booktitle = {International Conference On Innovative Design And Manufacturing}, year = {2014}, address = {Montreal, Quebec, Canada, August 13-15}, keywords = {Robotics}, author = {Tilli, J. and G Fantoni and Currenti, S.} } @conference {2160, title = {Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {713 - 719}, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, abstract = {

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.

}, keywords = {Robotics}, doi = {10.1109/HUMANOIDS.2014.7041441}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7041441}, author = {J. Lee and A. Ajoudani and E. Mingo Hoffman and A. Rocchi and A Settimi and M. Ferrati and A. Bicchi and N G Tsagarakis and D. G. Caldwell} } @conference {2037, title = {Velvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces}, booktitle = {2014 IEEE International Conference on Robotics and Automation}, year = {2014}, pages = {3669 - 3675}, publisher = {IEEE}, organization = {IEEE}, address = {Hong Kong, May 31 2014-June 7 2014}, abstract = {

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 {\textquoteleft}pulled-in{\textquoteright} 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.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907390 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907390}, author = {R. Krug and T. Stoyanov and M. Bonilla and V. Tincani and N. Vaskeviciusz and G Fantoni and A. Birkz and A. Lilienthal and A. Bicchi} } @article {2143, title = {Wearable Monitoring for Mood Recognition in Bipolar Disorder based on History-Dependent Long-Term Heart Rate Variability Analysis}, journal = {IEEE Journal of Biomedical and Health Informatics}, year = {2014}, keywords = {Bioengineering}, author = {G. Valenza and M. Nardelli and A Lanata and C. Gentili and G. Bertschy and R. Paradiso and E. P. Scilingo} } @article {2241, title = {Wearable Wireless Tactile Display for Virtual Interactions with Soft Bodies}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {2}, year = {2014}, abstract = {

We describe here a wearable, wireless, compact, and lightweight tactile display, able to mechanically stimulate the fingertip of users, so as to simulate contact with soft bodies in virtual environments. The device was based on dielectric elastomer actuators, as high-performance electromechanically active polymers. The actuator was arranged at the user{\textquoteright}s fingertip, integrated within a plastic case, which also hosted a compact high-voltage circuitry. A custom-made wireless control unit was arranged on the forearm and connected to the display via low-voltage leads. We present the structure of the device and a characterization of it, in terms of electromechanical response and stress relaxation. Furthermore, we present results of a psychophysical test aimed at assessing the ability of the system to generate different levels of force that can be perceived by users.

}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2014.00031}, url = {http://www.ncbi.nlm.nih.gov/pmc/articles/PMC4150388/}, author = {G. Frediani and D. Mazzei and D. De Rossi and F. Carpi} } @conference {2226, title = {XIM-Engine: a software framework to support the development of interactive applications that uses conscious and unconscious reactions in immersive mixed reality}, booktitle = {VIRTUAL REALITY INTERNATIONAL CONFERENCE}, year = {2014}, abstract = {

The development of systems that allow multimodal interpretation of human-machine interaction is crucial to advance our understanding and validation of theoretical models of user behavior. In particular, a system capable of collecting, perceiving and interpreting unconscious behavior can provide rich contextual information for an interactive system. One possible application for such a system is in the exploration of complex data through immersion, where massive amounts of data are generated every day both by humans and computer processes that digitize information at different scales and resolutions thus exceeding our processing capacity. We need tools that accelerate our understanding and generation of hypotheses over the datasets, guide our searches and prevent data overload. We describe XIM- engine, a bio-inspired software framework designed to capture and analyze multi-modal human behavior in an immersive environment. The framework allows performing studies that can advance our understanding on the use of conscious and unconscious reactions in interactive systems.

}, author = {P. Omedas and A. Betella and Zucca, R. and X. D. Arsiwalla and Pacheco, D. and J. Wagner and F. Lingenfelser and D. Mazzei and A Lanata and A. Tognetti and Goldhoorn, A. and Guerra, E. and Alqu{\`\i}zar, R. and Grau, A. and Sanfeliu, A. and D. De Rossi and E. Andr{\'e} and P. F. M. J. Verschure} } @conference {2077, title = {Yarp Based Plugins for Gazebo Simulator}, booktitle = {2014 Modelling and Simulation for Autonomous Systems Workshop (MESAS)}, year = {2014}, address = {Roma, Italy, 5 -6 May 2014}, keywords = {Robotics}, author = {Mingo, E and Traversaro, S and Rocchi, A and M. Ferrati and A Settimi and Romano, F and Natale, L and A. Bicchi and Nori, F and N G Tsagarakis} } @article {2254, title = {3D CMR Mapping of Metabolism by Hyperpolarized 13C-Pyruvate in Ischemia-Reperfusion}, journal = {JACC-CARDIOVASCULAR IMAGING }, volume = {6}, year = {2013}, pages = {743-744}, doi = {10.1016/j.jcmg.2012.11.023}, author = {Aquaro, G. D. and Frijia, F. and V. Positano and Menichetti, L. and M. F. Santarelli and Ardenkjaer-Larsen, J. H. and Wiesinger, F. and Lionetti, V. and Romano, S. L. and Bianchi, G. and Neglia, D. and G. Giovannetti and Schulte, R. and Recchia, f. A. and L. Landini and Lombardi, M.} } @article {1994, title = {An Activity Classifier based on Heart Rate and Accelerometer Data Fusion}, journal = {INTERNATIONAL JOURNAL OF BIOELECTROMAGNETISM}, volume = {15}, year = {2013}, pages = {7{\textendash}12}, issn = {1456-7857}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Magenes} } @conference {1812, title = {Advanced Interfaces to Stem the Data Deluge in Mixed Reality: Placing Human (un)consciuosness in the Loop}, booktitle = {ACM SIGGRAPH 2013}, year = {2013}, address = {New York, NY, USA}, keywords = {Bioengineering}, url = {10.1145/2503385.2503460}, author = {A. Betella and E. Mart{\`\i}nez and R. Zucca and X. D. Arsiwalla and P Omedas and S. Wierenga and A. Mura and J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and A Lanata and D. De Rossi and P. F. M. J. Verschure} } @article {2148, title = {Advanced Technology Meets Mental Health: How smartphones, textile electronics, and signal processing can serve mental health monitoring, diagnosis, and treatment.}, journal = {IEEE pulse}, volume = {5}, year = {2013}, pages = {56{\textendash}59}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and R. Paradiso and E. P. Scilingo} } @article {2253, title = {An automatic method for myocardial T2(star) curve fitting in thalassemia patients with severe iron overload}, journal = {EUROPEAN HEART JOURNAL}, volume = {34}, year = {2013}, pages = { 837-837}, author = {Meloni, A. and V. Positano and Gulino, L. and L. Landini and M. F. Santarelli and Santamaria, V. and Restaino, G. and Renne, S. and Lombardi, M. and D. Pepe} } @article {1492, title = {Bone scaffolds with homogeneous and discrete gradient mechanical properties}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {2013}, pages = {28{\textendash}36}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Jelen, C. and G. Mattei and F. Montemurro and C. De Maria and Mattioli-Belmonte, M. and G. Vozzi} } @article {2257, title = {Cardiovascular Molecular Imaging: New Methodological Strategies}, journal = {CURRENT PHARMACEUTICAL DESIGN }, volume = {19}, year = {2013}, pages = { 2439-2446}, author = {M. F. Santarelli and V. Positano and Menichetti, L. and L. Landini} } @article {1234, title = {Characterization and Psychophysical Studies of an Air-Jet Lump Display}, journal = {Transactions on Haptics}, year = {2013}, pages = {156 - 166}, keywords = {Robotics}, doi = {10.1109/TOH.2012.71 }, author = {J.C Gwilliam and M. Bianchi and L. K. Su and A.M. Okamura} } @article {1779, title = {Characterization of 3-Iodothyronamine In Vitro Dynamics by Mathematical Modeling}, journal = {Cell Biochem Biophys}, year = {2013}, keywords = {Bioengineering}, doi = {10.1007/s12013-013-9680-y}, author = {G. Orsi and S. Ghelardoni and A. Saba and R. Zucca and G. Vozzi} } @article {1781, title = {Collagen VI regulates satellite cell self-renewal and muscle regeneration}, journal = {Nat Commun}, volume = {4}, year = {2013}, keywords = {Bioengineering}, doi = {10.1038/ncomms2964}, author = {Urciuolo, A and M. Quarta and V. Morbidoni and Gattazzo, F and S. Molon and P. Grumati and F. Montemurro and F. S. Tedesco and B. Blaauw and G. Cossu and G. Vozzi and T. A. Rando and Bonaldo, P} } @article {1780, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {J Biomed Mater Res A}, year = {2013}, month = {06/2013}, keywords = {Bioengineering}, author = {G. Vozzi and C. Corallo and S. Carta and M. Fortina and Gattazzo, F and M. Galletti and N. Giordano} } @article {1786, title = {Collagen-gelatin-genipin-hydroxyapatite composite scaffolds colonized by human primary osteoblasts are suitable for bone tissue engineering applications: In vitro evidences}, journal = {Journal of Biomedical Materials Research Part A}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/jbm.a.34823}, author = {G. Vozzi and C. Corallo and S. Carta and M. Fortina and Gattazzo, F and M. Galletti and N. Giordano} } @article {1725, title = {A Complete Observability Analysis of the Planar Bearing Localization and Mapping for Visual Servoing with Known Camera Velocities}, journal = {International Journal of Advanced Robotic Systems}, volume = {10}, year = {2013}, abstract = {

This paper presents an analysis of planar bearing localization and mapping for visual servoing with known camera velocities. In particular, we investigate what is the subset of camera locations and environmental features that can be retrieved from dynamic observations obtained by a planar bearing sensor (nearly e.g., a pinhole camera). Results assume that the camera{\textquoteright}s linear and angular velocities are available, which is equivalent to consider a unicycle vehicle carrying an onboard camera. Results hold if other system inputs are considered, e.g., an omnidirectional vehicle. The theoretical results may guide the design of nonlinear observers to estimate the variables of interest in real time to be applied to visual servoing schemes. An example of such an observer is discussed and simulated.

}, keywords = {Robotics}, doi = {10.5772/54603}, url = {http://www.intechopen.com/books/international_journal_of_advanced_robotic_systems/a-complete-observability-analysis-of-the-planar-bearing-localization-and-mapping-for-visual-servoing}, author = {F. A. W. Belo and P Salaris and D. Fontanelli and A. Bicchi} } @article {2258, title = {Computational Analysis of a Radiofrequency Knee Coil for Low-Field MRI Using FDTD}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {389-400}, doi = {10.1007/s00723-012-0388-8}, author = {V. Hartwig and Tassano, S. and Mattii, A. and N. Vanello and V. Positano and M. F. Santarelli and L. Landini and G. Giovannetti} } @conference {1667, title = {Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {5494 - 5499}, address = {Tokyo, Japan}, abstract = {

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.

}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6697152}, url = {http://ieeexplore.ieee.org/xpl/login.jsp?tp=\&arnumber=6697152\&url=http\%3A\%2F\%2Fieeexplore.ieee.org\%2Fxpls\%2Fabs_all.jsp\%3Farnumber\%3D6697152}, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Bonilla and M. Garabini and G Fantoni and A. Bicchi} } @inbook {1787, title = {Da scaffold a tessuti: progettazione, realizzazione e caratterizzazione di architetture 3D per la medicina rigenerativa }, booktitle = {Approccio Integrato per la medicina rigenerativa - book of XXXII School of Bioengineering}, year = {2013}, keywords = {Bioengineering}, author = {Tirella, A and C. De Maria and G. Vozzi and A. Ahluwalia} } @conference {1941, title = {A data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, year = {2013}, pages = {3738 - 3745}, address = {Tokyo, Japan}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2013.6696890 }, author = {M Gabiccini and G. Stillfried and H. Marino and M. Bianchi} } @article {2256, title = {Design of a quadrature surface coil for hyperpolarized 13C MRS cardiac metabolism studies in pigs}, journal = {CONCEPTS IN MAGNETIC RESONANCE PART B-MAGNETIC RESONANCE ENGINEERING}, volume = {43b}, year = {2013}, pages = {69 - 77}, doi = {10.1002/cmr.b.21235}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Attanasio, S. and Menichetti, L. and N. Vanello and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @conference {1705, title = {A Device for Mimicking the Contact Force/Contact Area Relationship of Different Materials with Applications to Softness Rendering}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {4484 - 4490 }, address = {Tokyo, Japan}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6697001 }, author = {A. Serio and M. Bianchi and A. Bicchi} } @conference {1702, title = {Distributed Multi{\textendash}level Motion Planning for Autonomous Vehicles in Large Scale Industrial Environments}, booktitle = {IEEE International Conference on Emerging Technologies \& Factory Automation (ETFA)}, year = {2013}, month = {09/2013}, pages = {1-8}, abstract = {

In this paper we propose a distributed coordination algorithm for safe and efficient traffic management of heterogeneous robotic agents, moving within dynamic large scale industrial environments. The algorithm consists of a distributed resource{\textendash}sharing protocol involving a re{\textendash}planning strategy. Once every agent is assigned with a desired motion path, the algorithm ensures ordered traffic flows of agents, that avoid inter{\textendash}robot collision and system deadlock (stalls). The algorithm allows multi{\textendash}level representation of the environment, i.e. large or complex rooms may be seen as a unique resource with given capacity at convenience, which makes the approach appealing for complex industrial environments. Under a suitable condition on the maximum number of agents with respect to the capacity of the environment, we prove that the algorithm correctly allows mutual access to shared resources while avoiding deadlocks. The proposed solution requires no centralized mechanism, no shared memory or ground infrastructure support. Only a local inter{\textendash}robot communication is required, i.e. every agent must communicate with a limited number of other spatially adjacent robots. We finally show the effectiveness of the proposed approach by simulations, with application to an industrial scenario.

}, keywords = {Robotics}, doi = {10.1109/ETFA.2013.6647973 }, author = {L. Cancemi and A. Fagiolini and L. Pallottino} } @article {1778, title = {Electrical and Mechanical Characterisation of single wall carbon nanotubes based composites for tissue engineering applications}, journal = {Journal of nanoscience and nanotechnology}, year = {2013}, month = {01/2013}, pages = {188 - 197}, keywords = {Bioengineering}, author = {Whulanza, Y and L. Vannozzi and Vomero, M. and A. Ahluwalia and G. Vozzi} } @article {2134, title = {Eye gaze patterns in emotional pictures}, journal = {Journal of Ambient Intelligence and Humanized Computing}, volume = {4}, year = {2013}, pages = {705{\textendash}715}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @article {2250, title = {FDTD Analysis of a Radiofrequency Knee Coil for Low-Field MRI: Sample-Induced Resistance and Decoupling Evaluation }, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1393 - 1403}, doi = {10.1007/s00723-013-0488-0}, author = {Morelli, M. S. and V. Hartwig and Tassano, S. and N. Vanello and V. Positano and M. F. Santarelli and Carrozzi, A. and L. Landini and G. Giovannetti} } @conference {1798, title = {Gelatin-Hydroxyapatite hydrogels to investigate periosteal derived progenitor cells (PDPCs) response for tissue engineering applications}, booktitle = {Advanced Cell Culture}, year = {2013}, address = {Liverpool, UK}, keywords = {Bioengineering}, author = {G. Mattei and Tirella, A and Mattioli-Belmonte, M. and Ferretti, C and A. Ahluwalia} } @conference {1760, title = {Global Path Planning for Competitive Robotic Cars}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {4510 - 4516}, address = {Florence, Italy}, keywords = {Robotics}, author = {T. Rizano and D. Fontanelli and L. Palopoli and L. Pallottino and P Salaris} } @article {1809, title = {Grand Challenges in Bionics}, journal = {Frontiers in Bioengineering and Biotechnology}, volume = {1}, year = {2013}, keywords = {Bioengineering}, doi = {10.3389/fbioe.2013.00003}, author = {D. De Rossi and M. Pieroni} } @article {1821, title = {Grasp Analysis Tools for Synergistic Underactuated Robotic Hands}, journal = {International Journal of Robotic Reasearch}, volume = {32}, year = {2013}, month = {11/2013}, pages = {1553 - 1576}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1706, title = {Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {3015 -3022}, address = {Tokyo, Japan}, keywords = {Robotics}, doi = {10.1109/IROS.2013.6696783 }, author = {E. Farnioli and M Gabiccini and M. Bonilla and A. Bicchi} } @conference {1434, title = {Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {4499 - 4505}, keywords = {Robotics}, doi = {10.1109/ICRA.2013.6631216 }, author = {A. Ajoudani and M Gabiccini and N G Tsagarakis and A. Bicchi} } @conference {1438, title = {Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2744 - 2750}, keywords = {Haptics, Robotics}, url = {10.1109/ICRA.2013.6630955 }, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Garabini and S. Grechi and G Fantoni and A. Bicchi} } @article {2138, title = {Improving emotion recognition systems by embedding cardiorespiratory coupling}, journal = {Physiological Measurement}, volume = {34}, year = {2013}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @article {1791, title = {In vitro toxicological screening of nanoparticles on primary human endothelial cells and the role of flow in modulating cell response}, journal = {Nanotoxicology}, year = {2013}, abstract = {

Abstract After passage through biological barriers, nanomaterials inevitably end up in contact with the vascular endothelium and physiological flow, and can induce cardiovascular damage. In this study the toxicity and sublethal effects of 6 nanoparticles, including 4 of industrial and biomedical importance, on human endothelial cells was investigated using different in vitro assays. The results show that all the particles investigated induce some level of damage to the cells and that silver particles were most toxic, followed by titanium dioxide. Furthermore endothelial cells were shown to be more susceptible when exposed to silver nanoparticles under flow conditions in a bioreactor. The study underlines that although simple in vitro tests are useful to screen compounds and to identify the type of effect induced on cells, they may not be sufficient to define safe exposure limits. Therefore, once initial toxicity screening has been conducted on nanomaterials, it is necessary to develop more physiologically relevant in vitro models to better understand how nanomaterials can impact on human health.

}, keywords = {Bioengineering}, issn = {1743-5404}, doi = {10.3109/17435390.2013.831500}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23909703}, author = {Ucciferri, N and Collnot, E. M. and Gaiser, B. and Tirella, A and Stone, V. and C. Domenici and Lehr, C.-M. and A. Ahluwalia} } @conference {2144, title = {Increased Instability of Heartbeat Dynamics in Parkinson{\textquoteright}s Disease}, booktitle = {Computers in Cardiology}, year = {2013}, keywords = {Bioengineering}, author = {R. Barbieri and L. Citi and G. Valenza and M. Guerrisi and S. Orsolini and C. Tessa and S. Diciotti and N. Toschi} } @conference {1995, title = {An Innovative Multisensor Controlled Prosthetic Hand}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2013}, pages = {93{\textendash}96}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, doi = {10.1007/978-3-319-00846-2_23}, url = {http://dx.medra.org/10.1007/978-3-319-00846-2_23}, author = {N. Carbonaro and G. Anania and Bacchereti, M. and Donati, G. and Ferretti, G. and Pellicci, L. and Parrini, G. and Vitetta, N. and D. De Rossi and A. Tognetti} } @conference {2137, title = {Instantaneous bispectral characterization of the autonomic nervous system through a point-process nonlinear model}, booktitle = {World Congress on Medical Physics and Biomedical Engineering}, year = {2013}, pages = {530{\textendash}533}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {May 26-31, 2012, Beijing, China}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @conference {2142, title = {Instantaneous nonlinear assessment of complex cardiovascular dynamics by laguerre-volterra point process models}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {6131{\textendash}6134}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and R. Barbieri} } @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} } @conference {1940, title = {Neural correlates of haptic pop-out of shape discrimination in the human brain}, booktitle = {19th Annual Meeting of the Organization for Human Brain Mapping}, year = {2013}, address = {Seattle, USA, June2013}, author = {A. Leo and M. Feurra and S. Rossi and A. Kappers and A. Bicchi and D Prattichizzo and Cristea, I. and David, D. and P. Pietrini and E. Ricciardi} } @article {2289, title = {NEuronMOrphological analysis tool: open-source software for quantitative morphometrics}, journal = {Front. Neuroinform.}, volume = {7}, year = {2013}, keywords = {Bioengineering}, doi = {10.3389/fninf.2013.00002.c}, author = {Billeci, L. and C. Magliaro and G. Pioggia and A. Ahluwalia} } @article {1783, title = {A new approach to fabricate agarose microstructures}, journal = {Polymers Advanced Technologies}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/pat.3162}, author = {C. De Maria and J. Rincon and A.A. Duarte and G. Vozzi and Boland, T} } @conference {2141, title = {A nonlinear heartbeat dynamics model approach for personalized emotion recognition}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {2579{\textendash}2582}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and A Lanata and E. P. Scilingo and R. Barbieri} } @conference {1813, title = {Novel Spiking Neuron-Astrocyte Networks based on NoNlinearTransistor-Like Models of Tripartite Synapses}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC{\textquoteright}13)}, year = {2013}, address = {Osaka, Japan}, abstract = {

In this paper a novel and efficient computational implementation of a Spiking Neuron-Astrocyte Network (SNAN) is reported. Neurons are modeled according to the Izhikevich formulation and the neuron-astrocyte interactions are intended as tripartite synapsis and modeled with the previ- ously proposed nonlinear transistor-like model. Concerning the learning rules, the original spike-timing dependent plasticity is used for the neural part of the SNAN whereas an ad-hoc rule is proposed for the astrocyte part. SNAN performances are compared with a standard spiking neural network (SNN) and evaluated using the polychronization concept, i.e., number of co-existing groups that spontaneously generate patterns of polychronous activity. The astrocyte-neuron ratio is the biologically inspired value of 1.5. The proposed SNAN shows higher number of polychronous groups than SNN, remarkably achieved for the whole duration of simulation (24 hours).

}, keywords = {Bioengineering}, author = {G. Valenza and L. Tedesco and A Lanata and D. De Rossi and E. P. Scilingo} } @conference {1437, title = {Optimal Control and Design Guidelines for Soft Jumping Robots: Series Elastic Actuation and Parallel Elastic Actuation in comparison}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2477 - 2484}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630914 }, author = {R. Incaini and L. Sestini and M. Garabini and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1447, title = {Optimal Control for Maximizing Velocity of the CompActTM Compliant Actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {516 - 522}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630623}, author = {L. Chen and M. Garabini and M. Laffranchi and N. Kashiri and N G Tsagarakis and A. Bicchi and D. G. Caldwell} } @conference {1583, title = {Packet-based dynamic control for nonlinear networked systems}, booktitle = {IEEE International Conference on Decision and Control (CDC2013)}, year = {2013}, pages = {6597,6603}, address = {Florence, Italy}, keywords = {Embedded Control, Robotics}, doi = {10.1109/CDC.2013.6760933}, author = {S. Falasca and M. Gamba and L. Greco and A. Chaillet and A. Bicchi} } @conference {1582, title = {Packet-Based Dynamic Control of a Furuta Pendulum over Ethernet}, booktitle = {Mediterranean Conference on Control and Automation (MED {\textquoteright}13)}, year = {2013}, month = {25-28 June 2013 }, pages = {464 - 470}, address = {Platanias-Chania, Crete, Greece}, abstract = {

This paper presents experimental results of the application of Packet-Based Control approach with dynamic controller on a real plant: the Furuta Pendulum. Despite its easiness of realization, Furuta Pendulum presents some features useful for our purposes, such as pretty non-linear dynamics, unstable equilibrium point and heavy dynamical inaccuracies. The network communication channel has been implemented using an Ethernet network. Packet-Based controller has been tested and compared with a classic local controller for different time-varying actuation delays. Results obtained corroborate the validity of the proposed architecture and highlight the robustness of this approach in the presence of actuation delays.

}, keywords = {Embedded Control, Robotics}, issn = {978-1-4799-0995-7}, doi = {10.1109/MED.2013.6608763}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=6608763\&queryText\%3Dfalasca+gamba}, author = {T. Fabbri and D. Fenucci and S. Falasca and M. Gamba and A. Bicchi} } @article {1726, title = {A Permanent-Magnet Exciter for Magneto-Rheological Fluid-Based Haptic Interfaces}, journal = {IEEE Transactions on Magnetics}, volume = {49}, year = {2013}, pages = {1390{\textendash}1401}, abstract = {

This paper describes an innovative haptic interface device based on magneto-rheological fluid (MRF). A system of permanent magnets and coils is designed in order to produce a proper distribution of a magnetic field inside the fluid. This distribution, with its spatial resolution, causes the MRF to assume prescribed shapes and softness profiles that can be directly felt and explored by hand. The device is designed using a 3-D finite-elements code taking into account the B-H functions of the nonlinear materials (MRF, permanent magnets, ferromagnetic materials). In order to validate the finite-element model, some experimental magnetic measurements are taken on a simplified prototype. Furthermore, the maps of the flux density and those of the shear stress inside the fluid are carefully analyzed. Finally, the interaction between the operator{\textquoteright}s hand and the MRF is numerically investigated.

}, keywords = {Haptics, Robotics}, issn = {0018-9464}, doi = {10.1109/TMAG.2012.2233491}, author = {R. Rizzo} } @conference {2243, title = {Piezoresistive Goniometer Network for Sensing Gloves}, booktitle = {Proceedings of the XIII Mediterranean Conference on Medical and Biological Engineering and Computing}, year = {2013}, pages = {1547{\textendash}1550}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

This paper presents a kinesthetic glove realized with knitted piezoresistive fabric (KPF) sensor technology. The glove forefinger area is sensorized by two KPF goniometers obtained on the same piezoresistive substrate. The piezoresistive textile is used for the realization of both electrogoniometers and connections, thus avoiding mechanical constraints due to metallic wires. Sensors are characterized in comparison with commercial goniometers. The glove behavior is pointed out in terms of methacarpal-phalangeal and interphalangeal joint movement reconstruction.

}, keywords = {Bioengineering}, doi = {10.1007/978-3-319-00846-2_382}, author = {G. Dalle Mura and F. Lorussi and A. Tognetti and G. Anania and N. Carbonaro and M. Pacelli and R. Paradiso and D. De Rossi} } @article {2139, title = {Point-Process Nonlinear Models with Laguerre and Volterra Expansions: Instantaneous Assessment of Heartbeat Dynamics}, journal = {IEEE Transactions on Signal Processing}, volume = {61}, year = {2013}, pages = {2914{\textendash}2926}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @inbook {1810, title = {Preliminary Implementation of Context-Aware Attention System for Humanoid Robots}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, volume = {8064}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {457-459}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

A context-aware attention system is fundamental for regulating the robot behaviour in a social interaction since it enables social robots to actively select the right environmental stimuli at the right time during a multiparty social interaction. This contribution presents a modular context-aware attention system which drives the robot gaze. It is composed by two modules: the scene analyzer module manages incoming data flow and provides a human-like understanding of the information coming from the surrounding environment; the attention module allows the robot to select the most important target in the perceived scene on the base of a computational model. After describing the motivation, we report the proposed system and the preliminary test.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_65}, author = {A. Zaraki and D. Mazzei and Lazzeri, N. and M. Pieroni and D. De Rossi} } @article {1782, title = {Pressure-activated microsyringe composite scaffold of poly(L-lactic acid) and carbon nanotubes for bone tissue engineering}, journal = {Journal of Apllied polymer science}, volume = {129}, year = {2013}, pages = {528{\textendash}536}, keywords = {Bioengineering}, author = {G. Vozzi and C. Corallo and C. Daraio} } @conference {2140, title = {Quantitative EEG analysis in minimally conscious state patients during postural changes}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE}, year = {2013}, pages = {6313{\textendash}6316}, publisher = {IEEE}, organization = {IEEE}, author = {A. Greco and Carboncini, MC and Virgillito, A and A Lanata and G. Valenza and E. P. Scilingo} } @conference {1436, title = {A real time robust observer for an agonist antagonist variable stiffness actuator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, note = {

Best Paper Award Finalist

}, pages = {3988 - 3993}, address = {Karlsruhe, Germany, May 6-10, 2013 }, keywords = {Robotics}, url = {10.1109/ICRA.2013.6631139 }, author = {T. Menard and G. Grioli and A. Bicchi} } @article {2255, title = {Regularization techniques on least squares non-uniform fast Fourier transform}, journal = {NTERNATIONAL JOURNAL FOR NUMERICAL METHODS IN BIOMEDICAL ENGINEERING }, volume = {29}, year = {2013}, pages = {561-573}, doi = {10.1002/cnm.2540}, author = {Gibiino, F. and V. Positano and L. Landini and M. F. Santarelli} } @article {1563, title = {On the Robust Synthesis of Logical Consensus Algorithms for Distributed Intrusion Detection}, journal = {Automatica}, volume = {49}, year = {2013}, pages = {2339 - 2350}, keywords = {Embedded Control, Robotics}, doi = {10.1016/j.automatica.2013.04.033}, author = {A. Fagiolini and A. Bicchi} } @conference {1998, title = {A Sensing Architecture for Empathetic Data Systems}, booktitle = {ACM International Conference Proceeding Series}, year = {2013}, month = {7-8 March}, pages = {{\textendash}}, publisher = {ACM Digital Library}, organization = {ACM Digital Library}, doi = {10.1145/2459236.2459253}, url = {http://dx.medra.org/10.1145/2459236.2459253}, author = {J. Wagner and F. Lingenfelser and E. Andr{\'e} and D. Mazzei and A. Tognetti and D. De Rossi and A. Betella and R. Zucca and P Omedas and P. F. M. J. Verschure} } @article {1993, title = {A Sensorized Garment Controlled Virtual Robotic Wheelchair}, journal = {JOURNAL OF INTELLIGENT \& ROBOTIC SYSTEMS}, year = {2013}, pages = {{\textendash}}, issn = {0921-0296}, doi = {10.1007/s10846-013-9839-1}, url = {http://dx.medra.org/10.1007/s10846-013-9839-1}, author = {Gulrez, T and A. Tognetti} } @conference {1759, title = {Shortest paths for wheeled robots with limited Field-Of-View: introducing the vertical constraint}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {5143 - 5149}, address = {Florence, Italy}, keywords = {Robotics}, author = {P Salaris and A. Cristofaro and L. Pallottino and A. Bicchi} } @article {1784, title = {Silk Fibroin/Gelatin Blend Films Crosslinked with Enzymes for Biomedical Applications}, year = {2013}, keywords = {Bioengineering}, doi = {10.1002/mabi.201300156}, author = {P. Taddei and V. Chiono and A. Anghileri and G. Vozzi and G. Freddi and G. Ciardelli} } @conference {1987, title = {Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2013}, address = {Atlanta, Georgia, USA}, keywords = {Robotics}, author = {A. Velasco and G M Gasparri and M. Garabini and L. Malagia and P Salaris and A. Bicchi} } @conference {1793, title = {{SpHyGa: fabrication of hepatic lobule replicas using tissue derived material composites}}, booktitle = {ESB 2013}, year = {2013}, pages = {ID 520}, address = {Madrid}, keywords = {Bioengineering}, author = {M. La Marca and Tirella, A and G. Mattei and A. Ahluwalia} } @article {2281, title = {SQPR 3.0: A Sensorized Bioreactor for Modulating Cardiac Phenotype}, journal = {Procedia Engineering}, volume = {59}, year = {2013}, pages = {219{\textendash}225}, abstract = {

In cardiac tissue engineering, the use of bioreactors is fundamental for applying controlled mechanical stimuli on cells and recreate a physiological environment for cardiomyocyte cultures. This work is focused on the design of a sensorized Squeeze Pressure bioreactor (SQPR 3.0) able to apply a periodic contactless hydrodynamic pressure on tissue constructs. This system was then tested with H2c9, a murine cardiomyoblast cell line, to investigate the effect of different stimulation times (2h, 24h, 30h) on cell shape and cardiotypic marker expression.

}, keywords = {Bioengineering}, issn = {18777058}, doi = {10.1016/j.proeng.2013.05.114}, url = {http://linkinghub.elsevier.com/retrieve/pii/S187770581301028X}, author = {S. Giusti and F. Pagliari and Vozzi, F. and Tirella, A and D. Mazzei and Cabiati, M and S. del Ry and A. Ahluwalia} } @article {1790, title = {{Strain rate viscoelastic analysis of soft and highly hydrated biomaterials.}}, journal = {Journal of biomedical materials research. Part A}, year = {2013}, abstract = {

Measuring the viscoelastic behaviour of highly hydrated biological materials is challenging because of their intrinsic softness and labile nature. In these materials it is difficult to avoid pre-stress and therefore to establish precise initial stress and strain conditions for lumped parameter estimation using creep or stress-relaxation tests. We describe a method ($ε$M or epsilon dot method) for deriving the viscoelastic parameters of soft hydrated biomaterials which avoids pre-stress and can be used to rapidly test degradable samples. Standard mechanical tests are first performed compressing samples using different strain rates. The dataset obtained is then analysed to mathematically derive the material{\textquoteright}s viscoelastic parameters. In this work a stable elastomer, PDMS, and a labile hydrogel, gelatin, were first tested using the $ε$M, in parallel stress-relaxation was used to compare lumped parameter estimation. After demonstrating that the elastic parameters are equivalent and that the estimation of short time constants is more precise using the proposed method, the viscoelastic behaviour of porcine liver was investigated using this approach. The results show that the constitutive parameters of hepatic tissue can be quickly quantified without the application of any pre-stress and before the onset of time dependent degradation phenomena.

}, keywords = {Bioengineering}, issn = {1552-4965}, doi = {10.1002/jbm.a.34914}, url = {http://www.ncbi.nlm.nih.gov/pubmed/23946054}, author = {Tirella, A and G. Mattei and A. Ahluwalia} } @conference {1788, title = {A Strategy for Dynamic Controller Emulation in Packet-Based Networked Control}, booktitle = {International Conference on Informatics in Control (ICINCO {\textquoteright}13)}, year = {2013}, pages = {29-38}, address = {Reykjav{\'\i}k, Iceland}, keywords = {Embedded Control, Robotics}, doi = {10.5220/0004427100290038}, author = {S. Falasca and M. Gamba and A. Bicchi} } @article {2231, title = {Structured errors in reconstruction methods for Non-Cartesian MR data }, journal = {COMPUTERS IN BIOLOGY AND MEDICINE }, volume = {43}, year = {2013}, month = {12/2013}, pages = {2256-2262}, doi = {10.1016/j.compbiomed.2013.10.013}, author = {Gibiino, F. and V. Positano and Wiesinger, F. and G. Giovannetti and L. Landini and M. F. Santarelli} } @article {1999, title = {Struttura protesica per amputazione mano}, volume = {PI2013A000004}, year = {2013}, pages = {{\textendash}}, author = {Bacchereti, M. and N. Carbonaro and GABRIELE, D. and FERRETTI, L. and PELLICCI, G. and A. Tognetti and Vitetta, N.} } @booklet {2229, title = {Struttura protesica per amputazione mano}, year = {2013}, author = {Bacchereti, M. and N. Carbonaro and G. Dalle Mura and FERRETTI, L. and PELLICCI, G. and A. Tognetti and Vitetta, N.} } @conference {1757, title = {A Subgradient Based Algorithm for Distributed Task Assignment for Heterogeneous Mobile Robots}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {3665 - 3670}, address = {Florence, Italy}, keywords = {Robotics}, author = {A Settimi and L. Pallottino} } @article {1230, title = {Synergy-Based Hand Pose Sensing: Optimal Glove Design}, journal = {International Journal of Robotics Research}, volume = {32}, year = {2013}, pages = {396-406}, abstract = {

In this paper we study the problem of improving human hand pose sensing device performance by exploiting the knowledge on how humans most frequently use their hands in grasping tasks. In a companion paper we studied the problem of maximizing the reconstruction accuracy of the hand pose from partial and noisy data provided by any given pose sensing device (a sensorized "glove") taking into account statistical a priori information. In this paper we consider the dual problem of how to design pose sensing devices, i.e. how and where to place sensors on a glove, to get maximum information about the actual hand posture. We study the continuous case, whereas individual sensing elements in the glove measure a linear combination of joint angles, the discrete case, whereas each measure corresponds to a single joint angle, and the most general hybrid case, whereas both continuous and discrete sensing elements are available. The objective is to provide, for given a priori information and fixed number of measurements, the optimal design minimizing in average the reconstruction error. Solutions relying on the geometrical synergy definition as well as gradient flow-based techniques are provided. Simulations of reconstruction performance show the effectiveness of the proposed optimal design.

}, keywords = {Robotics}, doi = {10.1177/0278364912474079}, author = {M. Bianchi and P Salaris and A. Bicchi} } @article {1231, title = {Synergy-based Hand Pose Sensing: Reconstruction Enhancement}, journal = {International Journal of Robotics Research}, volume = {32}, year = {2013}, pages = { 407-424}, abstract = {

Low-cost sensing gloves for reconstruction posture provide measurements which are limited under several regards. They are generated through an imperfectly known model, are subject to noise, and may be less than the number of Degrees of Freedom (DoFs) of the hand. Under these conditions, direct reconstruction of the hand posture is an ill-posed problem, and performance can be very poor. This paper examines the problem of estimating the posture of a human hand using(low-cost) sensing gloves, and how to improve their performance by exploiting the knowledge on how humans most frequently use their hands. To increase the accuracy of pose reconstruction without modifying the glove hardware - hence basically at no extra cost - we propose to collect, organize, and exploit information on the probabilistic distribution of human hand poses in common tasks. We discuss how a database of such an a priori information can be built, represented in a hierarchy of correlation patterns or postural synergies, and fused with glove data in a consistent way, so as to provide a good hand pose reconstruction in spite of insufficient and inaccurate sensing data. Simulations and experiments on a low-cost glove are reported which demonstrate the effectiveness of the proposed techniques.

}, keywords = {Robotics}, doi = {10.1177/0278364912474078}, author = {M. Bianchi and P Salaris and A. Bicchi} } @conference {1664, title = {A synergy-driven approach to a myoelectric hand}, booktitle = {13TH International Conference on Rehabilitation Robotics}, year = {2013}, pages = {1 - 6}, address = {June 24-26, 2013, Seattle, WA.}, keywords = {Haptics, Robotics}, url = {10.1109/ICORR.2013.6650377 }, author = {S. B. Godfrey and A. Ajoudani and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1446, title = {SynGrasp: a MATLAB Toolbox for Grasp Analysis of Human and Robotic Hands}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {1088 - 1093}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630708 }, author = {M. Malvezzi and G. Gioioso and G. Salvietti and D Prattichizzo and A. Bicchi} } @conference {1435, title = {Tele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2194 - 2200}, keywords = {Robotics}, url = {10.1109/ICRA.2013.6630872}, author = {N. Karavas and A. Ajoudani and N G Tsagarakis and J. Saglia and A. Bicchi and D. G. Caldwell} } @conference {1666, title = {Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {1985 - 1991}, address = {Tokyo, Japan}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2013.6696620 }, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and G. Grioli and N G Tsagarakis and A. Bicchi} } @conference {1758, title = {A time expanded network based algorithm for safe and efficient distributed multi-agent coordination}, booktitle = {IEEE Conference on Decision and Control}, year = {2013}, pages = {2805 - 2810}, address = {Florence, Italy}, keywords = {Robotics}, author = {M. Ferrati and L. Pallottino} } @inbook {1811, title = {Towards a Believable Social Robot}, booktitle = {Biomimetic and Biohybrid Systems (Proc. Second International Conference, Living Machines 2013)}, number = {Lecture Notes in Computer Science}, year = {2013}, pages = {393-395}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

Two perspectives define a human being in his social sphere: appearance and behaviour. The aesthetic aspect is the first significant element that impacts a communication while the behavioural aspect is a crucial factor in evaluating the ongoing interaction. In particular, we have more expectations when interacting with anthropomorphic robots and we tend to define them believable if they respect human social conventions. Therefore researchers are focused both on increasingly anthropomorphizing the embodiment of the robots and on giving the robots a realistic behaviour.This paper describes our research on making a humanoid robot socially interacting with human beings in a believable way.

}, keywords = {Bioengineering}, issn = {978-3-642-39801-8}, doi = {10.1007/978-3-642-39802-5_45}, author = {Lazzeri, N. and D. Mazzei and A. Zaraki and D. De Rossi} } @conference {1802, title = {Towards a controlled and monitorable hepatic micro-environment}, booktitle = {Advanced Cell Culture}, year = {2013}, address = {Liverpool, UK}, keywords = {Bioengineering}, author = {Tirella, A and La Marca, M and Carroll, L. A. and Aylott, J and A. Ahluwalia} } @article {2252, title = {Transmit-Only/Receive-Only Radiofrequency System for Hyperpolarized C-13 MRS Cardiac Metabolism Studies in Pigs}, journal = {APPLIED MAGNETIC RESONANCE}, volume = {44}, year = {2013}, pages = {1125-1138}, doi = {10.1007/s00723-013-0477-3}, author = {G. Giovannetti and Frijia, F. and V. Hartwig and Menichetti, L. and V. Positano and Ardenkjaer-Larsen, J. H. and Lionetti, V. and Aquaro, G. D. and De Marchi, D. and Schulte, R. and Wiesinger, F. and L. Landini and Lombardi, M. and M. F. Santarelli} } @article {1698, title = {Variable Impedance Actuators: a Review}, journal = {Robotics and Autonomous Systems}, volume = {61}, year = {2013}, note = {

Available online 6 August 2013

}, month = {12/2013}, pages = {1601{\textendash}1614}, abstract = {

Variable 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{\textquoteright}s to be guided in the design and implementation process for their targeted application.

}, keywords = {Robotics, Soft robotics, Variable Impedance Actuators}, url = {http://www.sciencedirect.com/science/article/pii/S0921889013001188}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and O. Eiberger and W. Friedl and G. Ganesh and M. Garabini and M. Grebenstein and G. Grioli and S. Haddadin and H. Hoppner and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @conference {1502, title = {3D SOFT-MI: novel microfabrication method of 3D molecular imprinted structures}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {132 - 133}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Carrabba, M and G. Vozzi} } @conference {1241, title = {Adaptive Synergies: an approach to the design of under-actuated robotic hands}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1251 - 1256 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, doi = {10.1109/IROS.2012.6385881 }, author = {G. Grioli and M. G. Catalano and E. Silvestro and S. Tono and A. Bicchi} } @conference {1188, title = {Adaptive Synergies for a Humanoid Robot Hand}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, note = {

Best Paper Award

}, pages = {7-14}, address = {Osaka, Japan}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and A. Serio and E. Farnioli and C. Piazza and A. Bicchi} } @article {1479, title = {Are socially anxious individuals less empathic? A psychophysiological investigation of facial mimicry for emotional expressions}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {375{\textendash}376}, keywords = {Bioengineering}, author = {Matu, S. and Cristea, I. and Cote{\c t}, C. and G. Valenza and C. Gentili and E. P. Scilingo and David, D.} } @inbook {1237, title = {Artificially Rendered Cutaneous Cues for a New Generation of Haptic Displays}, booktitle = {Springer Series on Touch and Haptic Systems - part 2}, volume = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {171 - 188}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, doi = {10.1007/978-1-4471-2754-3_10}, author = {E. P. Scilingo and M. Bianchi and N. Vanello and V. Hartwig and L. Landini and A. Bicchi} } @article {2000, title = {Assessment of Sensing Fire Fighters Uniforms for Physiological Parameter Measurement in Harsh Environment}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {16}, year = {2012}, pages = {501{\textendash}511}, issn = {1089-7771}, doi = {10.1109/TITB.2011.2182615}, url = {http://dx.medra.org/10.1109/TITB.2011.2182615}, author = {Curone, D. and Secco, E. L. and Caldani, L. and A Lanata and R. Paradiso and A. Tognetti and G. Magenes} } @conference {1398, title = {Calibration and Test of a Multi-Touch Tactile Object}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, address = {Algrave, Portugal}, keywords = {Robotics}, author = {A. Serio and M Gabiccini and I. Sarakoglou and A. Bicchi} } @conference {1504, title = {Characterization and modeling of mechanical behavior a discrete gradient structure}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {130 - 131}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Caputo, M and G. Vozzi and G. Mattei} } @article {1480, title = {Cognitive reappraisal and acceptance distinctively impact heart rate variability in socially anxious individuals}, journal = {International Journal of Psychophysiology}, volume = {85}, year = {2012}, pages = {339}, keywords = {Bioengineering}, author = {Cristea, I. and G. Valenza and C. Gentili and Tatar, A.S. and E. P. Scilingo and David, D.} } @article {PBB11, title = {Consensus Computation in Unreliable Networks: A System Theoretic Approach}, journal = {IEEE Transactions on Automatic Control}, volume = {57}, year = {2012}, pages = {90 - 104}, keywords = {Robotics}, author = {F. Pasqualetti and A. Bicchi and F. Bullo} } @conference {1801, title = {Continuous functionally graded materials (cFGMs) for TE}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, address = {Vienna, Austria}, abstract = {

Biological structures are not uniform but possess spatially distributed functions and properties, or functional gradients. To ensure functional, mechanical and structural integration, a tissue engineered (TE) scaffold has to reproduce these functional gradients. However the fabrication of functionally graded materials is challenging and usually an experimental trial-and-error approach is used. In this work we present a controlled method for the fabrication of cFGMs using the gravitational sedimentation of discrete solid particles within a primary fluid phase. To have an overall control over particle distribution, a time-varying dynamic viscosity solution (i.e. thermo-sensitive) was used as fluid phase. Computational fluid dynamic models were developed to have a fine control over particle distribution. Biomimetic osteochondral cFGMs scaffolds were fabricated using hydroxyapatite (HA) and gelatin. Glutaraldehyde was used to covalently bind gelatin-HA graded scaffolds. Mechanical properties were measured and correlated as a function of HA volume fraction. SEM-EDX analysis was used to further characterise HA content and its distribution within gelatin-HA cFGMs. Finally gelatin-HA cFGMs scaffold were seeded using periosteum derived progenitor cells, to investigate how the HA gradient modulates cell response. This approach represents an innovative yet simple tool for the fabrication of tailored cFGMs with biologically and physiologically relevant gradients for TE applications.

}, keywords = {Bioengineering}, author = {G. Mattei and A. Ahluwalia and Ferretti, C and Mattioli-Belmonte, M. and Tirella, A} } @conference {1482, title = {On the deconvolution analysis of electrodermal activity in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {6691{\textendash}6694}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A. Greco and A Lanata and G. Valenza and Rota, G. and N. Vanello and E. P. Scilingo} } @conference {GDBO12, title = {Design and Control of an Air-Jet Lump Display}, booktitle = {Haptics Symposium}, year = {2012}, month = {March 4 - 7}, pages = {45 - 49}, address = {Vancouver, Canada}, keywords = {Robotics}, author = {J.C Gwilliam and A. Degirmenci and M. Bianchi and A.M. Okamura} } @conference {1498, title = {Design, characterization and modeling of microfabricated Soft-MI for ophthalmologic applications.}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {204 - 205}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {La Vecchia, C and G. Vozzi} } @article {1469, title = {Dominant Lyapunov exponent and approximate entropy in heart rate variability during emotional visual elicitation}, journal = {Frontiers in Neuroengineering}, volume = {5}, year = {2012}, keywords = {Bioengineering}, author = {G. Valenza and Allegrini, P. and A Lanata and E. P. Scilingo} } @article {2248, title = {Dominant Lyapunov Exponent and Approximate Entropy in Heart Rate Variability during Emotional Visual Elicitation}, journal = {Frontiers in Neuroengineering}, year = {2012} } @article {DM10, title = {An equivalent of Kronecker{\textquoteright}s Theorem for powers of an Algebraic Number and Structure of Linear Recurrences of fixed length}, journal = {Acta Arithmetica}, volume = {153}, year = {2012}, note = {

accepted for publication

}, pages = {15-33}, abstract = {

After defining a notion of epsilon-density, we provide for any integer m\>1 and real algebraic number alpha an estimate of the smallest epsilon such that the set of vectors of the form (t,t^alpha,...,t alpha^{m-1}) for tR is epsilon-dense modulo 1 in terms of the multiplicative Mahler measure M(A(x)) of the minimal integral polynomial A(x) of alpha, which is independent of m. In particular, we show that if alpha has degree d it is possible to take epsilon = 2^{[d/2]}/M(A(x)). On the other side we show using asymptotic estimates for Toeplitz determinants that we cannot have epsilon$-density for sufficiently large m whenever epsilon is strictly smaller than 1/M(A(x)). In the process of proving this we obtain a result of independent interest about the structure of the Z-module of integral linear recurrences of fixed length determined by a non-monic polynomial.

}, keywords = {Robotics}, issn = {0065-1036}, doi = {10.4064/aa153-1-2}, url = {http://journals.impan.pl/cgi-bin/doi?aa153-1-2}, author = {N. Dubbini and M. Monge} } @article {GCB11, title = {Exploiting Packet Size in Uncertain Nonlinear Networked Control Systems}, journal = {Automatica}, volume = {48}, year = {2012}, pages = {2801 - 2811}, keywords = {Robotics}, author = {L. Greco and A. Chaillet and A. Bicchi} } @article {1478, title = {Eye gaze patterns in emotional pictures}, journal = {Journal of Ambient Intelligence and Humanized Computing}, year = {2012}, pages = {1{\textendash}11}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @conference {1506, title = {Finite element model for PAM scaffolds}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {74 - 75}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Pimentel, R and G. Vozzi} } @conference {1503, title = {Fluid dynamics characterization of a microfluidic concentration gradient maker}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {152 - 153}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {G. Orsi and G. Vozzi} } @article {1330, title = {Functionally Graded Materials (FGMs) with predictable and controlled gradient profiles: computational modelling and realisation}, journal = {International Journal for Computational Methods in Engineering Science \& Mechanics (CMES)}, year = {2012}, pages = {accepted}, keywords = {Bioengineering}, author = {G. Mattei and Tirella, A and A. Ahluwalia} } @inbook {1875, title = {Further Advances in Unmanned Marine Vehicles}, year = {2012}, pages = {309{\textendash}330}, publisher = {IET}, organization = {IET}, chapter = {The enhanced FOLAGA: a hybrid glider/propelled AUV capable of carrying universal payload modules}, address = {Londra}, keywords = {Robotics}, isbn = {9781849194792}, author = {A. Caffaz and A. Caiti and V. Calabr{\`o} and G. Casalino and A Maguer and A. Munaf{\`o} and J.R. Potter and H Tay and A. Turetta} } @article {1475, title = {Gait and Anthropometric Profile Biometrics: A Step Forward}, journal = {Second Generation Biometrics: The Ethical, Legal and Social Context}, year = {2012}, pages = {105{\textendash}127}, keywords = {Bioengineering}, author = {Ioannidis, D. and Tzovaras, D. and Mura, G.D. and M. Ferro and G. Valenza and A. Tognetti and G. Pioggia} } @article {1290, title = {A geographical information system (GIS)-based simulation tool to assess civilian harbor protection levels}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {37}, year = {2012}, pages = {85{\textendash}102}, keywords = {Robotics}, issn = {0364-9059}, doi = {10.1109/JOE.2011.2174675}, url = {http://dx.medra.org/10.1109/JOE.2011.2174675}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {FGB12, title = {Grasp and Manipulation Analysis for Synergistic Underactuated Hands Under General Loading Conditions}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2836 - 2842}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M Gabiccini and E. Farnioli and A. Bicchi} } @conference {1265, title = {HEFES: an Hybrid Engine for Facial Expressions Synthesis to control human-like androids and avatars}, booktitle = {BIOROB2012}, year = {2012}, pages = {195 - 200}, address = {Rome, Italy}, keywords = {Bioengineering}, author = {D. Mazzei and Lazzeri, N. and Hanson, D. and D. De Rossi} } @inbook {1494, title = {Hydrogels with 3D Gradient of Mechanical Properties}, booktitle = {Hydrogels: Synthesis, Characterization and Applications}, number = {Biochemistry Research Trends}, year = {2012}, edition = {online edition}, chapter = {Hydrogels with 3D Gradient of Mechanical Properties }, keywords = {Bioengineering}, author = {G. Orsi and Carta, V and G. Vozzi} } @conference {1499, title = {Hydrogels with 3D gradient of mechanical properties}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {200 - 201}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Carta, V and G. Orsi and G. Vozzi} } @inbook {2002, title = {Immersive Multimodal Interactive Presence}, booktitle = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {215{\textendash}228}, publisher = {SPRINGER-VERLAG}, organization = {SPRINGER-VERLAG}, chapter = {FMRI Compatible Sensing Glove for Hand Gesture Monitoring}, address = {LONDON {\textendash} GBR}, isbn = {9781447127536}, doi = {10.1007/978-1-4471-2754-3_12}, url = {http://dx.medra.org/10.1007/978-1-4471-2754-3_12}, author = {N. Vanello and V. Hartwig and E. P. Scilingo and D. Bonino and E. Ricciardi and A. Tognetti and P. Pietrini and D. De Rossi and L. Landini and A. Bicchi} } @article {1329, title = {The impact of fabrication parameters and substrate stiffness in direct writing of living constructs}, journal = {Biotechnology progress}, volume = {28}, year = {2012}, pages = {1315{\textendash}1320}, abstract = {

Biomolecules and living cells can be printed in high-resolution patterns to fabricate living constructs for tissue engineering. To evaluate the impact of processing cells with rapid prototyping (RP) methods, we modeled the printing phase of two RP systems that use biomaterial inks containing living cells: a high-resolution inkjet system (BioJet) and a lower-resolution nozzle-based contact printing system (PAM(2) ). In the first fabrication method, we reasoned that cell damage occurs principally during drop collision on the printing surface, in the second we hypothesize that shear stresses act on cells during extrusion (within the printing nozzle). The two cases were modeled changing the printing conditions: biomaterial substrate stiffness and volumetric flow rate, respectively, in BioJet and PAM(2) . Results show that during inkjet printing impact energies of about 10(-8) J are transmitted to cells, whereas extrusion energies of the order of 10(-11) J are exerted in direct printing. Viability tests of printed cells can be related to those numerical simulations, suggesting a threshold energy of 10(-9) J to avoid permanent cell damage. To obtain well-defined living constructs, a combination of these methods is proposed for the fabrication of scaffolds with controlled 3D architecture and spatial distribution of biomolecules and cells. {\textcopyright} 2012 American Institute of Chemical Engineers Biotechnol. Prog., 2012.

}, keywords = {Bioengineering}, issn = {1520-6033}, doi = {10.1002/btpr.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22736619}, author = {Tirella, A and A. Ahluwalia} } @conference {1500, title = {Indirect m-fabrication using Pam2 system}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {166 - 167}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {De Acutis, A and C. De Maria and G. Vozzi} } @conference {1505, title = {Influence of substrate stiffness on behaviour of satellite cells}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {78 - 79}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Gattazzo, F and Urciuolo, A and Bonaldo, P and G. Vozzi} } @conference {1483, title = {Instantaneous estimation of high-order nonlinear heartbeat dynamics by Lyapunov exponents}, booktitle = {2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)}, year = {2012}, pages = {13{\textendash}16}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {L. Citi and G. Valenza and R. Barbieri} } @article {1232, title = {Interacting with networks: How does structure relate to controllability in single-leader, consensus networks?}, journal = {Control Systems Magazine}, volume = {32}, year = {2012}, pages = {66 - 73}, keywords = {Embedded Control, Robotics}, author = {M. Egerstedt and S. Martini and M. Cao and K. Camlibel and A. Bicchi} } @conference {2003, title = {INTERACTION, Training and monitoring of daily-life physical interaction with the environment after stroke}, booktitle = {Proceedings of XII International Symposium on 3D Analysis of Human Movement}, year = {2012}, pages = {{\textendash}}, author = {Veltink, PH and van Meulen, FB and van Beijnum, BJF and Hermens, HJ and D. De Rossi and F. Lorussi and A. Tognetti and Buurke, JH and Reenalda, J and Baten, CTM and Simons, CDM and Luft, AR L and Schepers, HM and Luinge, HJ and R. Paradiso and Orselli, R} } @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} } @conference {1501, title = {Natural bioactive matrix for cartilage tissue engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {161 - 162}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {F. Montemurro and G. Vozzi} } @article {1288, title = {A new class of Lyapunov functions for the constrained stabilization of linear systems}, journal = {AUTOMATICA}, year = {2012}, note = {

Available on-line since July 18 2012 - Paper version in press

}, keywords = {Robotics}, issn = {0005-1098}, doi = {10.1016/j.automatica.2012.06.099}, url = {http://dx.medra.org/10.1016/j.automatica.2012.06.099}, author = {A. Balestrino and A. Caiti and S Grammatico} } @conference {1797, title = {New method for the viscoelastic analysis of soft and highly hydrated biomaterials}, booktitle = {National Conference of Bioengineering}, year = {2012}, address = {Rome, Italy}, abstract = {

The role of materials mechanical properties is a new frontier for the evaluation of cell/material interaction, as well as for the determination of healthy/pathological state of a tissue. In these sense there is the need to have a unique method to measure materials viscoelastic properties. However, concerning with soft and highly hydrated constructs, the experimental set-up to precisely measure these properties is challenging because of the difficulty in defining zero stress or strain. To overcome these problems, we propose a novel and unique testing and data analysis technique (ERM) to derive materials viscoelastic properties. Results derived with this method can be compared to the ones obtained with standard testing techniques for viscoelastic materials. Pre-conditioning problems of testing soft and floppy materials are thus overcome, giving rise to have an accurate measure of viscous and elastic moduli of both hydrated materials and soft biological tissues. Small variations of measured properties can be also monitored with high precision, allowing a deeper investigation on the role of the scaffolding material or of tissue{\^a}{\texteuro}{\texttrademark}s extracellular matrix (respectively in cell culture systems or in biomechanics measurements for the characterisation of soft tissues).

}, keywords = {Bioengineering}, author = {Tirella, A and G. Mattei and A. Ahluwalia} } @conference {1495, title = {A novel approach to fabricate agarose microstructures,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti, pp 341-342, Rome}, year = {2012}, keywords = {Bioengineering}, author = {C. De Maria and Boland, T and G. Vozzi} } @article {1476, title = {A novel EDA glove based on textile-integrated electrodes for affective computing}, journal = {Medical and Biological Engineering and Computing}, year = {2012}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @article {1493, title = {A Novel Method to Produce Immobilised Biomolecular Concentration Gradients to Study Cell Activities: Design and Modelling}, journal = {MOLECULAR BIOTECHNOLOGY}, volume = {50}, year = {2012}, pages = {99-107}, keywords = {Bioengineering}, issn = {1073-6085}, doi = {10.1007/s12033-011-9411-9}, author = {G. Vozzi and Lenzi, T and F. Montemurro and Pardini, C and Vaglini, F and A. Ahluwalia} } @conference {GBSPB12, title = {Optimality Principles in Stiffness Control: The VSA Kick}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3341 - 3346 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @article {1472, title = {Oscillations of Heart Rate and Respiration Synchronize During Affective Visual Stimulation}, journal = {Information Technology in Biomedicine, IEEE Transactions on}, volume = {16}, year = {2012}, pages = {683{\textendash}690}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @article {1331, title = {The PAM2 system: a multilevel approach for fabrication of complex three-dimensional microstructures}, journal = {Rapid Prototyping Journal}, volume = {18}, year = {2012}, pages = {299{\textendash}307}, keywords = {Bioengineering}, doi = {10.1108/13552541211231725}, author = {Tirella, A and C. De Maria and G. Criscenti and G. Vozzi and A. Ahluwalia} } @conference {MGCGBB12, title = {Passive impedance control of a Qboid multi-DOF VSA-CubeBot manipulator}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {3335 - 3340 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, doi = {10.1109/ICRA.2012.6225082 }, author = {M. Mancini and G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Bicchi} } @conference {2005, title = {Personal Biomonitoring System: a real-time physiological and behavioural parameter monitoring system for stress correlation}, booktitle = {17th Annual CyberPsychology \& CyberTherapy Conference (CYBER17)}, year = {2012}, month = {September 25-28,}, pages = {{\textendash}}, author = {N. Carbonaro and A. Tognetti and G. Anania and Dalle Mura, G. and D. De Rossi} } @article {1333, title = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, journal = {Methods in Molecular Biology}, volume = {868}, year = {2012}, pages = {57{\textendash}69}, keywords = {Bioengineering}, author = {G. Vozzi and Tirella, A and A. Ahluwalia} } @conference {2282, title = {Real Time and In-Situ control of environmental parameters in a modular bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {331}, address = {Vien, Austria}, abstract = {

Many researchers now recognize the importance of the external environment in which cells are cultured for cell function and differentiation. Most of the systems able to apply physiological-like stimuli also need a classical incubator or a specifically designed system to control the environmental parameters at some distance from the cells. Here, a standalone platform for cell, tissue and organ culture is described. The SUITE (Supervising Unit for In-vitro Testing) system can control local environmental variables like pH, temperature and hydrostatic pressure over long periods, to provide the optimal environment for cells outside the classical incubator and also to apply mechanical and chemical stimuli to simulate the physiological milieu. The SUITE platform is used with Multi-Compartmental modular Bioreactors (MCmB) to perform dynamic cultures of hepatocytes as in-vitro liver model. Preliminary tests demonstrated the capability of the system to maintain the target parameters for more than 72 h generating different hydrostatic pressures (20{\^a}{\texteuro}{\textquotedblleft}30{\^a}{\texteuro}{\textquotedblleft}40{\^a}{\texteuro}{\textquotedblleft}50 mmHg). Then, two bioreactors were connected in series and cultured for 24 h in the SUITE platform with hydrostatic pressures of 20{\^a}{\texteuro}{\textquotedblleft}30{\^a}{\texteuro}{\textquotedblleft}40 mmHg. Static and dynamic controls were placed in the classical humidified incubator at 37{\^A}{\textdegree}C, 5\% CO2. The results show that cell function is enhanced in SUITE at up to 30 mmHg of hydrostatic pressure, as confirmed by viability, metabolic function and morphological analysis.

}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and D. Mazzei and A. Ahluwalia} } @conference {1264, title = {Realistic Humanlike Robots for Treatment of ASD, Social Training, and Research; Shown to Appeal to Youths with ASD, Cause Physiological Arousal, and Increase Human-to-Human Social Engagement}, booktitle = {Realistic Humanlike Robots for Treatment of Autism, PETRA 2012}, year = {2012}, pages = {1-7}, keywords = {Bioengineering}, author = {Hanson, D. and D. Mazzei and Garver, C. and D. De Rossi and Stevenson, M.} } @conference {1507, title = {Realization and characterization of bilayer scaffold with molecularly imprinted hydrogel layer,}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {65 - 66}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Morelli, L and G. Vozzi} } @article {1334, title = {Realization of a poro-elastic ultrasound replica of pulmonary tissue}, journal = {Biomatter}, volume = {2}, year = {2012}, pages = {27{\textendash}26}, keywords = {Bioengineering}, url = {http://www.landesbioscience.com/journals/biomatter/article/19835/}, author = {Spinelli, A and Vinci, B. and Tirella, A and Matteucci, M and Gargani, L and A. Ahluwalia and C. Domenici and Picano, E and Chiarelli, P} } @conference {2283, title = {Replicating the 3D cardiomyocyte environment in the squeeze pressure bioreactor}, booktitle = {Journal of tissue engineering and regenerative medicine}, volume = {6 Suppl 1}, year = {2012}, pages = {341}, keywords = {Bioengineering}, doi = {10.1002/term.1586}, url = {http://www.ncbi.nlm.nih.gov/pubmed/22941753}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1792, title = {Replicating the cardiac environment in the Squeeze Pressure Bioreactor}, booktitle = {TERMIS 3rd World Congress}, year = {2012}, keywords = {Bioengineering}, author = {S. Giusti and Tirella, A and Galli, E and Vozzi, F. and Cabiati, M and A. Ahluwalia} } @conference {1496, title = {Rheological characterization of vitreous humoranalogous}, booktitle = {Congresso Nazionale di Bioingegneria 2012 Atti}, year = {2012}, pages = {207 - 208}, address = {Roma, Italy}, keywords = {Bioengineering}, author = {Fogli, G and G. Orsi and G. Vozzi} } @article {1327, title = {Riboflavin and collagen: New crosslinking methods to tailor the stiffness of hydrogels}, journal = {Materials Letters}, volume = {74}, year = {2012}, pages = {58{\textendash}61}, abstract = {

Fabricating materials with tailored mechanical properties is a challenge and crucial for their successful application in a variety of fields such as tissue engineering. Here collagen and riboflavin were used to create hydrogels with controlled mechanical properties mimicking those of soft tissues (e.g. liver). Collagen-based hydrogels were obtained using a two-step gelation method. Firstly a physical gelation step (i.e. modulation of temperature and pH) was used to fix a specific shape; then photo-initiated cross-links were formed to increase the stiffness. Specifically the chemical cross-linking step was initiated with UV (ultra-violet) radiation to obtain riboflavin derivatised radical polymerization of collagen chains. Cylindrical shaped samples with controlled dimensions were fabricated, and then tested using compressive loading. We show that the compressive elastic modulus of collagen-based hydrogels can be tuned between 0.9 and 3.6 kPa by changing collagen concentration, irradiation with UV in the presence of riboflavin and freeze-drying.

}, keywords = {Bioengineering}, issn = {0167577X}, doi = {10.1016/j.matlet.2012.01.036}, url = {http://dx.doi.org/10.1016/j.matlet.2012.01.036}, author = {Tirella, A and Liberto, T and A. Ahluwalia} } @mastersthesis {1429, title = {On the Role of Haptic Synergies in Modelling the Sense of Touch and in Designing Artificial Haptic Systems}, year = {2012}, keywords = {Haptics, Robotics}, author = {M. Bianchi} } @article {1463, title = {The Role of Nonlinear Dynamics in Affective Valence and Arousal Recognition}, journal = {Affective Computing, IEEE Transactions on}, volume = {3}, year = {2012}, pages = {237{\textendash}249}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo} } @article {1289, title = {Secure Cooperation of Autonomous Mobile Sensors Using an Underwater Acoustic Network}, journal = {SENSORS}, volume = {12}, year = {2012}, pages = {1967{\textendash}1989}, keywords = {Embedded Control, Robotics}, issn = {1424-8220}, doi = {10.3390/s120201967}, url = {http://dx.medra.org/10.3390/s120201967}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1236, title = {Shortest Paths for Finned, Winged, Legged and Wheeled Vehicles with Side-Looking Sensors}, journal = {International Journal of Robotics Research}, volume = {31}, year = {2012}, pages = {997-1017}, keywords = {Robotics}, doi = {10.1177/0278364912446005}, author = {P Salaris and L. Pallottino and A. Bicchi} } @article {1491, title = {Small-Strain Modeling of Helical Dielectric Elastomer Actuators}, journal = {IEEE/ASME TRANSACTIONS ON MECHATRONICS}, volume = {17}, year = {2012}, pages = {318{\textendash}325}, keywords = {Bioengineering}, issn = {1083-4435}, author = {F. Carpi and D. De Rossi} } @conference {1484, title = {Speech analysis for mood state characterization in bipolar patients}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {2104{\textendash}2107}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {N. Vanello and Guidi, A. and C. Gentili and Werner, S. and G. Bertschy and G. Valenza and A Lanata and E. P. Scilingo} } @conference {1240, title = {Synergy-based Optimal Desing of Hand Pose Sensing}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012- JTCF Award}, year = {2012}, month = {October 7 - 12}, pages = {3929 - 3935 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {M. Bianchi and P Salaris and A. Bicchi} } @conference {RSGB12, title = {On the Synthesis of Feasible and Prehensile Robotic Grasps}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {p. 550 - 556}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {C. Rosales and R. Suarez and M Gabiccini and A. Bicchi} } @conference {1238, title = {Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, pages = {363-369}, address = {Osaka, Japan}, keywords = {Robotics}, author = {A. Ajoudani and M Gabiccini and N G Tsagarakis and A Albu-Schaeffer and A. Bicchi} } @article {ATB12, title = {Tele-impedance: Teleoperation with Impedance Regulation Using a Body-Machine Interface}, journal = {International Journal of Robotics Research}, volume = { 31 }, year = {2012}, month = {11/2012}, pages = {1643 - 1656}, chapter = {1643}, keywords = {Robotics}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} } @conference {ATB12, title = {Tele-Impedance: Towards Transferring Human Impedance Regulation Skills to Robots}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {382 - 388 }, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} } @article {1485, title = {Tetravariate Point-Process Model for the Continuous Characterization of Cardiovascular-Respiratory Dynamics during Passive Postural Changes}, year = {2012}, keywords = {Bioengineering}, author = {Orini, M. and G. Valenza and L. Citi and R. Barbieri} } @conference {1239, title = {Towards variable impedance assembly: the VSA peg-in-hole}, booktitle = {IEEE-RAS International Conference on Humanoid Robots}, year = {2012}, address = {Osaka, Japan}, keywords = {Robotics}, author = {L. Balletti and A. Rocchi and F. A. W. Belo and M. G. Catalano and M. Garabini and G. Grioli and A. Bicchi} } @conference {1242, title = {A truly safely moving robot has to know what injury it may cause}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {5406-5413}, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, 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} } @conference {2006, title = {Unobtrusive Physiological and Gesture Wearable Acquisition System: A Preliminary Study on Behavioral and Emotional Correlations}, booktitle = {GLOBAL HEALTH 2012 : The First International Conference on Global Health Challenges}, year = {2012}, month = {21-26 October}, pages = {88{\textendash}92}, author = {N. Carbonaro and A. Greco and G. Anania and G. Dalle Mura and A. Tognetti and E. P. Scilingo and D. De Rossi and A Lanata} } @conference {BSTCB12, title = {On the Use of Postural Synergies to Improve Human Hand Pose Reconstruction}, booktitle = {Haptics Symposium}, year = {2012}, month = {March 4 - 7}, pages = {91 - 98}, address = {Vancouver, Canada}, keywords = {Haptics, Robotics}, author = {M. Bianchi and P Salaris and A. Turco and N. Carbonaro and A. Bicchi} } @conference {1481, title = {Using Laguerre expansion within point-process models of heartbeat dynamics: A comparative study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2012 Annual International Conference of the IEEE}, year = {2012}, pages = {29{\textendash}32}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and L. Citi and E. P. Scilingo and R. Barbieri} } @article {2001, title = {Validation of Smart Garments for Physiological and Activity-Related Monitoring of Humans in Harsh Environment}, journal = {AMERICAN JOURNAL OF BIOMEDICAL ENGINEERING}, volume = {2}, year = {2012}, pages = {189{\textendash}196}, issn = {2163-1050}, doi = {10.5923/j.ajbe.20120204.07}, url = {http://dx.medra.org/10.5923/j.ajbe.20120204.07}, author = {Secco, E. L. and Curone, D. and A. Tognetti and Bonfiglio, A. and G. Magenes} } @conference {CGGBDBTB12, title = {A Variable Damping module for Variable Impedance Actuation}, booktitle = {International Conference of Robotics and Automation - ICRA 2012}, year = {2012}, month = {May 14 - 18}, pages = {2666 - 2672}, address = {Saint Paul, MN, USA}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. A. W. Belo and A. Di Basco and N G Tsagarakis and A. Bicchi} } @article {1245, title = {Variable Impedance Actuators: Moving the Robots of Tomorrow}, year = {2012}, keywords = {Robotics}, author = {B. Vanderborght and A Albu-Schaeffer and A. Bicchi and E. Burdet and D. G. Caldwell and R. Carloni and M. G. Catalano and G. Ganesh and M. Garabini and G. Grioli and S. Haddadin and A. Jafari and M. Laffranchi and D. Lefeber and F. Petit and S. Stramigioli and N G Tsagarakis and M. Van Damme and R. Van Ham and L. C. Visser and S. Wolf} } @conference {1243, title = { Velvet fingers: A dexterous gripper with active surfaces}, booktitle = {International Conference of Intelligent Robots and Systems - IROS 2012}, year = {2012}, month = {October 7 - 12}, pages = {1257 - 1263 }, address = {Vilamoura, Algarve, Portugal}, keywords = {Robotics}, author = {V. Tincani and M. G. Catalano and E. Farnioli and M. Garabini and G. Grioli and G Fantoni and A. Bicchi} } @conference {2004, title = {Wearable systems for e-health: Telemonitoring and telerehabilitation}, booktitle = {Proceedings of the IASTED African Conference on Health Informatics, AfricaHI 2012}, year = {2012}, pages = {335{\textendash}338}, doi = {10.2316/P.2012.763-004}, url = {http://dx.medra.org/10.2316/P.2012.763-004}, author = {D. De Rossi and F. Lorussi and A. Tognetti} } @inbook {1873, title = {Advances in PID Control}, year = {2011}, pages = {85{\textendash}100}, publisher = {INTECH}, organization = {INTECH}, chapter = {From Basic to Advanced PI Controllers: A Complexity vs. Performance Comparison}, keywords = {Robotics}, isbn = {9789533072678}, author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi and A. Landi} } @article {1291, title = {Autonomous underwater vehicle teams for adaptive ocean sampling: a data-driven approach}, journal = {OCEAN DYNAMICS}, volume = {61}, year = {2011}, pages = {{\textendash}}, keywords = {Embedded Control, Robotics}, issn = {1616-7341}, doi = {10.1007/s10236-011-0464-x}, url = {http://dx.medra.org/10.1007/s10236-011-0464-x}, author = {A. Munaf{\`o} and E. Simetti and A. Turetta and G. Casalino and A. Caiti} } @conference {1870, title = {AUVs as mobile nodes in acoustic networks: field experience at the UAN10 experiment}, booktitle = {Proceedings of the OCEANS{\^a}{\texteuro}{\texttrademark}11 IEEE Santander Conference}, year = {2011}, month = {June}, pages = {1{\textendash}6}, keywords = {Robotics}, doi = {10.1109/Oceans-Spain.2011.6003462}, url = {http://dx.medra.org/10.1109/Oceans-Spain.2011.6003462}, author = {A. Caiti and V. Calabr{\`o} and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @conference {MFB11, title = {Behavior classification, security, and consensus in societies of robots}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and A. Bicchi} } @conference {DRGMP11, title = {Causality as a unifying approach between activation and connectivity analysis of fMRI data}, booktitle = {17-th annual meeting of the Organization for Human Brain Mapping}, year = {2011}, note = {Abstract}, author = {N. Dubbini and E. Ricciardi and A. Gaglianese and S. Marmi and P. Pietrini} } @conference {BGDO11, title = {Characterization of an Air Jet Haptic Lump Display}, booktitle = {33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC 2011)}, year = {2011}, pages = {3467-3470}, keywords = {Haptics, Robotics}, author = {M. Bianchi and J.C Gwilliam and A. Degirmenci and A.M. Okamura} } @conference {PS11, title = {On constrained optimal control problems in robotics}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Pallottino and P Salaris} } @article {1514, title = {Cooperation of Biological and Mechanical Signals in Cardiac Progenitor Cell Differentiation}, journal = {ADVANCED MATERIALS}, year = {2011}, keywords = {Bioengineering}, issn = {0935-9648}, author = {S. Pagliari and A.C. Vilela-Silva and G. Forte and F. Pagliari and C. Mandoli and G. Vozzi and S. Pietronave and M. Prat and S. Licoccia and A. Ahluwalia and E. Traversa and M. Minieri and P. Di Nardo} } @article {1477, title = {Daytime naps improve motor imagery learning}, journal = {Cognitive, Affective, \& Behavioral Neuroscience}, year = {2011}, pages = {1{\textendash}10}, keywords = {Bioengineering}, author = {Debarnot, U. and Castellani, E. and G. Valenza and Sebastiani, L. and Guillot, A.} } @conference {MFP11, title = {Decentralized Coordination System for Multiple AGVs in a Structured Environment}, booktitle = {2011 Congress of the International Federation of Automatic Control}, year = {2011}, month = {Aug 28 - Sept 1}, pages = {6005 - 6010}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Manca and A. Fagiolini and L. Pallottino} } @conference {MFZB11, title = {Decentralized Species Classification in Societies of Autonomous and Heterogenous Robots}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {32 - 39}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Zichittella and M. Egerstedt and A. Bicchi} } @conference {SGSTB11, title = {A decoupled Impedance observer for a Variable Stiffness Robot}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5548 - 5553}, address = {Shangai, China}, keywords = {Robotics}, author = {A. Serio and G. Grioli and I. Sardellitti and N G Tsagarakis and A. Bicchi} } @article {GFB11, title = {Design and Stability Analysis for Anytime Control via Stochastic Scheduling}, journal = {IEEE Trans. on Automat. Contr.}, volume = {56}, number = {3}, year = {2011}, pages = {571 - 585}, keywords = {Embedded Control, Robotics}, author = {L. Greco and D. Fontanelli and A. Bicchi} } @conference {1272, title = {Development and evaluation of a social robot platform for therapy in autism}, booktitle = {Proc. Annual Int Engineering in Medicine and Biology Society,EMBC Conf. of the IEEE}, year = {2011}, pages = {4515{\textendash}4518}, keywords = {Bioengineering}, doi = {10.1109/IEMBS.2011.6091119}, author = {D. Mazzei and Lazzeri, N. and Billeci, L. and Igliozzi, R. and A Mancini and A. Ahluwalia and Muratori, F. and D. De Rossi} } @article {1279, title = {Dispositivo per tomografia ad impedenza elettrica}, year = {2011}, keywords = {Bioengineering}, issn = {PI2011A000124}, author = {Baldi, G. and D. Mazzei and Gervasi, V.} } @conference {GBB11, title = {Dynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {2698 - 2704}, address = {Shangai, China}, keywords = {Haptics, Robotics}, author = {M Gabiccini and M. Branchetti and A. Bicchi} } @conference {1474, title = {EEG complexity drug-induced changes in disorders of consciousness: A preliminary report}, booktitle = {Engineering in Medicine and Biology Society, EMBC, 2011 Annual International Conference of the IEEE}, year = {2011}, pages = {3724{\textendash}3727}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and Carboncini, MC and Virgillito, A. and Creatini, I. and Bonfiglio, L. and Rossi, B. and A Lanata and E. P. Scilingo} } @conference {2012, title = {Electroactive polymer patches for wearable haptic interfaces}, booktitle = {Annual International Conference of the IEEE Engineering in Medicine and Biology Society EMBC{\textquoteright}11}, year = {2011}, pages = {8369{\textendash}8372}, doi = {10.1109/IEMBS.2011.6092064}, url = {http://dx.medra.org/10.1109/IEMBS.2011.6092064}, author = {D. De Rossi and F. Carpi and N. Carbonaro and A. Tognetti and E. P. Scilingo} } @conference {VSB11, title = {Embodying Desired Behavior in Variable Stiffness Actuators}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {9733 - 9738}, address = {Milano, italy}, keywords = {Robotics}, author = {L. C. Visser and S. Stramigioli and A. Bicchi} } @conference {2014, title = {Enhancing the performance of upper limb gesture reconstruction through sensory fusion}, booktitle = {Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS}, year = {2011}, pages = {3496{\textendash}3499}, publisher = {IEEE}, organization = {IEEE}, address = {USA}, doi = {10.1109/IEMBS.2011.6090944}, url = {http://dx.medra.org/10.1109/IEMBS.2011.6090944}, author = {F. Lorussi and A. Tognetti and N. Carbonaro and G. Anania and D. De Rossi} } @conference {GCB11, title = {Exploiting Packet Size in Uncertain Nonlinear Networked Control Systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {14404 - 14409}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {L. Greco and A. Chaillet and A. Bicchi} } @conference {1467, title = {Eye tracking and pupil size variation as response to affective stimuli: A preliminary study}, booktitle = {Pervasive Computing Technologies for Healthcare (PervasiveHealth), 2011 5th International Conference on}, year = {2011}, pages = {78{\textendash}84}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and Armato, A. and G. Valenza and E. P. Scilingo} } @article {1285, title = {A flexible bioreactor system for constructing in vitro tissue and organ models.}, journal = {Biotechnol Bioeng}, volume = {108}, year = {2011}, month = {Sep}, pages = {2129{\textendash}2140}, abstract = {

To develop in vitro models of cells, tissues and organs we have designed and realized a series of cell culture chambers. Each chamber is purpose designed to simulate a particular feature of the in vivo environment. The bioreactor system is user friendly, and the chambers are easy to produce, sterilize and assemble. In addition they can be connected together to simulate inter-organ or tissue cross-talk. Here we discuss the design philosophy of the bioreactor system and then describe its construction. Preliminary results of validation tests obtained with hepatocytes and endothelial cells are also reported. The results show that endothelial cells are extremely sensitive to small levels of shear stress and that the presence of heterotypic signals from endothelial cells enhances the endogenous metabolic function of hepatocytes.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/bit.23164}, author = {Vozzi, F. and D. Mazzei and Vinci, B. and G. Vozzi and Sbrana, T. and Ricotti, L. and Forgione, N. and A. Ahluwalia} } @conference {SPHB11, title = {From Optimal Planning to Visual Servoing with Limited FOV}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {2817-2824}, address = {S. Francisco, USA}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and S. Hutchinson and A. Bicchi} } @mastersthesis {SalarisPhD, title = {From Optimal Synthesis to Optimal Visual Servoing for Autonomous Vehicles}, year = {2011}, note = {

Supervisors: Prof. Antonio Bicchi and Dott.ssa Lucia Pallottino

}, school = {University of Pisa}, type = {phd}, keywords = {Robotics}, author = {P Salaris} } @conference {PBB11, title = {A graph theoretic characterization of power network vulnerabilities}, booktitle = {2011 American Control Conference}, year = {2011}, month = {June 29 - July 1}, pages = {3918 - 3923}, address = {San Francisco, CA}, keywords = {Robotics}, author = {F. Pasqualetti and A. Bicchi and F. Bullo} } @conference {SCGGB11, title = {The Hand Embodied}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {A. Serio and M. G. Catalano and G. Grioli and M Gabiccini and A. Bicchi} } @conference {BSB11, title = {Haptic interfaces: new strategies to convey tactile information}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and E. P. Scilingo and A. Bicchi} } @article {1511, title = {HEMETBeta: improvement of hepatocyte metabolism mathematical model}, journal = {COMPUTER METHODS IN BIOMECHANICS AND BIOMEDICAL ENGINEERING}, year = {2011}, keywords = {Bioengineering}, issn = {1025-5842}, author = {G. Orsi and C. De Maria and M. A. Guzzardi and Vozzi, F. and G. Vozzi} } @article {1277, title = {High throughput sensorized bioreactor for applying hydrodynamic pressure and shear stress stiumli on cell cutlures}, year = {2011}, month = {10/2011}, keywords = {Bioengineering}, issn = {WO 2011/121377}, author = {A. Ahluwalia and C. De Maria and D. Mazzei and G. Vozzi} } @conference {1799, title = {How dimension a substrate for the realisation of controlled micro- and bio-inspired environment}, booktitle = {Euromat-FEMS}, year = {2011}, address = {Montpellier, France}, abstract = {

European Congress and Exhibition on Advanced Materials and Processes - Oral

}, keywords = {Bioengineering}, author = {Tirella, A and A. Ahluwalia and C. De Maria and Vozzi, F. and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L} } @inbook {1789, title = {{Inherently Bio-Active Scaffolds: Intelligent Constructs to Model the Stem Cell Niche}}, booktitle = {Myocardial Tissue Engineering}, series = {Studies in Mechanobiology, Tissue Engineering and Biomaterials}, volume = {6}, year = {2011}, pages = {29{\textendash}47}, publisher = {Springer Berlin Heidelberg}, organization = {Springer Berlin Heidelberg}, address = {Berlin, Heidelberg}, abstract = {

The oft-abused phrase {\^a}{\texteuro}{\oe}genes load the gun, environment pulls the trigger{\^a}{\texteuro} can be applied to stem cells and stem cell niches as well as to cell{\^a}{\texteuro}{\textquotedblleft}material interfaces. Much is known about cell{\^a}{\texteuro}{\textquotedblleft}material interaction in general, perhaps a little less about how these interactions condition cell phenotype. With the increasing interest in stem cells and, in particular, their applications in tissue regeneration, the regulation of the stem cell microenvironment through modulation of intuitive or smart materials and structures, or what we term IBAS (Inherently Bio-Active Scaffolds) is poised to become a major field of research. Here, we discuss how cardiac regeneration strategies have undergone a gradual shift from the emphasis on biochemical signals and basic biology to one in which the material or scaffold plays a major role in establishing an equilibrium state. From being a constant battle or tug-of-war between the cells and synthetic environments, we conceive IBAS as intuitively responding to the cell{\^a}{\texteuro}{\texttrademark}s requirements to instate a sort of equilibrium in the system.

}, keywords = {Bioengineering}, isbn = {978-3-642-18055-2}, doi = {10.1007/978-3-642-18056-9}, url = {http://www.springerlink.com/content/j3k541l113233424/}, author = {P. Di Nardo and M. Minieri and Tirella, A and G. Forte and A. Ahluwalia}, editor = {Boccaccini, A. R. and Harding, S. E.} } @article {DPB11, title = {Left invertibility of discrete-time output-quantized systems: the linear case with finite inputs}, journal = {Mathematics of Control, Signals, and Systems}, volume = {23}, number = {1 - 2}, year = {2011}, note = {

published online 8 Sept. 2011

}, month = {November, 16}, pages = {117 - 139}, abstract = {

This paper studies left invertibility of discrete-time linear outputquantized systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a nite alphabet. Left invertibility, i.e. injectivity of I/O map, is reduced to left D-invertibility, under suitable conditions. While left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is much easier to detect. The condition under which left invertibility and left D-invertibility are equivalent is that the elements of the dynamic matrix of the system form an algebraically independent set. Our main result is a method to compute left D-invertibility (so also left invertibility for a full measure matrix set) for all linear systems with no eigenvalue of modulus one. Therefore we are able to check left invertibility of output-quantized linear systems for a full measure matrices set. Some examples are presented to show the application of the proposed method.

}, keywords = {Robotics}, doi = {10.1007/s00498-011-0063-x}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DMB11, title = {Left invertibility of output-quantized MISO linear systems}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC2011}, year = {2011}, month = {August 28 - Sept}, pages = {11278 - 11283}, address = {Milano, italy}, abstract = {

This paper studies left invertibility of single-output discrete-time quantized linear systems. Quantized outputs are generated according to a given partition of the state-space, while inputs are sequences on a finite alphabet. Left invertibility deals with the possibility of recovering unknown inputs from the only knowledge of the outputs. It is reduced, under suitable conditions, to left D-invertibility: while left invertibility takes into account membership to sets of a given partition, left D-invertibility considers only membership to a single set, and is easily (and algorithmically) detectable. Our main result is a sufficient condition for the equivalence between left invertibility and left D-invertibility in MISO system. In unidimensional systems the equivalence is valid except at most a finite (and computable) number of cases. These results allows the effective detection of left invertibility by means of left Dinvertibility, which is algorithmically detectable. An example with effective computations is presented to show the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and M. Monge and A. Bicchi} } @article {1293, title = {Logical composition of Lyapunov functions}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {84}, year = {2011}, pages = {563{\textendash}573}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207179.2011.562549}, url = {http://dx.medra.org/10.1080/00207179.2011.562549}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1508, title = {LTI Models for 3-Iodothyronamine Time Dynamics: A Multiscale View.}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING}, volume = {58}, year = {2011}, pages = {3153 - 3157}, keywords = {Bioengineering}, issn = {0018-9294}, author = {G. Orsi and Frascarelli, S and R. Zucca and G. Vozzi} } @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 {2324, title = {Neighbourhood Monitoring for Decentralised Coordination in Multi-Agent Systems: A Case-Study}, booktitle = {IEEE Symposium on Computers and Communications}, year = {2011}, abstract = {

Decentralized coordination of multi-agents requires that every agent reliably and efficiently disseminates its state to neighbours
through a wireless network. If dissemination is unreliable, safety issues may ensue. Unfortunately, the broadcast service of
wireless network is efficient but unreliable (e. g., IEEE 802.11). The Neighbourhood Monitoring Protocol (NMP) [1] is an efficient
and scalable protocol that assures a reliable state dissemination between mobile agents, under some conditions of channel
utilization. NMP runs on top of IEEE 802.11. In this paper we evaluate NMP with a specific decentralized collision avoidance
algorithm based on the GRP policy [2]. The algorithm is particularly challenging because it accommodates an arbitrary number
non-holonomic agents. We show that NMP allows the system to scale well and provides a very high state delivery ratio even if it
operates on the unreliable broadcast service like 802.11. Doing so, NMP assures the correct state information to the collision
avoidance algorithm.

}, keywords = {Embedded Control, Robotics}, author = {G. Dini and Giurlanda, F. and L. Pallottino} } @article {1473, title = {A neuron-astrocyte transistor-like model for neuromorphic dressed neurons}, journal = {Neural Networks}, year = {2011}, keywords = {Bioengineering}, author = {G. Valenza and G. Pioggia and Armato, A. and M. Ferro and E. P. Scilingo and D. De Rossi} } @inbook {1872, title = {Nonlinear Science and Complexity}, year = {2011}, pages = {381{\textendash}388}, publisher = {Springer}, organization = {Springer}, chapter = {A generalised entropy of curves approach for the analysis of dynamical systems}, keywords = {Robotics}, isbn = {9789048198832}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @booklet {11, title = {Optimal synthesis for nonholonomic vehicles with constrained side sensors}, year = {2011}, note = {

Technical Report

}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @conference {GPBSB11, title = {Optimality Principles in Variable Stiffness Control: the VSA Hammer}, booktitle = {2011 IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2011}, month = {September 25 - 3}, pages = {3770 - 3775}, address = {S. Francisco, USA}, keywords = {Robotics}, author = {M. Garabini and A. Passaglia and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {FLGGMCFSB11, title = {Packet-based control}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {S. Falasca and G. Lorefice and L. Greco and M. Gamba and S. Melani and A. Chaillet and D. Fontanelli and R. Schiavi and C Belsito} } @article {1490, title = {PAM2 (Piston Assisted Microsyringe): A New Rapid Prototyping Technique for Biofabrication of Cell Incorporated Scaffolds}, journal = {Tissue Eng Part C Methods}, volume = {17}, year = {2011}, keywords = {Bioengineering}, doi = {10.1089/ten.tec.2010.0195}, author = {Tirella, A and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @article {1513, title = {Poly(ester urethane) Guides for Peripheral Nerve Regeneration}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2011}, keywords = {Bioengineering}, issn = {1616-5187}, author = {V. Chiono and Sartori, S and Rechichi, A and Tonda-Turo, C and G. Vozzi and Vozzi, F. and D{\textquoteright}Acunto, M and C. Salvadori and F. Dini and G. Barsotti and F. Carlucci and S. Burchielli and Nicolino, S and Audisio, C and Perroteau, I and P. Giusti and G. Ciardelli} } @conference {GB11, title = {A Real-time Parametric Stiffness Observer for VSA devices}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5535 - 5540}, address = {Shangai, China}, keywords = {Robotics}, author = {G. Grioli and A. Bicchi} } @conference {GFP11, title = {Resource aware control}, booktitle = {Automatica.it 2011}, year = {2011}, month = {September}, address = {Pisa, Italy}, keywords = {Robotics}, author = {L. Greco and D. Fontanelli and L. Palopoli} } @article {1460, title = {Robust multiple cardiac arrhythmia detection through bispectrum analysis}, journal = {Expert Systems with Applications}, volume = {38}, year = {2011}, pages = {6798{\textendash}6804}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo} } @conference {MDBGB11, title = {Robust Network Agreement on Logical Information}, booktitle = {2011 Congress of the International Federation of Automatic Control - IFAC 2011}, year = {2011}, month = {August 28 - Sept}, pages = {13905 - 13911}, address = {Milano, italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and D. Di Baccio and A. Fagiolini and A. Bicchi} } @article {GBPM11, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, journal = {Autonomous Robots [special issue on RSS2010]}, volume = {31}, number = {2 - 3}, year = {2011}, pages = {235 - 252}, keywords = {Haptics, Robotics}, doi = {10.1007/s10514-011-9244-1}, author = {M Gabiccini and A. Bicchi and D Prattichizzo and M. Malvezzi} } @article {1292, title = {RT2: Real Time Ray Tracing for Underwater range Evaluation}, journal = {INTELLIGENT SERVICE ROBOTICS}, volume = {4}, year = {2011}, keywords = {Robotics}, issn = {1861-2776}, doi = {10.1007/s11370-011-0093-8}, url = {http://dx.medra.org/10.1007/s11370-011-0093-8}, author = {G. Casalino and A. Caiti and E. Simetti and A. Turetta} } @conference {1871, title = {Secure Cooperation of Mobile Sensors in an Underwater Acoustic Network}, booktitle = {Proceedings of the 8th European Conference on Wireless Sensor Networks}, year = {2011}, month = {23-25 February,}, pages = {1{\textendash}2}, keywords = {Robotics}, author = {A. Caiti and G. Dini and A. Lo Duca and A. Munaf{\`o}} } @article {1512, title = {Sensing scaffolds to monitor cellular activity using impedance measurements}, journal = {BIOSENSORS \& BIOELECTRONICS}, year = {2011}, keywords = {Bioengineering}, issn = {0956-5663}, author = {Whulanza, Y and Ucciferri, N and C. Domenici and G. Vozzi and A. Ahluwalia} } @conference {SPB11, title = {Shortest Paths With Side Sensor}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {4875 - 4882}, address = {Shangai, China}, keywords = {Embedded Control, Robotics}, author = {P Salaris and L. Pallottino and A. Bicchi} } @article {2007, title = {SoC CMOS UWB Pulse Radar Sensor for Contactless Respiratory Rate Monitoring}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL CIRCUITS AND SYSTEMS}, volume = {5}, year = {2011}, pages = {503{\textendash}510}, issn = {1932-4545}, doi = {10.1109/TBCAS.2011.2176937}, url = {http://dx.medra.org/10.1109/TBCAS.2011.2176937}, author = {D. Zito and D. Pepe and M. Mincica and F. Zito and A. Tognetti and A Lanata and D. De Rossi} } @article {2284, title = {Squeeze pressure bioreactor: a hydrodynamic bioreactor for noncontact stimulation of cartilage constructs}, journal = {Tissue engineering. Part C, Methods}, volume = {17}, year = {2011}, pages = {757{\textendash}64}, abstract = {

A novel squeeze pressure bioreactor for noncontact hydrodynamic stimulation of cartilage is described. The bioreactor is based on a small piston that moves up and down, perpendicular to a tissue construct, in a fluid-filled chamber. Fluid displaced by the piston generates a pressure wave and shear stress as it moves across the sample, simulating the dynamic environment of a mobile joint. The fluid dynamics inside the squeeze pressure bioreactor was modeled using analytical and computational methods to simulate the mechanical stimuli imposed on a construct. In particular, the pressure, velocity field, and wall shear stress generated on the surface of the construct were analyzed using the theory of hydrodynamic lubrication, which describes the flow of an incompressible fluid between two surfaces in relative motion. Both the models and in-situ pressure measurements in the bioreactor demonstrate that controlled cyclic stresses of up to 10 kPa can be applied to tissue constructs. Initial tests on three-dimensional scaffolds seeded with chondrocytes show that glycosaminoglycan production is increased with regard to controls after 24 and 48 h of cyclic noncontact stimulation in the bioreactor.

}, keywords = {Bioengineering}, issn = {1937-3392}, doi = {10.1089/ten.TEC.2011.0002}, url = {http://online.liebertpub.com/doi/abs/10.1089/ten.tec.2011.0002 http://www.ncbi.nlm.nih.gov/pubmed/21410315}, author = {C. De Maria and S. Giusti and D. Mazzei and A. Crawford and A. Ahluwalia} } @inbook {2285, title = {The Squeeze Pressure Bioreactor: Design and Modelling of a Non-Contact Device for Mechanical Stimulation of Tissue Engineered Constructs}, booktitle = {Bioreactors: Design, Properties and Applications}, year = {2011}, pages = {199{\textendash}214}, publisher = {Nova Science Publishers, Inc.}, organization = {Nova Science Publishers, Inc.}, address = {Hauppauge NY}, abstract = {

Diseases of hyaline cartilage represent one of the major health problems, especially in industrialized countries with high life expectancy. The erosion of the articulating surfaces of joints, known as osteoarthritis, currently affects more than 200 million citizens worldwide, and more than 50\% of the patients need or will need a surgical treatment. Articular cartilage is a three dimensional avascular tissue, which covers the ends of all synovial joints. During normal daily function, articular cartilage can be repeatedly subjected to forces up to several time body weight, but it is able to provide articulating joints with a nearly frictionless motion. Despite its tremendously important function, articular cartilage has limited capacity for auto regeneration after degenerative and rheumatic diseases, like arthritis, as well as traumatic injuries. Cartilage problems are a huge and still unsolved medical issue, which therefore represents one of the most important tissue engineering targets requiring high quality products as fast as possible. For this reason, the possibility to recreate in vitro cartilage substitutes as a real alternative to total joint replacement represents an increasing and hopeful market, in which many research groups are still working. At the moment, one of the main findings in invitro cartilage studies is the importance of the role of mechanical stimuli and dynamic loads for the chondrocytes growth and differentiation. Several studies using cartilage explants or chondrocytes seeded in 3D scaffolds have shown that mechanical compressive loads affect the cells metabolic activity and their matrix production. In order to simulate the in vivo environment, the use of bioreactors is becoming fundamental: bioreactors can provide the chemical and mechanical signals that optimize tissue development. Furthermore, bioreactors could be an important instrument to reduce the cost of clinical studies, used as in vitro predictors of in vivo performance. In this way,the use of bioreactors can reduce animal studies, helping the scientists to focus their attention in the right direction before starting pre-clinical studies, which are usually more expensive than preliminary research. In the past few years, several systems for the application of different mechanical stimuli to chondrocytes have been developed. Most of these can generate biomechanical-like forces such as the direct compression, tensile and shear forces, or hydrostatic pressure, in order to stimulate the articular chondrocyctes to increase their matrix production. Generally, the most important requirements that a culture system has to satisfy are high reliability and usability, perfect sterility, easy control of all the important culture parameters and low cost. In this work, a new system, inspired by the synovial environment of mobile joints and able to apply an innovative type of stimulation on articular chondrocytes is described and modeled. The SQPR (SQueeze PRessure) bioreactor chamber is designed to impose a cyclic hydrodynamic pressure on cell cultures, constructs or tissues slices. The basic principle of this new system is the generation of a localized contact less overpressure on articular chondrocytes, using a simple vertical piston movement. This kind of stimulation is particularly useful for neo-tissue or fresh-constructs, in which cells require a dynamic environment to maintain their differentiate state, but at the same time do not tolerate direct compression or high shear stress. When the piston moves down, a controlled hydrodynamic overpressure and a shear stress is generated over the cell surface, stimulating the chondrocytes to improve their matrix production. The fluid dynamics inside the SQPR bioreactor is illustrated from an analytical and numerical point of view. We show how these models can predict the pressure, velocity field and wall shear stress generated on the cell surface of the construct. The bioreactor design is presented in detail and validation tests on chondrocytes are described.

}, keywords = {Bioengineering}, url = {https://www.novapublishers.com/catalog/product\_info.php?products\_id=22653}, author = {S. Giusti and A. Ahluwalia and C. De Maria}, editor = {Antolli, P. G. and Z. Liu} } @conference {1869, title = {Stabilization of constrained linear systems via smoothed truncated ellipsoids}, booktitle = {IFAC World Congress}, year = {2011}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and E. Crisostomi and S Grammatico and A. Caiti} } @conference {1868, title = {A statistical tool for analysing nonlinear properties of dynamical systems}, booktitle = {IEEE Mediterranean Conference on Automation and Control}, year = {2011}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {GFMB11, title = {Structural Properties of Compliant Grasps with Underactuated Robotic Hands}, booktitle = {XX Congresso Aimeta}, year = {2011}, note = {

ISBN 978-88-906340-1-7 (online); ISBN 978-88-906340-0-0 (print)

}, month = {September, 12}, address = {Bologna, Italy}, keywords = {Haptics, Robotics}, author = {M Gabiccini and E. Farnioli and M. Malvezzi and A. Bicchi} } @article {1488, title = {Substrate stiffness influences high resolution printing of living cells with an ink-jet system}, journal = {Journal of bioscience and bioengineering}, volume = {112}, year = {2011}, pages = {79{\textendash}85}, abstract = {

The adaptation of inkjet printing technology for the realisation of controlled micro- and nano-scaled biological structures is of great potential in tissue and biomaterial engineering. In this paper we present the Olivetti BioJet system and its applications in tissue engineering and cell printing. BioJet, which employs a thermal inkjet cartridge, was used to print biomolecules and living cells. It is well known that high stresses and forces are developed during the inkjet printing process. When printing living particles (i.e., cell suspensions) the mechanical loading profile can dramatically damage the processed cells. Therefore computational models were developed to predict the velocity profile and the mechanical load acting on a droplet during the printing process. The model was used to investigate the role of the stiffness of the deposition substrate during droplet impact and compared with experimental investigations on cell viability after printing on different materials. The computational model and the experimental results confirm that impact forces are highly dependent on the deposition substrate and that soft and viscous surfaces can reduce the forces acting on the droplet, preventing cell damage. These results have high relevance for cell bioprinting; substrates should be designed to have a good compromise between substrate stiffness to conserve spatial patterning without droplet coalescence but soft enough to absorb the kinetic energy of droplets in order to maintain cell viability.

}, keywords = {Bioengineering}, issn = {1347-4421}, doi = {10.1016/j.jbiosc.2011.03.019}, url = {http://www.ncbi.nlm.nih.gov/pubmed/21497548}, author = {Tirella, A and Vozzi, F. and C. De Maria and G. Vozzi and Sandri, T and Sassano, D and Cognolato, L and A. Ahluwalia} } @article {1278, title = {Supporto per camere di coltura cellulare}, year = {2011}, month = {11/2011}, keywords = {Bioengineering}, issn = {MI2011A002073}, author = {A. Ahluwalia and Sbrana, T. and D. Mazzei} } @conference {ATB11, title = {Tele-Impedance: Preliminary Results on Measuring and Replicating Human Arm Impedance in Tele Operated Robots}, booktitle = {IEEE International Conference on Robotics and Biomimetics - ROBIO 2011}, year = {2011}, note = {

Accepted, youtube: http://www.youtube.com/watch?v=KPO6IO7Tr-Q

}, month = {December 7 - 11}, pages = {216 - 223}, address = {Phuket, Thailand}, keywords = {Robotics}, author = {A. Ajoudani and N G Tsagarakis and A. Bicchi} } @article {1509, title = {Tuning polycaprolactone-carbon nanotube composites for bone tissue engineering scaffolds}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, year = {2011}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Mattioli-Belmonte, M. and G. Vozzi and Whulanza, Y and Seggiani, M and Fantauzzi, V and Orsini, G and A. Ahluwalia} } @conference {GCGSSBMBP11, title = {Variable stiffness actuators: muscles for the next generation of robots}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Robotics}, author = {G. Grioli and M. G. Catalano and M. Garabini and F. Bonomo and A. Serio and P Salaris and F. A. W. Belo and M. Mancini and A. Bicchi and A. Passaglia} } @conference {CGGBB11, title = {VSA - CubeBot. A modular variable stiffness platform for multi degrees of freedom systems}, booktitle = {2011 IEEE International Conference on Robotics and Automation}, year = {2011}, month = {May 9 - 13}, pages = {5090 - 5095}, address = {Shangai, China}, keywords = {Robotics}, author = {M. G. Catalano and G. Grioli and M. Garabini and F. Bonomo and M. Mancini and N G Tsagarakis and A. Bicchi} } @conference {2013, title = {Wearable biomonitoring system for stress management: A preliminary study on robust ECG signal processing}, booktitle = {2011 IEEE International Symposium on a World of Wireless, Mobile and Multimedia Networks, WoWMoM 2011}, year = {2011}, month = {20-24 June}, pages = {{\textendash}}, doi = {10.1109/WoWMoM.2011.5986192}, url = {http://dx.medra.org/10.1109/WoWMoM.2011.5986192}, author = {N. Carbonaro and G. Anania and G. Dalle Mura and M. Tesconi and A. Tognetti and G. Zupone and D. De Rossi} } @book {2011, title = {Wearable Kinaesthetic Systems for Capturing Body Posture and Gesture}, year = {2011}, publisher = {VDM Verlag Dr. M?ller}, organization = {VDM Verlag Dr. M?ller}, isbn = {3639333276}, author = {A. Tognetti} } @inbook {2009, title = {Wearable Monitoring Systems}, year = {2011}, pages = {205{\textendash}219}, publisher = {Springer US}, organization = {Springer US}, chapter = {Emergency and work}, isbn = {9781441973832}, doi = {10.1007/978-1-4419-7384-9_10}, url = {http://dx.medra.org/10.1007/978-1-4419-7384-9_10}, author = {Bonfiglio, A. and Curone, D. and Secco, E. and G. Magenes and A. Tognetti} } @inbook {2010, title = {Wearable Monitoring Systems}, year = {2011}, pages = {3{\textendash}25}, chapter = {Sensors for Wearable Systems}, isbn = {9781441973832}, doi = {10.1007/978-1-4419-7384-9_1}, url = {http://dx.medra.org/10.1007/978-1-4419-7384-9_1}, author = {E. P. Scilingo and A Lanata and A. Tognetti} } @article {2008, title = {Wearable Systems for Brain body Reading and Mind Healing}, journal = {CYBER THERAPY AND REHABILITATION MAGAZINE}, year = {2011}, pages = {39{\textendash}40}, issn = {1784-9926}, author = {A. Tognetti and E. P. Scilingo and G. Anania and N. Carbonaro and A Lanata and F. Lorussi and D. Mazzei and G. Valenza and D. De Rossi} } @article {1468, title = {074 EARLY EVALUATION OF THE CONNECTIONS BETWEEN AUTISM AND ALTERATIONS OF MOVEMENT}, journal = {Parkinsonism \& Related Disorders}, volume = {16}, year = {2010}, pages = {S22}, keywords = {Bioengineering}, author = {Nardini, E. and G. Valenza and Mancuso, C. and Armato, A. and A Lanata and E. P. Scilingo and D. De Rossi} } @conference {BSB10, title = {3 known landmarks are enough for solving planar bearing SLAM and fully reconstruct unknown inputs}, booktitle = {Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on}, year = {2010}, month = {October}, pages = {2539 -2545}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, doi = {10.1109/IROS.2010.5648896}, author = {F. A. W. Belo and P Salaris and A. Bicchi} } @conference {1861, title = {Adaptive Cooperative Algorithms for AUV Networks}, booktitle = {Proc. IEEE Int. Conf. on Communications ICC10, workshop WUnderNet 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @article {1520, title = {Automated software for analysis of ciliary beat frequency and metachronal wave orientation in Primary Ciliary Dyskinesia}, journal = {EUROPEAN ARCHIVES OF OTO-RHINO-LARYNGOLOGY}, year = {2010}, keywords = {Bioengineering}, issn = {0937-4477}, author = {G. MANTOVANI and M. PIFFERI and G. Vozzi} } @conference {1860, title = {AUV networks for adaptive area coverage with reliable acoustic communication links}, booktitle = {Proc. Int. Conf. on Computing and Information technology in the Maritime Industries, COMPIT2010}, year = {2010}, month = {Apr}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o}} } @article {1276, title = {Contenitore per alimenti caldi e simili}, year = {2010}, keywords = {Bioengineering}, issn = {PI2009A000145}, author = {M. Bonini and R. Casati and M. Falorni and G Fantoni and M. Massei and D. Mazzei and M. Mazzuoli and G. Renucci} } @conference {1471, title = {The contribution of the phase spectrum in automatic multiple cardiac arrhythmias recognition in wearable systems}, booktitle = {Applied Sciences in Biomedical and Communication Technologies (ISABEL), 2010 3rd International Symposium on}, year = {2010}, pages = {1{\textendash}5}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {A Lanata and G. Valenza and E. P. Scilingo} } @article {MEB09, title = {Controllability analysis of multi-agent systems using relaxed equitable partitions}, journal = {Int. J. Systems, Control and Communications}, volume = {2}, number = {1,2,3}, year = {2010}, pages = {100-121}, abstract = {

This paper investigates the issue of how to make decentralised networks amenable to external control, i.e. how to ensure that they are appropriately organised so that they can be effectively

}, keywords = {Embedded Control, Robotics}, author = {S. Martini and M. Egerstedt and A. Bicchi} } @conference {WPB-ICRA10, title = {Controllability for Pairs of Vehicles Maintaining Constant Distance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {342 - 349}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {H. Wang and L. Pallottino and A. Bicchi} } @conference {WPB_cdc10, title = {Controllability Properties for Aircraft Formations}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {2047 - 2054}, keywords = {Embedded Control, Robotics}, author = {H. Wang and L. Pallottino and A. Bicchi} } @conference {1862, title = {Control-oriented modelling of an hybrid AUV}, booktitle = {Proc. IEEE Conf. on Robotics and Automation, ICRA 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/ROBOT.2010.5509365}, url = {http://dx.medra.org/10.1109/ROBOT.2010.5509365}, author = {A. Caiti and V. Calabr{\`o}} } @conference {1864, title = {DCL: a real time portable distributed control telelaboratory}, booktitle = {IEEE Mediterranean Conference on Automation and Control}, year = {2010}, month = {Jun}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and V. Calabr{\`o} and E. Crisostomi} } @conference {FBCABB-ICRA10, title = {Design and Control of a Novel 3D Casting Manipulator}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {4169 - 4174}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and F. A. W. Belo and M. G. Catalano and S. Alicino and F. Bonomo and A. Bicchi} } @conference {CSB-ICRA10, title = {Design for Variable Stiffness Actuation based on Enumeration and Analysis of Performance}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2010)}, year = {2010}, month = {May 3 - 8}, pages = {3285 - 3291}, address = {Anchorage, Alaska}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and R. Schiavi and A. Bicchi} } @article {QFGPB10, title = {Design of Embedded Controllers Based on Anytime Computing}, journal = {IEEE Trans. Industrial Infor.}, volume = {6}, number = {4}, year = {2010}, pages = {492 - 502}, abstract = {

In this paper, we present a methodology for designing embedded controllers based on the so-called anytime control paradigm. A control law is split into a sequence of subroutine calls, each one fulfilling a control goal and refining the result produced by the previous one. We propose a design methodology to define a feedback controller structured in accordance with this paradigm and show how a switching policy of selecting the controller subroutines can be designed that provides stability guarantees for the closed-loop system. The cornerstone of this construction is a stochastic model describing the probability of executing, in each activation of the controller, the different subroutines. We show how this model can be constructed for realistic real-time task sets and provide an experimental validation of the approach.

}, keywords = {Embedded Control, Robotics}, author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi} } @conference {1863, title = {Designing behaviours to improve observability for relative localization of AUVs}, booktitle = {IEEE Conf. on Robotics and Automation, ICRA 2010}, year = {2010}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/ROBOT.2010.5509292}, url = {http://dx.medra.org/10.1109/ROBOT.2010.5509292}, author = {G. ANTONELLI and A. Caiti and V. Calabr{\`o} and S. CHIAVERINI} } @conference {PCBB10, title = {Distributed Estimation and Detection under Local Information}, booktitle = {IFAC Workshop on Distributed Estimation and Control in Networked Systems}, year = {2010}, month = {Sept 13-14}, pages = {263-268}, address = {Annecy, France}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and R. Carli and A. Bicchi and F. Bullo} } @conference {2023, title = {Enabling technology for heart health wireless assistance}, booktitle = {12th IEEE International conference on e-Health networking, application and services}, year = {2010}, month = {1-3 July}, pages = {36{\textendash}42}, doi = {10.1109/HEALTH.2010.5556540}, url = {http://dx.medra.org/10.1109/HEALTH.2010.5556540}, author = {M. Mincica and D. Pepe and A. Tognetti and A Lanata and D. De Rossi and D. Zito} } @conference {1529, title = {Engineered Skeletal Muscle using Pam Scaffold}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {D. Cei and E. Loro and A. Malena and C. De Maria and L. Vergani and G. Vozzi} } @conference {1532, title = {Enzymatic cross-linked hydrogel: role of Lysyl oxidase as an initiator of fibroblast inflammatory response}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {Tirella, A and G. Vozzi and N. Tirelli and A. Ahluwalia} } @article {1521, title = {Enzymatically crosslinked porous composite matrices for bone tissue regeneration}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2010}, keywords = {Bioengineering}, issn = {1549-3296}, author = {G. Ciardelli and GENTILE, P and V. Chiono and Mattioli-Belmonte, M. and G. Vozzi and Barbani, N and P. Giusti} } @conference {1271, title = {The FACE of autism}, booktitle = {Proc. IEEE RO-MAN}, year = {2010}, pages = {791{\textendash}796}, keywords = {Bioengineering}, doi = {10.1109/ROMAN.2010.5598683}, author = {D. Mazzei and Billeci, L. and Armato, A. and Lazzeri, N. and Cisternino, A. and G. Pioggia and Igliozzi, R. and Muratori, F. and A. Ahluwalia and D. De Rossi} } @article {1332, title = {Finite element modelling and design of a concentration gradient generating bioreactor: Application to biological pattern formation and toxicology}, journal = {Toxicology in vitro}, volume = {24}, year = {2010}, pages = {1828{\textendash}1837}, abstract = {

This paper describes the use of a microfluidic gradient maker for the toxicological analysis of some conventional biomolecules such as hydrogen peroxide and a local anaesthetic, lidocaine on different cell cultures, human endothelial cells and myoblasts, respectively. The microfluidic device was designed and simulated using COMSOL Multiphysics(R) and the concentration gradient in the microfluidic network was analysed through a fluid-dynamic and mass-transport study. Subsequently the device was fabricated with soft lithography, casting PDMS in a master to obtain channels about 250mum deep. Hydrogen peroxide was tested on human endothelial cells, while lidocaine was 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 results show that the Gradient Maker (GM) bioreactor 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. Moreover, the Gradient Maker was also modelled in order to realise biological pattern formation using two morphogenes acting as activator and inhibitor with varying diffusion rates.

}, keywords = {Bioengineering}, issn = {1879-3177}, doi = {10.1016/j.tiv.2010.05.010}, url = {http://www.ncbi.nlm.nih.gov/pubmed/20580814}, author = {G. Vozzi and D. Mazzei and Tirella, A and Vozzi, F. and A. Ahluwalia} } @conference {1865, title = {Geometric and robust feedback control of an AUV exploring an underwater volcano}, booktitle = {Proc. IEEE Autonomous Underwater Vehicles Conference}, year = {2010}, month = {Aug}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/AUV.2010.5779646}, url = {http://dx.medra.org/10.1109/AUV.2010.5779646}, author = {M. ANDONIAN and M. CHYBA and S Grammatico and A. Caiti} } @article {2015, title = {Heart Rate and Accelerometer data fusion for activity assessment of rescuers during emergency interventions}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {702{\textendash}710}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2047727}, url = {http://dx.medra.org/10.1109/TITB.2010.2047727}, author = {Curone, D. and A. Tognetti and Secco, E. L. and G. Anania and N. Carbonaro and D. De Rossi and G. Magenes} } @article {1294, title = {The hybrid glider/auv FOLAGA}, journal = {IEEE ROBOTICS AND AUTOMATION MAGAZINE}, volume = {1}, year = {2010}, pages = {31{\textendash}44}, keywords = {Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2010.935791}, url = {http://dx.medra.org/10.1109/MRA.2010.935791}, author = {A. Caffaz and A. Caiti and G. Casalino and A. Turetta} } @conference {1527, title = {Hydrogel Bioactive Scaffold Fabricated with PAM2 System: Realization of Complex Shaped Scaffold with a Homogeneous Dispersion of HepG2 cells}, booktitle = {NIP Conference}, year = {2010}, keywords = {Bioengineering}, author = {Tirella, A and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @conference {PCBB, title = {Identifying Cyber Attacks via Local Model Information}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, month = {December}, pages = {5961 - 5966}, address = {Atlanta, USA}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and R. Carli and A. Bicchi and F. Bullo} } @conference {1537, title = {In silico model of hepatic metabolism of Diclofenac}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, author = {A. Moschetti and F. Montemurro and C. De Maria and Vozzi, F. and A. Ahluwalia and G. Vozzi} } @article {1284, title = {In vitro liver model using microfabricated scaffolds in a modular bioreactor.}, journal = {Biotechnol J}, volume = {5}, year = {2010}, month = {Feb}, pages = {232{\textendash}241}, abstract = {

Hepatocyte function on 3-D microfabricated polymer scaffolds realised with the pressure-activated microsyringe was tested under static and dynamic conditions. The dynamic cell culture was obtained using the multicompartment modular bioreactor system. Hepatocyte cell density, glucose consumption, and albumin secretion rate were measured daily over a week. Cells seeded on scaffolds showed an increase in cell density compared with monolayer controls. Moreover, in dynamic culture, cell metabolic function increased three times in comparison with static monolayer cultures. These results suggest that cell density and cell-cell interactions are mediated by the architecture of the substrate, while the endogenous biochemical functions are regulated by a sustainable supply of nutrients and interstitial-like flow. Thus, a combination of 3-D scaffolds and dynamic flow conditions are both important for the development of a hepatic tissue model for applications in drug testing and regenerative medicine.

}, keywords = {Bioengineering}, doi = {http://dx.doi.org/10.1002/biot.200900074}, author = {Vinci, B. and Cavallone, D. and G. Vozzi and D. Mazzei and C. Domenici and Brunetto, M. and A. Ahluwalia} } @conference {2019, title = {The influence of audio-stimuli on isochronic repetitive movements. A time analysis using kinematic data}, booktitle = {Joint Meeting of Young Italian and Japanese Neuroscientists, Italian Society for Neuroscience}, year = {2010}, month = {21 settembre}, pages = {35{\textendash}35}, author = {Del Tongo, C. and Bravi, R. and A. Tognetti and Dalle Mura, G. and Minciacchi, D.} } @conference {2024, title = {Interreality: The use of advanced technologies in the assessment and treatement of psychological stress}, booktitle = {Proceedings of the 2010 10th International Conference on Intelligent Systems Design and Applications ISDA{\textquoteright}10}, year = {2010}, month = {29 Nov- 1 Dec}, pages = {1047{\textendash}1051}, doi = {10.1109/ISDA.2010.5687047}, url = {http://dx.medra.org/10.1109/ISDA.2010.5687047}, author = {G. Pioggia and N. Carbonaro and G. Anania and A. Tognetti and Tartarisco, G. and M. Ferro and D. De Rossi and G. Riva} } @article {DPB10, title = {Left invertibility of discrete systems with finite inputs and quantized output}, journal = {International Journal Of Control}, volume = {83}, number = {4}, year = {2010}, pages = {798 - 809}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems which evolve in discrete time within a continuous state-space; quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. Our main results are obtained under some contractivity hypotheses. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the invertibility property of the system. Our main result is a necessary and sufficient condition for left invertibility and uniform left invertibility for joint contractive systems. In addition, an algorithm is proposed to recover inputs from output strings. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {DCB, title = {Left invertibility of output-quantized systems: an application to cryptography}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, month = {December}, pages = {4078-4083}, address = {Atlanta, USA}, abstract = {

In this paper a secure communication method is proposed, based on left invertibility of output-quantized dynamical systems. The sender uses an output-quantized linear system with a feedback function to encode messages, which are sequences of inputs of the system. So left invertibility property enables the receiver to recover the messages. The secret key is formed by the system

}, keywords = {Robotics}, author = {N. Dubbini and A. Carluccio and A. Bicchi} } @article {1283, title = {A low shear stress modular bioreactor for connected cell culture under high flow rates.}, journal = {Biotechnol Bioeng}, volume = {106}, year = {2010}, month = {May}, pages = {127{\textendash}137}, abstract = {

A generic "system on a plate" modular multicompartmental bioreactor array which enables microwell protocols to be transferred directly to the bioreactor modules, without redesign of cell culture experiments or protocols is described. The modular bioreactors are simple to assemble and use and can be easily compared with standard controls since cell numbers and medium volumes are quite similar. Starting from fluid dynamic and mass transport considerations, a modular bioreactor chamber was first modeled and then fabricated using "milli-molding," a technique adapted from soft lithography. After confirming that the shear stress was extremely low in the system in the range of useful flow rates, the bioreactor chambers were tested using hepatocytes. The results show that the bioreactor chambers can increase or maintain cell viability and function when the flow rates are below 500 microL/min, corresponding to wall shear stresses of 10(-5) Pa or less at the cell culture surface.

}, keywords = {Bioengineering, Bioreactors}, doi = {http://dx.doi.org/10.1002/bit.22671}, author = {D. Mazzei and M. A. Guzzardi and S. Giusti and A. Ahluwalia} } @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 {2022, title = {Neural Correlates of Human-Robot Handshaking}, booktitle = {Proc. of the 19th IEEE International Symposium in Robot and Human Interactive Communication}, year = {2010}, note = {

http://www.scopus.com/inward/record.url?eid=2-s2.0-78649822141\&partnerID=40\&md5=e485b7dd908e69afd535dc7792a8e5b3

}, month = {13-15, Settembre}, pages = {555{\textendash}561}, publisher = {IEEE}, organization = {IEEE}, address = {NEW YORK {\textendash} USA}, doi = {10.1109/ROMAN.2010.5598624}, url = {http://dx.medra.org/10.1109/ROMAN.2010.5598624}, author = {N. Vanello and D. Bonino and E. Ricciardi and M. Tesconi and E. P. Scilingo and V. Hartwig and A. Tognetti and G. Zupone and F. Cutolo and G. Giovannetti and P. Pietrini and D. De Rossi and L. Landini} } @article {1516, title = {NEW BIOARTIFICIAL SYSTEMS AND BIODEGRADABLE SYNTHETIC POLYMERS FOR CARDIAC TISSUE ENGINEERING: A PRELIMINARY SCREENING}, journal = {BIOMEDICAL ENGINEERING. APPLICATIONS, BASIS, COMMUNICATIONS}, year = {2010}, keywords = {Bioengineering}, issn = {1016-2372}, author = {Rosellini, E and Cristallini, C and Barbani, N and G. Vozzi and D{\textquoteright}Acunto, M and G. Ciardelli and P. Giusti} } @conference {BSSB, title = {A new fabric based softness display}, booktitle = {Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, month = {March 25-16}, pages = {108 - 112}, address = {Waltham,Massachusetts, USA}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {GB10, title = {A Non-invasive Real-Time Method for Measuring Variable Stiffness}, booktitle = {Robotics Science and Systems}, year = {2010}, month = {June}, address = {Zaragoza, Spain}, keywords = {Robotics}, author = {G. Grioli and A. Bicchi} } @article {1517, title = {Novel injectable hydrogel scaffold for cartilage repair based on natural polymers}, journal = {JOURNAL OF OSTEOLOGY AND BIOMATERIALS}, year = {2010}, keywords = {Bioengineering}, issn = {2036-6795}, author = {G. Mattei and F. Montemurro and Mattioli-Belmonte, M. and G. Vozzi} } @conference {FMEBG, title = {Observability and Controllability Detection of Multi-Agent Systems through Decentralized Laplacian Spectrum Estimation}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, pages = {5775 - 5780}, keywords = {Embedded Control, Robotics}, author = {M. Franceschelli and S. Martini and M. Egerstedt and A. Bicchi and A. Giua} } @conference {PFB_2010, title = {On Optimal Cooperative Patrolling}, booktitle = {IEEE Conf. on Decision and Control}, year = {2010}, month = {December}, address = {Atlanta, GA, USA}, keywords = {Robotics}, author = {F. Pasqualetti and A. Franchi and F. Bullo} } @conference {1534, title = {Pam scaffold for heart tissue engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {M. Nardi and C. De Maria and A. Ahluwalia and G. Vozzi} } @conference {1536, title = {Pam Scaffold For Tissue Engineering Of Skeletal Muscle}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {D. Cei and E. Loro and A. Malena and L. Vergani and G. Vozzi} } @conference {1531, title = {PAM2 microfabricated three-dimensional bioactive hydrogel systems: realisation of a hepatic-like structure}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {Tirella, A and Vozzi, F. and Vinci, B. and G. Vozzi and A. Ahluwalia} } @conference {1525, title = {PAM2 System: a Modular Approach for the Realisation of Complex Shaped Scaffold Able to Reproduce the Main Features of a Specific Micro-environment,}, booktitle = {2010 International Conference on Biofabrication, 4-6 October 2010, Philadelphia, USA}, year = {2010}, keywords = {Bioengineering}, author = {A. Ahluwalia and Tirella, A and G. Vozzi} } @conference {1464, title = {A pervasive activity management and rehabilitation support system for the elderly}, booktitle = {Pervasive Computing and Communications Workshops (PERCOM Workshops), 2010 8th IEEE International Conference on}, year = {2010}, pages = {813{\textendash}816}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Pioggia and Tartarisco, G. and G. Valenza and Ricci, G. and Volpi, L. and Siciliano, G. and Bonfiglio, S.} } @inbook {2018, title = {Pervasive Computing: Innovations in Intelligent Multimedia and Applications}, year = {2010}, pages = {97{\textendash}115}, publisher = {Springer London}, organization = {Springer London}, chapter = {Sensorized garment augmented 3d pervasive virtual reality system}, isbn = {9781848825987}, doi = {10.1007/978-1-84882-599-4_5}, url = {http://dx.medra.org/10.1007/978-1-84882-599-4_5}, author = {Gulrez, T and A. Tognetti and D. De Rossi} } @inbook {1522, title = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, booktitle = {Computer-Aided Tissue Engineering}, volume = {868}, number = {Methods in Molecular Biology}, year = {2010}, pages = {57-69}, chapter = {Rapid Prototyping Composite and Complex Scaffolds with PAM2}, keywords = {Bioengineering}, author = {G. Vozzi and Tirella, A and A. Ahluwalia} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @conference {1528, title = {Resident cardiac stem cells on PAM scaffold for Heart tissue engineering application}, booktitle = {Congress of the European Society of Biomechanics, ESB 2010}, year = {2010}, keywords = {Bioengineering}, author = {M. Nardi and C. De Maria and G. Forte and P. Di Nardo and A. Ahluwalia and G. Vozzi} } @conference {BG10, title = {On the Role of Hand Synergies in the Optimal Choice of Grasping Forces}, booktitle = {Robotics Science and Systems}, year = {2010}, month = {June, 27}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {M Gabiccini and A. Bicchi} } @conference {FMDBB10, title = {A Self-Routing Protocol for Distributed Consensus on Logical Information}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems}, year = {2010}, month = {October, 18 - 22}, pages = {5151 - 5156}, address = {Taipei, Taiwan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and D. Di Baccio and A. Bicchi} } @article {GGP10, title = {Sensor Deployment for Network-like Environments}, journal = {IEEE Trans. on Automat. Contr.}, year = {2010}, note = {

Condit. accepted as Technical Note

}, keywords = {Robotics}, author = {L. Greco and M. Gaeta and B. Piccoli} } @booklet {GreTR10, title = {Sensor Deployment for Network-like Environments}, year = {2010}, note = {

Full version

}, keywords = {Robotics}, author = {L. Greco and M. Gaeta and B. Piccoli} } @inbook {1867, title = {Sensor Systems and Software}, year = {2010}, pages = {111{\textendash}126}, publisher = {Springer}, organization = {Springer}, chapter = {Physical characterization of acoustic communication channel properties in underwater mobile sensor networks}, keywords = {Robotics}, isbn = {9783642115271}, author = {A. Caiti and E. Crisostomi and A. Munaf{\`o}} } @conference {1530, title = {Sensorised "Smart" Scaffold to Monitor Cell Processes Based on Impedance Characteristics}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {Whulanza, Y and Ucciferri, N and G. Vozzi and A. Ahluwalia and C. Domenici} } @article {SPFB10, title = {Shortest Paths for a Robot with Nonholonomic and Field-of-View Constraints}, journal = {IEEE Trans. on Robotics}, volume = {26}, number = {2}, year = {2010}, pages = {269 - 281}, keywords = {Embedded Control, Robotics}, author = {P Salaris and D. Fontanelli and L. Pallottino and A. Bicchi} } @conference {1526, title = {Site Specific Nano-Tuning of Scaffolds Using Inkjet Printing}, booktitle = {NIP Conference}, year = {2010}, address = {Austin, Texas }, keywords = {Bioengineering}, author = {Tirella, A and F. Montemurro and Vinci, B. and Vozzi, F. and G. Vozzi and Sassano, D and Sandri, T and Cognolato, L and A. Ahluwalia} } @article {2017, title = {Smart Garments for Emergency Operators: The ProeTEX Project}, journal = {IEEE TRANSACTIONS ON INFORMATION TECHNOLOGY IN BIOMEDICINE}, volume = {14}, year = {2010}, pages = {694{\textendash}701}, issn = {1089-7771}, doi = {10.1109/TITB.2010.2045003}, url = {http://dx.medra.org/10.1109/TITB.2010.2045003}, author = {Curone, D. and Secco, E. L. and A. Tognetti and G. Loriga and Dudnik, G. and Risatti, M. and Whyte, R. and Bonfiglio, A. and G. Magenes} } @article {1519, title = {SOFT-MI: a novel microfabrication technique integrating Soft-lithography and Molecular imprinting for tissue engineering applications}, journal = {BIOTECHNOLOGY AND BIOENGINEERING}, year = {2010}, keywords = {Bioengineering}, issn = {0006-3592}, author = {G. Vozzi and MORELLI, I and Vozzi, F. and ANDREONI, C and SALSEDO, E and MORACHIOLI, A and P. Giusti and G. Ciardelli} } @conference {1535, title = {Soft-MI scaffold for tissue engineering applications}, booktitle = {Congresso Nazionale di Bioingegneria 2010}, year = {2010}, keywords = {Bioengineering}, author = {MORACHIOLI, A and G. Vozzi and F. Montemurro} } @conference {1866, title = {Stabilizability of Linear Differential Inclusions via R-Functions}, booktitle = {IFAC Symposium on Nonlinear Control Systems (NOLCOS)}, year = {2010}, month = {Sep}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @article {1515, title = {Three-dimensional microfabricated scaffolds with cardiac extracellular matrix-like architecture}, journal = {INTERNATIONAL JOURNAL OF ARTIFICIAL ORGANS}, year = {2010}, keywords = {Bioengineering}, issn = {0391-3988}, author = {Rossellini, E and G. Vozzi and Barbani, N and P. Giusti and Cristallini, C} } @conference {1465, title = {Towards a smart glove: Arousal recognition based on textile electrodermal response}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2010 Annual International Conference of the IEEE}, year = {2010}, pages = {3598{\textendash}3601}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and E. P. Scilingo and D. De Rossi} } @article {BFP10, title = {Towards a Society of Robots: Behaviors, Misbehaviors, and Security}, journal = {IEEE Robotics and Automation Magazine}, volume = {17}, number = {4}, year = {2010}, month = {December}, pages = {26 - 36}, keywords = {Robotics}, author = {A. Bicchi and A. Fagiolini and L. Pallottino} } @conference {BGSSB, title = {Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position}, booktitle = {Eurohaptics 2010}, series = {Lecture Notes in Computer Science}, volume = {6192/2010}, year = {2010}, month = {July, 8 - 10}, pages = {136 - 143}, address = {Amsterdam (The Netherlands)}, keywords = {Haptics, Robotics}, author = {M. Bianchi and G. Grioli and E. P. Scilingo and M. Santello and A. Bicchi} } @inbook {FSBB10, title = {Visual Servoing via Advanced Numerical Methods}, volume = {401}, year = {2010}, pages = {335 - 360}, publisher = {Springer}, organization = {Springer}, chapter = {Unicycle{\textendash}like Robots with Eye-In-Hand Monocular Cameras: from PBVS Towards IBVS}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {Graziano Chesi and Koichi Hashimoto} } @conference {CGBSB10, title = {VSA-HD: From the Enumeration Analysis to the Prototypical Implementation}, booktitle = {IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2010}, month = {October}, pages = {3676 - 3681}, address = {St. Louis MO USA}, keywords = {Embedded Control, Robotics}, author = {M. G. Catalano and G. Grioli and F. Bonomo and R. Schiavi and A. Bicchi} } @conference {2025, title = {Wearable monitoring of lumbar spine curvature by inertial and e-textile sensory fusion}, booktitle = {2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC{\textquoteright}10}, year = {2010}, pages = {6373{\textendash}6376}, publisher = {IEEE}, organization = {IEEE}, address = {USA}, doi = {10.1109/IEMBS.2010.5627294}, url = {http://dx.medra.org/10.1109/IEMBS.2010.5627294}, author = {R. Bartalesi and F. Lorussi and D. De Rossi and M. Tesconi and A. Tognetti} } @article {2016, title = {A WEARABLE SYSTEM FOR MONITORING GESTURE, POSTURE AND PHYSIOLOGICAL CORRELATES OF EMOTION}, journal = {PARKINSONISM \& RELATED DISORDERS}, year = {2010}, pages = {{\textendash}}, issn = {1353-8020}, author = {Debarnot, U. and F. Lorussi and E. P. Scilingo and A. Tognetti and D. De Rossi} } @conference {FontanelliP09, title = {An Algorithm for WSN Clock Synchronization: Uncertainty and Convergence Rate Trade Off}, booktitle = {Proc. IEEE Intl. Workshop on Advanced Methods for Uncertainty Estimation in Measurement (AMUEM)}, year = {2009}, month = {6-7 July}, pages = {74{\textendash}79}, address = {Bucarest, Romania}, keywords = {Robotics}, author = {D. Fontanelli and D. Petri} } @conference {FCB-CDC09, title = {Constructive robustness analysis of a limited-information feedback approach for nonlinear systems}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, month = {December, 16 - 1}, address = {Shangai, China}, abstract = {

We analyze the robustness properties of a recently introduced strategy for stabilization with limited information. We show that if the nominal closed-loop system can be made Input-to-State Stable (ISS) with respect to measurement errors, parameter uncertainty and exogenous disturbances then this robustness is preserved when only limited information is available on the plant. More precisely, if a sufficiently bandwidth is available on the communication network, then the resulting closed-loop is semiglobally practically ISS.

}, keywords = {Embedded Control, Robotics}, author = {A. Franci and A. Chaillet} } @conference {FontanelliPP09, title = {Convergence of Distributed WSN Algorithms: The Wake-Up Scattering Problem}, booktitle = {Proc. of Hybrid Systems: Computation and Control}, year = {2009}, month = {April 13{\textendash}15}, pages = {180{\textendash}193}, publisher = {Springer-Verlag Berlin Heidelberg}, organization = {Springer-Verlag Berlin Heidelberg}, address = {San Francisco}, keywords = {Robotics}, author = {D. Fontanelli and L. Palopoli and R. Passerone}, editor = {R. Majumdar and P. Tabuada} } @conference {1856, title = {Cooperating AUV Teams: Adaptive Area Coverage With Space-Varying Communication Constraints}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278255}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278255}, author = {A. Caiti and G. Casalino and A. Munaf{\`o} and A. Turetta} } @conference {QFGPB-ETFA09, title = {Designing Real-Time Embedded Controllers using the Anytime Computing Paradigm}, booktitle = {IEEE International Conference on Emerging Technology and Factory Automation}, year = {2009}, month = {September, 12 - }, pages = {1 - 8}, address = {Palma de Mallorca, Spain}, abstract = {

In this paper we present a methodology for designing embedded controllers with a variable accuracy. The adopted paradigm is the so called any-time control, which derives from the computing paradigm known as "imprecise computation". The most relevant contributions of the paper are a procedure for designing an incremental control law, whose different pieces cater for increasingly aggressive control requirements, and a modelling technique for the execution platform that allows us to design provably correct switching policies for the controllers. The methodology is validated by both simulations and experimental results.

}, keywords = {Embedded Control, Robotics}, doi = {10.1109/ETFA.2009.5347086}, author = {A. Quagli and D. Fontanelli and L. Greco and L. Palopoli and A. Bicchi} } @article {1541, title = {Development of a RGDS-peptide modified polyurethane for tissue regeneration}, journal = {ADVANCES IN EXPERIMENTAL MEDICINE AND BIOLOGY}, volume = {611}, year = {2009}, pages = {249{\textendash}250}, keywords = {Bioengineering}, issn = {0065-2598}, author = {Rechichi, A and Sartori, S and CAPORALE, A and G. Ciardelli and G. Vozzi and MAZZUCCO, L and PEGGION, E and P. Giusti} } @conference {FMDB-NecSys09, title = {Distributed Consensus on Boolean Information}, booktitle = {1st IFAC Workshop on Estimation and Control of Networked Systems (NecSys{\textquoteright}09)}, year = {2009}, month = {September, 24 - }, pages = {72 - 77}, address = {Venice, Italy}, abstract = {

In this paper we study the convergence towards consensus on information in a distributed system of agents communicating over a network. The particularity of this study is that the information on which the consensus is seeked is not represented by real numbers, rather by logical values or compact sets. Whereas the problems of allowing a network of agents to reach a consensus on logical functions of input events, and that of agreeing on set-valued information, have been separately addressed in previous work, in this paper we show that these problems can indeed be attacked in a unified way in the framework of Boolean distributed information systems. Based on a notion of contractivity for Boolean dynamical systems, a necessary and suficient condition ensuring the global convergence toward a unique equilibrium point is presented. This result can be seen as a first step toward the de nition of a unified framework to uniformly address all consensus problems on Boolean algebras.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and N. Dubbini and A. Bicchi} } @conference {FBB-ICRA09, title = {Dynamic Distributed Intrusion Detection for Secure Multi-Robot Systems}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {2723 - 2728}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and F. Babboni and A. Bicchi} } @conference {1544, title = {ENMET: Endothelial Cell Metabolism Mathematical Model,}, booktitle = {2009 Ninth International Conference on Intelligent Systems Design and Applications}, year = {2009}, pages = {654 - 659}, keywords = {Bioengineering}, author = {G. Orsi and C. De Maria and Vozzi, F. and M. A. Guzzardi and A. Ahluwalia and G. Vozzi} } @conference {2029, title = {Event Related Biometrics: Towards an Unobtrusive Sensing Seat System for Continuous Human Authentication}, booktitle = {Proceedings of the ISDA 2009 - 9th International Conference on Intelligent Systems Design and Applications}, year = {2009}, pages = {679{\textendash}682}, doi = {10.1109/ISDA.2009.256}, url = {http://dx.medra.org/10.1109/ISDA.2009.256}, author = {M. Ferro and G. Pioggia and A. Tognetti and Dalle Mura, G. and D. De Rossi} } @conference {FontanelliMP09, title = {A Flexible Linear Control Algorithm for Wireless Sensor Networks Synchronization}, booktitle = {Proc. IEEE Intl. Instrumentation and Measurement Technology Conference (I2MTC)}, year = {2009}, month = {May 5-7}, pages = {384{\textendash}389}, address = {Singapore}, keywords = {Robotics}, author = {D. Fontanelli and D. Macii and D. Petri} } @article {1300, title = {Folaga: a low cost autonomous underwater vehicle combining glider and auv capabilities}, journal = {OCEAN ENGINEERING}, volume = {36}, year = {2009}, pages = {24{\textendash}38}, keywords = {Robotics}, issn = {0029-8018}, doi = {10.1016/j.oceaneng.2008.08.014}, url = {http://dx.medra.org/10.1016/j.oceaneng.2008.08.014}, author = {A. Alvarez and A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta and R. Viviani} } @article {1296, title = {F{\`o}laga: A low cost AUV/glider for coastal environmental sampling}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {151{\textendash}157}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.151}, url = {http://dx.medra.org/10.3723/ut.28.151}, author = {A. Caffaz and A. Caiti and G. Casalino and L. Gualdesi and A. Turetta} } @conference {1462, title = {An FPGA based arrhythmia recognition system for wearable applications}, booktitle = {Intelligent Systems Design and Applications, 2009. ISDA{\textquoteright}09. Ninth International Conference on}, year = {2009}, pages = {660{\textendash}664}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {Armato, A. and Nardini, E. and A Lanata and G. Valenza and Mancuso, C. and E. P. Scilingo and D. De Rossi} } @article {1297, title = {From remote experiments to web-based learning objects: an advanced tele-laboratory for robotics and control systems}, journal = {IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS}, volume = {56}, year = {2009}, pages = {4817{\textendash}4825}, keywords = {Robotics}, issn = {0278-0046}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @article {1299, title = {Generalised Entropy of Curves for the Analysis and Classification of Dynamical Systems}, journal = {ENTROPY}, volume = {11}, year = {2009}, pages = {249{\textendash}270}, keywords = {Robotics}, issn = {1099-4300}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {FontanelliPP09cdc, title = {On the global convergence of a class of distributed algorithms for maximizing the coverage of a WSN}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2009}, month = {December}, pages = {7885 - 7890}, address = {Shanghai (China)}, keywords = {Robotics}, author = {D. Fontanelli and L. Palopoli and R. Passerone} } @conference {1855, title = {HISS: Harbour Intrusion Simulator System}, booktitle = {IEEE Oceans Europe 09}, year = {2009}, month = {May}, pages = {{\textendash}}, keywords = {Robotics}, doi = {10.1109/OCEANSE.2009.5278264}, url = {http://dx.medra.org/10.1109/OCEANSE.2009.5278264}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @conference {SFB-ICRA09, title = {Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {259 - 264}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {R. Schiavi and F. Flacco and A. Bicchi} } @conference {FontanelliPPMP09, title = {Lifetime and Coverage Maximization in Wireless Sensor Networks}, booktitle = {Proc. IFAC Workshop on Estimation and Control of Networked Systems}, year = {2009}, month = {24-26 September}, address = {Venice, Italy}, keywords = {Robotics}, author = {D. Fontanelli and L. Palopoli and R. Passerone and D. Macii and D. Petri} } @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 {1542, title = {A new library of HEMET model: Insulin effects on hepatic metabolism}, journal = {COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE}, volume = {94}, year = {2009}, pages = {181{\textendash}189}, keywords = {Bioengineering}, issn = {0169-2607}, doi = {10.1016/j.cmpb.2008}, author = {CUTRONE, A and C. De Maria and Vinci, B. and Vozzi, F. and A. Ahluwalia and G. Vozzi} } @conference {BSSB09, title = {A new softness display based on bi-elastic fabric}, booktitle = {World Haptics}, year = {2009}, note = {

poster presentation

}, month = {March, 18 - 20}, pages = {382 - 383}, address = {Salt Lake City, USA}, abstract = {

Haptic perception allows to explore and recognize an object by conveying several physical information to mechano-receptors and thermo-receptors lying into our skin throughout the body. The term

}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {DLFSB-IROS09, title = {Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {5487-5494}, address = {St. Louis MO USA}, abstract = {

Variable Stiffness Actuation (VSA) devices are being used to jointly address the issues of safety and performance in physical human-robot interaction. With reference to the VSA-II prototype, we present a feedback linearization approach that allows the simultaneous decoupling and accurate tracking of motion and stiffness reference profiles. The operative condition that avoids control singularities is characterized. Moreover, a momentum-based collision detection scheme is introduced, which does not require joint torque sensing nor information on the time-varying stiffness of the device. Based on the residual signal, a collision reaction strategy is proposed that takes advantage of the proposed nonlinear control to rapidly let the arm bounce away after detecting the impact, while limiting contact forces through a sudden reduction of the stiffness. Simulations results are presented to illustrate the performance of the overall approach. Extensions to the multi-dof case of robot manipulators equipped with VSA-II devices are also considered.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. De Luca and F. Flacco and R. Schiavi and A. Bicchi} } @conference {2027, title = {ntegrating hands-free interface into 3d virtual reality environments}, booktitle = {ARO Non-Manual Control Devices Symposium}, year = {2009}, pages = {{\textendash}}, author = {A. Tognetti and Gulrez, T and N. Carbonaro and G. Dalle Mura and G. Zupone and D. De Rossi} } @article {1328, title = {A phase diagram for microfabrication of geometrically controlled hydrogel scaffolds}, journal = {Biofabrication}, volume = {1}, year = {2009}, pages = {045002}, abstract = {

Hydrogels are considered as excellent candidates for tissue substitutes by virtue of their high water content and biphasic nature. However, the fact that they are soft, wet and floppy renders them difficult to process and use as custom-designed scaffolds. To address this problem alginate hydrogels were modeled and characterized by measuring stress-strain and creep behavior as well as viscosity as a function of sodium alginate concentration, cross-linking time and calcium ion concentration. The gels were then microfabricated into scaffolds using the pressure-assisted microsyringe. The mechanical and viscous characteristics were used to generate a processing window in the form of a phase diagram which describes the fidelity of the scaffolds as a function of the material and machine parameters. The approach can be applied to a variety of microfabrication methods and biomaterials in order to design well-controlled custom scaffolds.

}, keywords = {Bioengineering}, issn = {1758-5090}, doi = {10.1088/1758-5082/1/4/045002}, url = {http://www.ncbi.nlm.nih.gov/pubmed/20811111}, author = {Tirella, A and Orsini, A and G. Vozzi and A. Ahluwalia} } @conference {1795, title = {Pneumatic module of PAM2 microfabrication system: realization of bio-inspired complex scaffolds}, booktitle = {3B International Conference in Bioprinting and Biofabrication}, year = {2009}, address = {Bordeaux, France}, abstract = {

poster

}, keywords = {Bioengineering}, author = {C. De Maria and Tirella, A and A. Ahluwalia and G. Vozzi} } @article {1540, title = {Polyurethane unimorph bender microfabricated with Pressure Assisted Microsyringe (PAM) for biomedical applications}, journal = {MATERIALS SCIENCE AND ENGINEERING. C}, volume = {29}, year = {2009}, pages = {1835{\textendash}1841}, keywords = {Bioengineering}, issn = {0928-4931}, author = {Tartarisco, G. and G. GALLONE and F. Carpi and G. Vozzi} } @article {1543, title = {Preparation and characterization of alginate/gelatin blend films for cardiac tissue engineering}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, volume = {91}, year = {2009}, pages = {447-453}, keywords = {Bioengineering}, issn = {1549-3296}, doi = {10.1002/jbm.a.32216}, author = {Rosellini, E and Cristallini, C and Barbani, N and G. Vozzi and P. Giusti} } @conference {AsaulaFP09, title = {A Probabilistic Methodology for Predicting Injuries to Human Operators in Automated Production lines}, booktitle = {Proc. IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA)}, year = {2009}, month = {22-26 September}, pages = {1 - 8}, address = {Mallorca, Spain}, keywords = {Robotics}, author = {R. Asaula and D. Fontanelli and L. Palopoli} } @conference {1859, title = {R-composition of Lyapunov functions}, booktitle = {2009 17th Mediterranean Conference on Control and Automation}, year = {2009}, pages = {126{\textendash}131}, keywords = {Robotics}, doi = {10.1109/MED.2009.5164527}, url = {http://dx.medra.org/10.1109/MED.2009.5164527}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {BSSB, title = {Rendering softness: a new fabric yielding display}, booktitle = {Workshop for young researchers on human - friendly robotics - Symposium}, year = {2009}, month = {December 3}, address = {Sestri levante (Ge), Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @article {1298, title = {Robotics techniques for data acquisition in underwater archeology}, journal = {INTERNATIONAL JOURNAL OF MECHANICS AND CONTROL}, volume = {10}, year = {2009}, pages = {45{\textendash}51}, keywords = {Robotics}, issn = {1590-8844}, author = {G. Conte and S. M. Zanoli and D. Scaradozzi and A. Caiti} } @conference {ACBBGSFB-IROS09, title = {A Rough-Terrain, Casting Robot for the ESA Lunar Robotics Challenge}, booktitle = {Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems}, year = {2009}, month = {October, 11 - 15}, pages = {3336-3342}, address = {St. Louis MO USA}, abstract = {

This paper describes the design and implementation of DAVID, a lunar vehicle developed for the European Space Agency (ESA) Lunar Robotics Challenge, presenting severe terrain negotiation and sample acquisition challenges. We discuss in some detail two of the main innovative aspects of our entry to the challenge, i.e. the locomotion system and the sample acquisition system. Motivated by the challenge specifications, a range of different locomotion systems were considered, among which we chose a simple, rugged and effective wheeled system. We provide an account of the choice of five different types of wheels, which were designed, analyzed and experimentally tested in conditions similar to the challenge. The system eventually turned out to be very effective in negotiating 89\% slopes of volcanic terrain on the challenge site, Mount Teide in Tenerife. To reduce the distance to be traveled on the difficult terrain and avoid risks in reaching the lowest parts of a crater, the vehicle was endowed with an innovative sample acquisition system, i.e. a casting manipulator. Casting manipulation is a technique in which the end-effector is thrown, the sample material is acquired, and the end-effector is retrieved using a light tether that acts as a

}, keywords = {Robotics}, author = {S. Alicino and M. G. Catalano and F. Bonomo and F. A. W. Belo and G. Grioli and R. Schiavi and A. Fagiolini and A. Bicchi} } @conference {FMDB-NESTER09, title = {Safety and Security in Networked Robotics Systems via Logical Consensus}, booktitle = {International Workshop on Networked embedded and control system technologies: European and Russian R\&D cooperation (NESTER{\textquoteright}09)}, year = {2009}, month = {July, 2 - 5}, address = {Milan, Italy}, keywords = {Embedded Control, Robotics}, author = {S. Martini and A. Fagiolini and G. Dini and A. Bicchi} } @conference {PBB-CDC09, title = {On the Security of Linear Consensus Networks}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, note = {

General Chairs Recognition Awards for Interactive Papers

}, month = {December, 16 - 1}, pages = {4894 - 4901}, address = {Shangai, China}, abstract = {

The task of performing trustworthy computation in a network of autonomous agents in the presence of misbehaving components is the subject of this work. A solution to this problem is relevant for several coordination, formation, and synchronization tasks. Relying only on the information flow of the control protocol, uncooperative behaviors are revealed using an unknown input observer technique. Necessary and sufficient conditions to detect and correctly identify misbehaving nodes are given, together with a study of the genericity of such conditions. It is shown that generically any node of the network can correctly estimate the state of the other agents, and therefore compute any function of the state, provided that the connectivity of the communication graph is strictly greater than the number of misbehaving nodes. An intrusion detection and identification algorithm is described, and its effectiveness is confirmed through a numerical study.

}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and A. Bicchi and F. Bullo} } @article {2026, title = {A SENSING SEAT FOR HUMAN AUTHENTICATION}, journal = {IEEE TRANSACTIONS ON INFORMATION FORENSICS AND SECURITY}, volume = {4}, year = {2009}, pages = {451{\textendash}459}, issn = {1556-6013}, author = {M. Ferro and G. Pioggia and A. Tognetti and N. Carbonaro and D. De Rossi} } @conference {2031, title = {A sensorized glove for hand rehabilitation}, booktitle = {Proceedings of the Annual Northeast Bioengineering Conference}, year = {2009}, month = {3-5 April}, pages = {139{\textendash}140}, doi = {10.1109/NEBC.2009.4967775}, url = {http://dx.medra.org/10.1109/NEBC.2009.4967775}, author = {F. Cutolo and C. Mancinelli and S. Patel and N. Carbonaro and M. Schmid and A. Tognetti and D. De Rossi and P. Bonato} } @conference {FMB-CASE09, title = {Set-Valued Consensus for Distributed Clock Synchronization}, booktitle = {Proc. IEEE Conference on Automation Science and Engineering}, year = {2009}, month = {August, 22-25}, pages = {116 - 121}, address = {Bangalore}, abstract = {

This paper addresses the clock synchronization problem in a wireless sensor network (WSN) and proposes a distributed solution that consists of a form of consensus, where agents are able to exchange data representing intervals or sets. The solution is based on a centralized algorithm for clock synchronization, proposed by Marzullo, that determines the smallest interval that is in common with the maximum number of measured interval. We first show how to convert such an algorithm into a problem involving only operations on sets, and then we convert it into a set

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and S. Martini and A. Bicchi} } @conference {PSFB-CDC09, title = {Shortest Paths for Non-holonomic Vehicles with Limited Field of View Camera}, booktitle = {Proc. IEEE International Conference on Decision and Control}, year = {2009}, month = {December, 16 - 1}, pages = {8434 - 8439}, address = {Shangai, China}, abstract = {

This paper presents a complete characterization of shortest paths for unicycle-like nonholonomic mobile robots equipped with a pinhole camera rigidly fixed with limited Field-Of-View (FOV). We preliminarily provide an alphabet of optimal control words and then we demonstrate how to obtain the partition induced by shortest path in the vehicle plane. The word univocally associated to a region encodes the shortest path from any starting point in that region to the goal point of the mobile robot without violating the FOV constraints.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and P Salaris and D. Fontanelli and A. Bicchi} } @article {1538, title = {Simplified cell culture method for the diagnosis of atypical Primary Ciliary}, journal = {THORAX}, volume = {64}, year = {2009}, pages = {1077-81}, keywords = {Bioengineering}, issn = {0040-6376}, doi = {10.1136/thx.2008}, author = {M. PIFFERI and F. Montemurro and CANGIOTTI, A M and RAGAZZO, V and DI CICCO, M and Vinci, B. and G. Vozzi and MACCHIA, P and BONER, A L} } @conference {1854, title = {Stability analysis of dynamical systems via R-functions}, booktitle = {Proc. European Control Conference}, year = {2009}, month = {July}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi and S Grammatico} } @conference {1857, title = {System performance trade-off in underwater harbour protection}, booktitle = {Proc. Int. Conf. Underwater Acoustic Measurements 09}, year = {2009}, month = {Jun}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Caiti and A. Munaf{\`o} and G. Vettori} } @article {1295, title = {Underwater vehicle technology in the European research project VENUS}, journal = {UNDERWATER TECHNOLOGY}, volume = {28}, year = {2009}, pages = {175{\textendash}185}, keywords = {Robotics}, issn = {1756-0543}, doi = {10.3723/ut.28.175}, url = {http://dx.medra.org/10.3723/ut.28.175}, author = {G. Conte and L. Gambella and D. Scaradozzi and S. M. Zanoli and A. Caiti and V. Calabr{\`o} and A. Alcocer and J. Alves and B. Cardeira and R. Cunha and F. Curado and P. Oliveira and A. Oliveira and A. Pascoal and M. Rufino and L. Sebasti{\~a}o and C. Silvestre} } @conference {1858, title = {On the use of the generalised entropy of curves to evaluate chaotic behaviours}, booktitle = {International Scientific Conference on Physics and Control}, year = {2009}, month = {Aug}, pages = {{\textendash}}, keywords = {Robotics}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @inbook {FSBB09_STAR, title = {Visual appearance mapping for optimal vision based servoing}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {54 - Experimental Robotics}, year = {2009}, month = {March 28}, pages = {353 - 362}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, author = {D. Fontanelli and P Salaris and F. A. W. Belo and A. Bicchi}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @article {FDSBB09, title = {Visual Servoing in the Large}, journal = {International Journal of Robotics Research}, volume = {28}, number = {6}, year = {2009}, month = {June}, pages = {802 - 814}, abstract = {

In this paper we consider the problem of maneuvering an autonomous robot in complex unknown environments using vision. The goal is to accurately servo a wheeled vehicle to a desired posture using only feedback from an on-board camera, taking into account the nonholonomic nature of the vehicle kinematics and the limited field-ofview of the camera. With respect to existing visual servoing schemes, which achieve similar goals locally (i.e. when the desired and actual camera views are sufficiently similar), we propose a method to visually navigate the robot through an extended visual map before eventually reaching the desired goal. The map comprises a set of images, previously stored in an exploratory phase, that convey both topological and metric information regarding the connectivity through feasible robot paths and the geometry of the environment, respectively. Experimental results on a laboratory setup are reported showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and A. Danesi and F. A. W. Belo and P Salaris and A. Bicchi} } @conference {2030, title = {Wearable Kinesthetic Systems and Emerging Technologies in Actuation for Upperlimb Neurorehabilitation}, booktitle = {Proc. of the IEEE EMBC 2009}, year = {2009}, month = {02/09/ - 06/09/}, pages = {6830{\textendash}6833}, doi = {10.1109/IEMBS.2009.5334481}, url = {http://dx.medra.org/10.1109/IEMBS.2009.5334481}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @conference {1633, title = {Analisi del battito ciliare nella discinesia ciliare tramite algoritmi di motion detection}, booktitle = {Discinesie ciliarie e malattie respiratorie croniche del bambino: dalla diagnosi differenziale alla qualit{\`a}~ della vita}, year = {2008}, pages = {{\textendash}}, address = {14-15 March 2008, Pisa, Italy}, keywords = {Bioengineering}, author = {G. MANTOVANI and M. A. Guzzardi and RAGAZZO, V and M. PIFFERI and G. Vozzi} } @conference {GFB08, title = {Anytime Control Algorithms for Real-Time Embedded Systems}, booktitle = {Int Conf of Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981/2008}, year = {2008}, pages = {158 - 171}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {St. Louis, MO}, abstract = {

In this paper we consider the problem of designing controllers for linear plants to be implemented in embedded platforms under stringent real-time constraints. These include preemptive scheduling schemes, under which the maximum execution time allowed for control software tasks is uncertain. We propose an {\textquoteleft}{\textquoteleft}anytime control{\textquoteright}{\textquoteright} design approach, consisting in a hierarchy of controllers for the same plant. Higher controllers in the hierarchy provide better closed-loop performance, while typically requiring a larger worst-case execution time. We provide a procedure for the design of controllers which, together with a conditioning process of the stochastic scheduling, provides better performance than prevailing worst case-based design, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi}, editor = {M. Egerstedt and B. Mishra} } @inbook {1631, title = {Biomaterials fabrication and processing handbook}, year = {2008}, pages = {{\textendash}}, chapter = {Rapid Prototyping Methods for Tissue Engineering Applications}, keywords = {Bioengineering}, author = {G. Vozzi and A. Ahluwalia} } @conference {1642, title = {Biomimicry of PAM Microfabricated Hydrogel Scaffolds}, booktitle = {International Conference on Digital Printing Technologies Conference Proceedings}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {Tirella, A and G. Vozzi and A. Ahluwalia} } @article {1550, title = {Chitosan/gelatin blends for biomedical applications}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, volume = {86}, year = {2008}, pages = {311{\textendash}322}, keywords = {Bioengineering}, issn = {1549-3296}, author = {PULIERI, E and V. Chiono and G. Ciardelli and G. Vozzi and A. Ahluwalia and C. Domenici and Vozzi, F. and P. Giusti} } @article {1546, title = {Comparative study of porous and engineered biomaterials}, journal = {INTERNAL MEDICINE}, volume = {15}, year = {2008}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {0918-2918}, author = {Mattioli-Belmonte, M. and K KYRIAKIDOU and LUCARINI, G and ZIZZI, A and A. Ahluwalia and G. Vozzi} } @conference {1649, title = {Composite polyurethane and carbon black bimorph bender microfabricated with pressure assisted microsyringe (PAM) for biomedical applications}, year = {2008}, keywords = {Bioengineering}, author = {Tartarisco, G. and G. GALLONE and F. Carpi and G. Vozzi} } @conference {FPVDB08, title = {Consensus-based Distributed Intrusion Detection for Multi-Robot Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {120 - 127}, abstract = {

This paper addresses a security problem in robotic multi-agent systems, where agents are supposed to cooperate according to a shared protocol. A distributed Intrusion Detection System (IDS) is proposed here, that detects possible non- cooperative agents. Previous work by the authors showed how single monitors embedded on-board the agents can detect non- cooperative behavior, using only locally available information. In this paper, we allow such monitors to share the collected information in order to overcome their sensing limitation. In this perspective, we show how an agreement on the type of behavior of a target-robot may be reached by the monitors, through execution of a suitable consensus algorithm. After formulating a consensus problem over non-scalar quantities, and with a generic update function, we provide conditions for the consensus convergence and an upper bound to its transient duration. Effectiveness of the proposed solution is finally shown through simulation of a case study.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and M. Pellinacci and M. Valenti and G. Dini and A. Bicchi} } @conference {MMB-CDC08, title = {Controllability Decompositions of Networked Systems Through Quotient Graphs}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {5244 - 5249}, keywords = {Embedded Control, Robotics}, author = {S. Martini and M. Egerstedt and A. Bicchi} } @article {1559, title = {Controlled in vitro growth of cell microtubes: towards the realisation of artificial microvessels}, journal = {BIOMEDICAL MICRODEVICES}, year = {2008}, keywords = {Bioengineering}, issn = {1387-2176}, author = {Migliore, A. and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @article {1549, title = {Criticality of the Biological and Physical Stimuli Array Inducing Resident Cardiac Stem Cell Determination}, journal = {STEM CELLS}, volume = {26}, year = {2008}, pages = {2093{\textendash}2103}, keywords = {Bioengineering}, issn = {1066-5099}, author = {G. Forte and CAROTENUTO, F and F. Pagliari and S. Pagliari and COSSA, P and FIACCAVENTO, R and A. Ahluwalia and G. Vozzi and Vinci, B. and SERAFINO, A and RINALDI, A and E. Traversa and CAROSELLA, L and M. Minieri and P. Di Nardo} } @conference {FTBD08, title = {Decentralized Deployment of Mobile Sensors for Optimal Connected Sensing Coverage}, booktitle = {Distributed Computing in Sensor Systems}, series = {Lecture Notes in Computer Science}, volume = {5067/2008}, year = {2008}, pages = {486 - 491}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper, we address the optimal connected sensing coverage problem, i.e., how mobile sensors with limited sensing capabilities can cooperatively adjust their locations so as to maximize the extension of the covered area while avoiding any internal "holes", areas that are not covered by any sensor. Our solution consists in a distributed motion algorithm that is based on an original extension of the Voronoi tessellation.

}, keywords = {Embedded Control, Robotics}, url = {http://dx.doi.org/10.1007/978-3-540-69170-9_34}, author = {A. Fagiolini and L. Tani and A. Bicchi and G. Dini} } @article {1629, title = {Degradable block polyurethanes from nontoxicbuilding blocks as scaffold materials to support cell growth and proliferation}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Rechichi, A and G. Ciardelli and D{\textquoteright}Acunto, M and G. Vozzi and P. Giusti} } @conference {CB-CDC08, title = {Delay compensation in packet-switching networked controlled systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {3620 - 3625}, keywords = {Embedded Control, Robotics}, author = {A. Chaillet and A. Bicchi} } @conference {GGP08, title = {Deployment of sensors in a network-like environment}, booktitle = {Proc. 47th IEEE Conference on Decision and Control}, year = {2008}, month = {December}, pages = {4257{\textendash}4262}, address = {Cancun, Mexico}, keywords = {Robotics}, doi = {10.1109/CDC.2008.4738862}, author = {L. Greco and M. Gaeta and B. Piccoli} } @article {1630, title = {Electroactive Carbon Nanotube Actuators: Soft-Lithographic Fabrication and Electro-chemical Modelling}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0928-4931}, author = {A. Mazzoldi and M. Tesconi and A. Tognetti and W. Rocchia and G. Vozzi and G. Pioggia and A. Ahluwalia and D. De Rossi} } @article {1560, title = {Enzymatically-modified melt-extruded guides for peripheral nerve repair}, journal = {ENGINEERING IN LIFE SCIENCES}, year = {2008}, keywords = {Bioengineering}, issn = {1618-0240}, author = {V. Chiono and G. Ciardelli and G. Vozzi and CORTEZ, J and Barbani, N and GENTILE, P and P. Giusti} } @conference {FBZ08, title = {Generalized Fibonacci Dynamical Systems}, booktitle = {Int. Conf. On Fibonacci Numbers and their applications}, year = {2008}, keywords = {Robotics}, author = {A. Balestrino and A. Fagiolini and G. Zini} } @article {1556, title = {Genipin-crosslinked chitosan/gelatin blends for biomedical applications}, journal = {JOURNAL OF MATERIALS SCIENCE. MATERIALS IN MEDICINE}, year = {2008}, keywords = {Bioengineering}, issn = {0957-4530}, author = {V. Chiono and PULIERI, E and G. Vozzi and G. Ciardelli and A. Ahluwalia and P. Giusti} } @article {1547, title = {HEMET: mathematical model of biochemical pathways for simulation and prediction of HEpatocyte METabolism}, journal = {COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE}, volume = {92}, year = {2008}, pages = {121{\textendash}134}, keywords = {Bioengineering}, issn = {0169-2607}, author = {C. De Maria and GRASSINI, D and Vozzi, F. and Vinci, B. and A. Landi and A. Ahluwalia and G. Vozzi} } @article {BDDLPPSS08, title = {Heterogeneous Wireless Multirobot System}, journal = {Robotics and Automation Magazine, IEEE}, volume = {15}, number = {1}, year = {2008}, pages = {62{\textendash}70}, keywords = {Robotics}, doi = {10.1109/M-RA.2007.914925}, url = {http://dx.doi.org/10.1109/M-RA.2007.914925}, author = {A. Bicchi and A. Danesi and G. Dini and La Porta, S. and L. Pallottino and I. M. Savino and R. Schiavi} } @article {1281, title = {A High-Throughput Bioreactor System for Simulating Physiological Environments}, journal = {IEEE T Ind Electron}, volume = {55}, year = {2008}, pages = {3273{\textendash}3280}, keywords = {Bioengineering}, doi = {10.1109/TIE.2008.928122}, author = {D. Mazzei and Vozzi, F. and Cisternino, A. and G. Vozzi and A. Ahluwalia} } @conference {MSVBB-CDC08, title = {Hybrid system reduction}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {227 -232}, keywords = {Embedded Control, Robotics}, author = {E. Mazzi and A. Sangiovanni Vincentelli and A. Balluchi and A. Bicchi} } @article {PB08, title = {Hypercubes are minimal controlled invariants for discrete-time linear systems with quantized scalar input}, journal = {Nonlinear Analysis. Hybrid systems}, number = {2}, year = {2008}, pages = {706-720}, abstract = {

Quantized linear systems are a widely studied class of nonlinear dynamics resulting from the control of a linear system through finite inputs. The stabilization problem for these models shall be studied in terms of the so called practical stability notion that essentially consists in confining the trajectories into sufficiently small neighborhoods of the equilibrium (ultimate boundedness) . In this paper, we study the problem of describing the smallest sets into which any feedback can ultimately confine the state, for a given linear single-input system with an assigned finite set of admissible input values (quantization). We show that a controlled invariant set of minimal size is contained in a family of sets (namely, hypercubes in controller-canonical form), previously introduced in [14, 15] . A comparison is presented which quantifies the improvement in tightness of the proposed analysis technique with respect to classical results using quadratic Lyapunov functions.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi} } @article {1275, title = {IMPROVED BIOREACTOR CHAMBER}, year = {2008}, keywords = {Bioengineering}, issn = {P121684GB}, author = {A. Ahluwalia and D. Mazzei and Vozzi, F.} } @article {1545, title = {In vitro engineering of the liver using multiple axis stimuli}, journal = {INTERNAL MEDICINE}, volume = {15}, year = {2008}, pages = {13{\textendash}15}, keywords = {Bioengineering}, issn = {0918-2918}, author = {Vinci, B. and G. Vozzi and AVOGARO, A and A. Ahluwalia} } @conference {DPB-CDC08, title = {Left invertibility of discrete systems with finite inputs and quantized output}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, pages = {4687 - 4692}, abstract = {

The aim of this paper is to address left invertibility for dynamical systems with inputs and outputs in discrete sets. We study systems that evolve in discrete time within a continuous state-space. Quantized outputs are generated by the system according to a given partition of the state-space, while inputs are arbitrary sequences of symbols in a finite alphabet, which are associated to specific actions on the system. We restrict to the case of contractive dynamics for fixed inputs. The problem of left invertibility, i.e. recovering an unknown input sequence from the knowledge of the corresponding output string, is addressed using the theory of Iterated Function Systems (IFS), a tool developed for the study of fractals. We show how the IFS naturally associated to a system and the geometric properties of its attractor are linked to the left invertibility property of the system. Our main results are a necessary and sufficient condition for a given system to be left invertible with probability one on the space of inputs (i.e. for almost all input sequences), and necessary and sufficient conditions for left invertibility and uniform left invertibility under some weak additional hypotheses. A few examples are presented to illustrate the application of the proposed method.

}, keywords = {Embedded Control, Robotics}, author = {N. Dubbini and B. Piccoli and A. Bicchi} } @conference {FVB-CDC08Ext, title = {Logical Consensus for Distributed Network Agreement}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2008}, note = {

Extended Version

}, pages = {5250 - 5255}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and E.M. Visibelli and A. Bicchi} } @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.} } @conference {1643, title = {Nanotechnology in Tissue Engineering}, booktitle = {Congresso Nazionale di Bioingegneria 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Ciardelli and V. Chiono and Rechici, A and Sartori, S and G. Vozzi and Bignardi, C and Georgiev, G and P. Giusti} } @conference {1644, title = {Nerve guide for peripheral nerve re generation}, year = {2008}, keywords = {Bioengineering}, author = {Tonda-Turo, C and V. Chiono and GEUNA, S and Perroteau, I and G. Vozzi and G. Ciardelli} } @article {1551, title = {Nerve regeneration using novel biomaterial supports}, journal = { Biomedicine and Pharmacotherapy }, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0753-3322}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {1635, title = {Nerve regeneration using novel biomaterial supports}, booktitle = {Biomedicine \& Pharmacotherapy}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Vozzi and V. Chiono and Vozzi, F. and C. Salvadori and F. Dini and F. Carlucci and ARISPICI, M and S. Burchielli and G. Ciardelli and P. Giusti} } @conference {MED08-HTB, title = {Neural network based robust adaptive control for a variable stiffness actuator}, booktitle = {Control and Automation, 16 th Mediterranean Conference on Control and Automation}, year = {2008}, pages = {1028 - 1034}, abstract = {

In this paper we present a robust adaptive controller based on a neural network (NN) for a variable stiffness actuator (VSA). The controller is able to independently set the mechanical stiffness and position at the joint shaft to guarantee robustness with respect to slowly time-varying and unmodeled friction coefficients affecting the dynamics of the actuator. The lumped uncertainties of the VSA including unmodeled dynamics are considered and approximated by a simple NN so that the controlled system is asymptotically stable, and remains effective while process conditions vary. To cope with the reconstruction error of the NN, a sliding mode like additional robust control term is introduced. The proofs for the uniformly ultimately bounded (UUB) and uniform asymptotic (UAS) stabilities for the closed-loop system are provided in detail via Lyapunov theory. Simulation and experimental results are reported in support of both validity and performance of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {S. Huh and G. Tonietti and A. Bicchi} } @article {1558, title = {A New Bio-Inspired Robot Based on Senseless Motion: Theoretical study and Preliminary Technological Results}, journal = {MULTIDISCIPLINE MODELING IN MATERIALS AND STRUCTURES}, year = {2008}, keywords = {Bioengineering}, issn = {1573-6105}, author = {COTRONEO, A and G. Vozzi and GEROVASI, L and D. De Rossi} } @conference {SBFGB08, title = {Optimal Paths in a Constrained Image Plane for Purely Image-Based Parking}, booktitle = {IROS}, year = {2008}, month = {22-26 Sept}, pages = {1673-1680}, abstract = {

This paper presents a correct solution to the optimal feedback control for a nonholonomic vehicle with limited field-of-view. Previous work on this subject has shown that the search for a shortest path can be limited to simple families of trajectories. We preliminarily provide an extension of the alphabet of optimal control words, to cover some regions of the vehicle plane where the synthesis of turns out to be suboptimal. The main contribution of this paper is an algorithm to translate the optimal synthesis to the image plane, thus enabling a purely image-based optimal control scheme. This allows better performance and increases the robustness of the overall process, avoiding the need of slowly-converging and error-prone parameter estimation algorithms. Simulations and experiments are reported which demonstrate the effectiveness of the proposed technique.

}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and L. Greco and A. Bicchi} } @article {1553, title = {Optimization of PAM Scaffolds for Neural Tissue Engineering: Preliminary Study on an SH-SY5Y Cell Line}, journal = {TISSUE ENGINEERING, PART A}, year = {2008}, keywords = {Bioengineering}, issn = {1937-3341}, author = {KULLENBERG, J and ROSATINI, F and G. Vozzi and BIANCHI, F and A. Ahluwalia and C. Domenici} } @conference {1796, title = {PAM Composite Scaffold of PCL and Carbon NanoTubes for Bone Tissue Regeneration}, booktitle = {National Conference of Bioengineering}, year = {2008}, pages = {369}, address = {Pisa, Italy}, abstract = {

poster

}, keywords = {Bioengineering}, author = {Mattioli-Belmonte, M. and Fantauzzi, V and K KYRIAKIDOU and Tirella, A and A. Ahluwalia and G. Vozzi} } @article {1557, title = {PAM-microfabricated polyurethane scaffolds: in vivo and in vitro preliminary studies}, journal = {MACROMOLECULAR BIOSCIENCE}, year = {2008}, keywords = {Bioengineering}, issn = {1616-5187}, author = {G. Vozzi and Rechichi, A and F. Dini and C. Salvadori and Vozzi, F. and S. Burchielli and F. Carlucci and ARISPICI, M and G. Ciardelli and P. Giusti and A. Ahluwalia} } @article {1548, title = {A patented drop-free trocar for ophthalmic applications: design and realization [from mind to market]}, journal = {IEEE INDUSTRIAL ELECTRONICS MAGAZINE}, volume = {2}, year = {2008}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {1932-4529}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and Palla, M.} } @article {1626, title = {A patented drop-free trocar for ophthalmic applications: design and realization [from mind to market]}, journal = {IEEE INDUSTRIAL ELECTRONICS MAGAZINE}, volume = {2}, year = {2008}, pages = {4{\textendash}8}, issn = {1932-4529}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and Palla, M. and G. Vozzi} } @conference {RMSBR08, title = {A Permanent Magnets Exciter for MRFs-based Haptic Interfaces}, booktitle = {IEEE Conference on Electromagnetic Field Computation}, year = {2008}, address = {Atene}, keywords = {Haptics}, author = {R. Rizzo and A. Musolino and E. P. Scilingo and A. Bicchi and M. Raugi} } @conference {AMC08, title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance}, booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control}, year = {2008}, pages = {9-14}, abstract = {

In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.

}, keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics}, author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti} } @article {1554, title = {Poly(3-hydroxybutyrate-co-3-hydroxyvalerate)/poly(epsilon-caprolactone) blends for tissue engineering applications in the form of hollow fibers}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {V. Chiono and G. Ciardelli and G. Vozzi and SOTGIU, MG and Vinci, B. and C. Domenici and P. Giusti} } @conference {1645, title = {Quantitative assesment of nerve reneration by electromyographical and electroneurographical signals}, year = {2008}, author = {C. De Maria and D. S. POGGI and S. Burchielli and G. Vozzi} } @article {1555, title = {Rapid-prototyped and salt-leached PLGA scaffolds condition cell morpho-functional behaviour}, journal = {JOURNAL OF BIOMEDICAL MATERIALS RESEARCH. PART A}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1549-3296}, author = {Mattioli-Belmonte, M. and G. Vozzi and K KYRIAKIDOU and PULIERI, E and LUCARINI, G and Vinci, B. and PUGNALONI, A and BIAGINI, G and A. Ahluwalia} } @conference {1641, title = {Realizzazione di strutture micro fabbricate tramite tecnica di micro Laser Sintering per applicazione alla Tissue Engineering}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Criscenti and Tirella, A and A. Ahluwalia and P. Giusti and G. Vozzi} } @conference {1461, title = {Real-time discrimination of multiple cardiac arrhythmias for wearable systems based on neural networks}, booktitle = {Computers in Cardiology, 2008}, year = {2008}, pages = {1053{\textendash}1056}, publisher = {IEEE}, organization = {IEEE}, keywords = {Bioengineering}, author = {G. Valenza and A Lanata and M. Ferro and E. P. Scilingo} } @conference {MED08-GFB, title = {Robust Almost Sure Stability for Uncertain Stochastically Scheduled Anytime Controllers}, booktitle = {Control and Automation, 16 th Mediterranean Conference on Control and Automation}, year = {2008}, pages = {249 - 254}, abstract = {

In this paper we consider closed loop stability of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant, i.e.

}, keywords = {Robotics}, author = {D. Fontanelli and L. Greco and A. Bicchi} } @article {HB08, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, volume = {45/2008}, year = {2008}, publisher = {Springer}, address = {Berlin, Heidelberg}, abstract = {

Preface: It is no coincidence that in many languages, deeply involving emotions and feelings are described as "touching". Touch appears indeed to be the most direct, less intellectually mediated sense. As such, it should be a fundamental ingredient of any system aimed at providing compelling sensations of remote presence. Generation of high-definition haptic feedback will be crucially important for driving a sense of Presence in next generation immersive VR and teleoperation systems. The perspective in which this book is conceived is that of understanding and enabling an experience of presence not limited to "being there", but extended to "being in touch" with the virtual or remote surroundings. Despite of numerous technological advances in this field it appears that the development of fully immersive haptic displays cannot proceed by technological innovations alone but requires a deep understanding and utilization of the psychophysical mechanisms of human haptic perception. On one hand, technological innovations are needed to increase the richness and accuracy of physically generated haptic stimuli. The generation of a one-to-one copy of the real world seems, however, to be unfeasible due to the inherent complexity of the necessary devices and stringent physiological and mechanical constraints. On the other hand, advances in the understanding of the information processing of the multidimensional sense of touch contribute to overcome these fundamental technological constraints. Limitations of the human perceptual system can be exploited to provide a realistic haptic sensation without getting all the physical parameters completely right. Perceptual limitations already helped in the design of advanced visual and auditory displays. This book summarizes main results of the TOUCH-HapSys research project financially supported by the 5th Framework IST Programme of the European Union. It provides an important contribution towards a new generation of high-fidelity haptic display technologies. The uniqueness of this book is its interdisciplinary approach highlighting the field of haptic research from a neuropsychological as well as a technological point of view. It provides readers with recent advances in the study of human haptic (kinesthetic, tactile, temperature) and mul-timodal (visual, auditory, haptic) perception mechanisms and with innovations in the field of haptic display technology. It shows that both lines of research are intimately connected, not only because biological sciences inspire and enable technology improvement, but also because novel devices offer new facilities for the experimental testing of psychophysical hypotheses. This book is structured in two parts: A. Fundamental Psychophysical and Neuropsychological Research and B. Technology and Applications. Chapters in part A. concentrate on the study of the basic mechanisms of touch, involving neurophysiology, psychophysics, and functional mappings in the brain. In-depth study of the psychophysiology of the sense of touch establishes connections between haptic fundamental perception and virtual-reality oriented technology. Part B. addresses new technologies to significantly improve haptic and multimodal feedback systems. These include novel actuator designs, software solutions for haptic rendering, and applications. The two parts are not however separated, and the many connections and synergies between the two complementary domains of research are highlighted in the text. Finally the editors would like to thank all the authors for their valuable contributions to this book. The quality and freshness found in each chapter are due to the excellent work carried out by the authors.

}, keywords = {Haptics, Robotics}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @inbook {HB08-1, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {39 - 60}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {The Role of Tactile Flow in Processing Dynamic Haptic Stimuli}, address = {Berlin, Heidelberg}, abstract = {

Dynamic stimuli in visual and tactile sensory modalities share fundamental psychophysical features that can be explained by similar computational models. In vision, information about relative motion between objects and the observer are mainly processed by optic flow, which is a 2D field of velocities associated with variation of brightness patterns in the image plane. It provides important information about cues for region and boundary segmentation, shape recovery, and so on. For instance, radial patterns of optic flow are often used to estimate time before contact with an approaching object. We put forward the hypothesis that a similar behavior can be present in the tactile domain, in which an analogous paradigm to optic flow might exist. Moreover, as optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect and Ouchi

}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @inbook {HB08-2, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {155-178}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {Rheological Device}, address = {Berlin, Heidelberg}, abstract = {

In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.

}, keywords = {Haptics, Robotics}, author = {N. Sgambelluri and E. P. Scilingo and R. Rizzo and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @conference {PMB08, title = {Steering a Leader-Follower Team via Linear Consensus}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {4981/2008}, year = {2008}, pages = {642-645}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

The paper considers the problem of driving a formation of autonomous mobile agents. The group of mobile devices is described as a leader{\textendash}follower network, where the followers update their position using a simple local consensus procedure, while the leaders, whose positions represent the control inputs of the network, are free to move. We characterize the transient behavior of the network, and solve the containment problem without relying on auxiliary sensors.

}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and S. Martini and A. Bicchi}, editor = {M. Egerstedt and B. Mishra} } @article {1628, title = {Surface modification of a synthetic polyurethane by plasma glow discharge: preparation and characterisation of bioactive monolayers}, journal = {REACTIVE \& FUNCTIONAL POLYMERS}, volume = {68}, year = {2008}, pages = {809{\textendash}821}, keywords = {Bioengineering}, issn = {1381-5148}, author = {Sartori, S and Rechichi, A and G. Vozzi and D{\textquoteright}Acunto, M and HEINE, E and P. Giusti and G. Ciardelli} } @conference {1639, title = {Sviluppo e caratterizzazione meccanica di scaffold a base di collagene per la rigenerazione della cartilagine}, booktitle = {Congresso Nazionale Biomateriali 2008}, year = {2008}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Mattei and F. Montemurro and A. Ahluwalia and G. Vozzi} } @article {BRB07, title = {Tactile flow explains haptic counterparts of common visual illusions}, journal = {Brain Res Bull.}, volume = {75}, number = {6}, year = {2008}, month = {April 15}, pages = {737-741}, abstract = {

Interaction with the external world requires the ability to perceive dynamic changes in complex sensorial input and react promptly. Here we show that perception of dynamic stimuli in the visual and tactile sensory modalities share fundamental psychophysical aspects that can be explained by similar computational models. In vision, optic flow provides information on relative motion between the individual and the content of percept. For instance, radial patterns of optic flow are used to estimate time before contact with an approaching object4. Similarly, in the tactile modality, radial patterns of stimuli provide information on softness of probed objects3. Optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect10. Here we introduce a computational model of tactile flow, which is intimately related to existing models for the visual counterpart. The model accounts for psychophysical aspects of dynamic tactile perception and predicts illusory phenomena in the tactile domain, analogous to the barber-pole effect. When subjects touched translating pads with differently oriented gratings, they perceived a direction of motion that was significantly biased towards the orientation of the gratings. Therefore, these findings indicate that visual and tactile flow share similarities at the psychophysical and computational level and may be intended for similar perceptive goals. Results of this analysis have impact on the engineering of better haptic and multimodal interfaces for human-computer interaction.

}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and E. Ricciardi and P. Pietrini} } @inbook {1632, title = {Tissue Engineering: Roles, Materials and Applications}, year = {2008}, pages = {{\textendash}}, chapter = {Gellan/Gelatin-Based Biomaterials for Tissue Engineering}, keywords = {Bioengineering}, author = {V. Chiono and G. Vozzi and G. Ciardelli} } @conference {BFDS08, title = {Tolerating Malicious Monitors in Detecting Misbehaving Robots}, booktitle = {IEEE International Workshop on Safety, Security, and Rescue Robotics}, year = {2008}, pages = {108 - 114}, address = {Tohoku University Aobayama Campus, Sendai, Japan}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and A. Bicchi and G. Dini and I. M. Savino} } @article {FSB08, title = {Toward Soft Robot you can Depend on}, journal = {IEEE Robotics and Automation Magazine}, volume = {15}, number = {3}, year = {2008}, pages = {31 - 41}, keywords = {Embedded Control, Robotics}, author = {R. Filippini and S. Sen and A. Bicchi} } @article {1400, title = {Underwater cartography for archaeology in the VENUS project}, journal = {GEOMATICA}, volume = {62}, year = {2008}, pages = {419{\textendash}427}, keywords = {Bioengineering}, issn = {1195-1036}, author = {P. Drap and J. SEINTURIER and G. Conte and A. Caiti and D. Scaradozzi and S. M. Zanoli and P. GAMBOGI} } @article {CHLOscl05, title = {Uniform Semiglobal Practical Asymptotic Stability for Non-autonomous Cascaded Systems and Applications}, journal = {Automatica}, volume = {44}, year = {2008}, pages = {337-347 }, abstract = {

It is due to the modularity they provide that results for cascaded systems have proved their utility in numerous control applications as well as in the development of general control techniques based on {\textquoteleft}{\textquoteleft}adding integrators{\textquoteright}{\textquoteright}. Nevertheless, the standing assumptions in most of the present literature on cascaded systems is that, when \emph{decoupled}, the subsystems constituting the cascade are uniformly globally asymptotically stable (UGAS). Hence existing results fail in the more general case when the subsystems are uniformly semiglobally practically asymptotically stable (USPAS). This situation is often encountered in control practice, {\i}t e.g.}, in control of physical systems with external perturbations, measurement noise, unmodelled dynamics, {\i}t etc}. After giving a rigorous framework for the analysis of such stability properties, this paper generalizes previous results for cascades by establishing that, under a uniform boundedness condition on its solutions, the cascade of two USPAS systems remains USPAS. An analogous result is derived for uniformly semiglobally asymptotically stable (USAS) systems in cascade. Furthermore, we show the utility of our results in the PID control of mechanical systems affected by unknown non-dissipative forces and considering the dynamics of the DC motors.

}, keywords = {Robotics}, doi = {10.1016/j.automatica.2007.05.019}, author = {A. Chaillet and A. Lor} } @conference {DFB, title = {Visual Servoing on Image Maps}, booktitle = {Experimental Robotics}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {39}, year = {2008}, note = {

proceedings of the 2006 symposium of experimental robotics

}, pages = {277 - 286}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, keywords = {Robotics}, author = {A. Danesi and D. Fontanelli and A. Bicchi} } @conference {iser08, title = {Visual SLAM for Servoing for Appearance Based Topological Maps}, booktitle = {Proc. Ints. Symp. Experimental Robotics}, series = {Experimental Robotics}, volume = {39/2008}, year = {2008}, pages = {277-286}, keywords = {Robotics}, author = {P Salaris and F. A. W. Belo and D. Fontanelli and A. Bicchi}, editor = {Springer-Verlag} } @conference {schiavi2008icra, title = {VSA-II: A Novel Prototype of Variable Stiffness Actuator for Safe and Performing Robots Interacting with Humans}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2008}, pages = {2171 - 2176}, abstract = {

This paper presents design and performance of a novel joint based actuator for a robot run by variable stiffness actuation, meant for systems physically interacting with humans. This new actuator prototype (VSA-II) is developed as an improvement over our previously developed one reported in [9], where an optimal mechanical-control co-design principle established in [7] is followed as well. While the first version was built in a way to demonstrate effectiveness of variable impedance actuation (VIA), it had limitations in torque capacities, life cycle and implementability in a real robot. VSA-II overcomes the problem of implementability with higher capacities and robustness in design for longer life. The paper discusses design and stiffness behaviour of VSA-II in theory and experiments. A comparison of stiffness characteristics between the two actuator is discussed, highlighting the advantages of the new design. A simple, but effective PD scheme is employed to independently control joint-stiffness and joint-position of a 1-link arm. Finally, results from performed impact tests of 1- link arm are reported, showing the effectiveness of stiffness variation in controlling value of a safety metric.

}, keywords = {Robotics}, author = {R. Schiavi and G. Grioli and S. Sen and A. Bicchi} } @article {1655, title = {Acute retinal ganglion cell injury caused by intraocular pressure spikes is mediated by endogenous extracellular ATP}, journal = {EUROPEAN JOURNAL OF NEUROSCIENCE}, volume = {25}, year = {2007}, pages = {2741{\textendash}2754}, keywords = {Bioengineering}, issn = {0953-816X}, author = {RESTA, V. and NOVELLI, E. and G. Vozzi and SCARPA, C. and CALEO, M. and A. Ahluwalia and SOLINI, A. and SANTINI, E. and PARISI, V. and DI VIRGILIO, F. and GALLI-RESTA, L.} } @article {1402, title = {Adaptive on-line planning of environmental sampling missions with a team of cooperating autonomous underwater vehicles}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {80}, year = {2007}, pages = {1151{\textendash}1168}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170701230973}, url = {http://dx.medra.org/10.1080/00207170701230973}, author = {A. Caiti and A. Munaf{\`o} and R. Viviani} } @conference {GFB07, title = {Almost Sure Stability of Anytime Controllers via Stochastic Scheduling}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, month = {December}, pages = {5640-5645}, abstract = {

In this paper we consider scheduling the execution of a number of different software tasks implementing a hierarchy of real-time controllers for a given plant. Controllers are considered to be given and ordered according to a measure of the performance they provide. Software tasks implementing higher-performance controllers are assumed to require a larger worst-case execution time. Control tasks are to be scheduled within given availability limits on execution time, which change stochastically in time. The ensuing switching system is prone to instability, unless a very conservative policy is enforced of always using the simplest, least performant controller. The presented method allows to condition the stochastic scheduling of control tasks so as to obtain a better exploitation of computing capabilities, while guaranteeing almost sure stability of the resulting switching system.

}, keywords = {Embedded Control, Robotics}, author = {L. Greco and D. Fontanelli and A. Bicchi} } @conference {1470, title = {An Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery}, booktitle = {Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on}, year = {2007}, pages = {25{\textendash}30}, publisher = {IEEE}, organization = {IEEE}, keywords = {Haptics}, author = {N. Sgambelluri and G. Valenza and M. Ferro and G. Pioggia and E. P. Scilingo and D. De Rossi and A. Bicchi} } @article {DSSDLB07, title = {An atlas of physical human-robot interaction}, journal = {Mechanism and Machine Theory}, volume = {43}, number = {3}, year = {2007}, pages = {253-270}, abstract = {

A broad spectrum of issues have to be addressed in order to tackle the problem of a safe and dependable physical Human-Robot Interaction (pHRI). In the immediate future, metrics related to safety and dependability have to be found in order to successfully introduce robots in everyday enviornments. While there are certainly also {\textquoteleft}{\textquoteleft}cognitive

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {De Santis, A and B. Siciliano and A.De Luca and A. Bicchi} } @conference {1662, title = {Bioactive polyurethanes trough new functionalisation stretegies}, booktitle = {Biotechnical functionalisation of renewable polymeric materials}, year = {2007}, month = {16-17 April}, keywords = {Bioengineering}, author = {G. Ciardelli and Sartori, S and Rechichi, A and CAPORALE, A and S. BRONCO and G. Vozzi and P. Giusti} } @conference {1660, title = {Biomimetic materials for tissue engineering through enzyme mediated protein modification}, booktitle = {European Polymer Congress 2007 }, year = {2007}, month = {2-6 July}, address = {Portoroz, Slovenia}, keywords = {Bioengineering}, author = {G. Ciardelli and GENTILE, P and Mandrile, R. and V. Chiono and Barbani, N and Mattioli-Belmonte, M. and G. Vozzi and P. Giusti} } @conference {1657, title = {Cardiac and Mesenchymal Stem Cell Growth and Selective Differentiation on Three Dimensional Bioerodable Scaffolds}, booktitle = {Termis Eu-Meeting London (UK) 4-7 September 2007 Tissue Engineering 2007, 13 (7): 1647}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {G. Forte and CAROTENUTO, F and G. Vozzi and COSSA, P and FIACCAVENTO, R and M. Minieri and F. Pagliari and S. Pagliari and Romano, R. and A. Ahluwalia and E. Traversa and P. Di Nardo} } @article {GreDCDIS06, title = {Comments on Necessary and Sufficient Vertex Solutions for Robust Stability Analysis of Families of Linear State Space Systems}, journal = {Dyn. Contin. Discrete Impuls. Syst. Ser. B Appl. Algorithms}, volume = {14}, number = {5}, year = {2007}, pages = {749{\textendash}752}, keywords = {Robotics}, author = {L. Greco} } @conference {filippini2007cda, title = {A Comparative Dependability Analysis of Antagonistic Actuation Arrangements for Enhanced Robotic Safety}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2007}, pages = {4349{\textendash}4354}, abstract = {In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e. the joint-level actuation system. We consider robot joints that implement the Variable Impedance Actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to achieve high performance while constantly keeping injury risks to humans by accidental impacts below a given threshold. The paper describe possible implementations of the VIA concept which use the Antagonistic Actuation (AA) in three different arrangements. This study follows a previously reported paper dealing with safety. Here a detailed comparative dependability and performability analysis in front of possible specific failure modes is conducted, whose results provide additional and useful guidelines for design of safe and dependable actuation systems for physical human-robot interaction. }, keywords = {Robotics}, author = {R. Filippini and S. Sen and G. Tonietti and A. Bicchi} } @conference {BDSP:ECC07, title = {A Component-Based Approach to Localization and Collision Avoidance for Mobile Multi-Agent Systems}, booktitle = {Proc. European Control Conference (ECC)}, year = {2007}, month = {July}, pages = {4285-4292}, abstract = {

In the RUNES project a disaster relief tunnel scenario is being developed in which mobile robots are used to restore the radio network connectivity in a stationary sensor network. A component-based software development approach has been adopted. Two components are described in this paper. A localization component that uses ultrasound and dead reckoning to decide the robot positions and a collision avoidance component that ensures that the robots do not collide with each other.

}, keywords = {Embedded Control, Robotics}, author = {P. Alriksson and J. Nordh and K -E Arz{\'e}n and A. Bicchi and A. Danesi and R. Schiavi and L. Pallottino} } @article {arz+07ejc, title = {A component-based approach to the design of networked control systems}, journal = {European Journal of Control}, volume = {13}, number = {2{\textendash}3}, year = {2007}, note = {

Invited paper

}, pages = {261-279}, abstract = {

Component-based techniques revolve around composable, reusable software objects that shield the application level software from the details of the hardware and lowlevel software implementation and vice versa. Components provide many benefits that have led to their wide adoption in software and middleware developed for embedded systems: They are well-defined entities that can be replaced without affecting the rest of the systems, they can be developed and tested separately and integrated later, and they are reusable. Clearly such features are important for the design of large-scale complex systems more generally, beyond software architectures. We propose the use of a component approach to address embedded control problems. We outline a general componentbased framework to embedded control and show how it can be instantiated in specific problems that arise in the control over/of sensor networks. Building on the middleware component framework developed under the European project RUNES, we develop a number of control-oriented components necessary for the implementation of control applications and design their integration. The paper provides the overview of the approach, discusses a real life application where the approach has been tested and outlines a number of specific control problems that arise in this application.

}, keywords = {Embedded Control, Robotics}, author = {K -E Arz{\'e}n and A. Bicchi and G. Dini and S. Hailes and K. H. Johansson and J. Lygeros and A. Tzes} } @article {PSFB06-TRO, title = {Decentralized cooperative policy for conflict resolution in multi-vehicle systems}, journal = {IEEE Trans. on Robotics}, volume = {23}, number = {6}, year = {2007}, pages = {1170-1183}, abstract = {

In this paper we propose a novel policy for steering multiple vehicles between assigned independent start and goal configurations and ensuring collision avoidance. The policy rests on the assumption that agents are all cooperating by implementing the same traffic rules. However, the policy is completely decentralized, as each agent decides its own motion by applying those rules only on locally available information, and totally scalable, in the sense that the amount of information processed by each agent and the computational complexity of the algorithms are not increasing with the number of agents in the scenario. The proposed policy applies to systems in which new vehicle may enter the scene and start interacting with existing ones at any time, while others may leave. Under mild conditions on the initial configurations, the policy is shown to be safe, i.e. to guarantee collision avoidance throughout the system evolution. In the paper, conditions are discussed on the desired configurations of agents under which the ultimate convergence of all vehicles to their goals can also be guaranteed. To show that such conditions are actually necessary and sufficient, which turns out to be a challenging liveness verification problem for a complex hybrid automaton, we employ a probabilistic verification method. The paper finally reports on simulations for systems of several tens of vehicles, and with some experimental implementation showing the practicality of the approach.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {FVPDB:CDC07, title = {Decentralized Intrusion Detection for Secure Cooperative Multi-Agent Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, pages = {1553-1558}, abstract = {

In this paper we address the problem of detecting faulty behaviors of cooperative mobile agents. A novel decentralized and scalable architecture that can be adopted to realize a monitor of the agents

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @booklet {FPD{\textquoteright}07, title = {Decentralized Intrusion Detection in Cooperative Multi-Agent Systems}, year = {2007}, note = {

Poster Presentation

}, month = {April}, abstract = {

We address the problem of detecting faulty behaviors of robots belonging to a multi-agent system. Our objective is to develop a scalable architecture that can be adopted to realize a completely decentralized intrusion detector monitoring the agents{\textquoteright} behavior. We want the solution to be independent from the set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} describing the interaction among the agents, and from their dynamics; (non-invasive) mainly based on HW/SW components that are already present on-board of each agent. We focus on systems with decentralized cooperation schemes where cooperation is obtained by sharing a set of {\textquoteleft}{\textquoteleft}rules{\textquoteright}{\textquoteright} by which each agent plans its next {\textquoteleft}{\textquoteleft}action{\textquoteright}{\textquoteright} and where some of the agents may act not according to the rules due to spontaneous failure, tampering, or malicious introduction.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Pallottino and G. Dini} } @conference {1270, title = {Design and realisation of drop-free trocar for ophthalmic applications}, booktitle = {Proc. IEEE Int. Symp. Industrial Electronics ISIE 2007}, year = {2007}, pages = {2810{\textendash}2814}, keywords = {Bioengineering}, doi = {10.1109/ISIE.2007.4375056}, author = {Guerrini, P. and G. Vozzi and A. Ahluwalia and D. Mazzei and Palla, M. and Rizzo, S.} } @conference {1269, title = {Development of a high-throughput bioreactor system for biomedical applications}, booktitle = {Proc. IEEE Int. Symp. Industrial Electronics ISIE 2007}, year = {2007}, pages = {2788{\textendash}2792}, keywords = {Bioengineering}, doi = {10.1109/ISIE.2007.4375051}, author = {D. Mazzei and G. Vozzi and A. Ahluwalia and Cisternino, A.} } @conference {PBB07, title = {Distributed intrusion detection for secure consensus computations}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2007}, month = {December}, pages = {5594-5599}, abstract = {

This paper focuses on trustworthy computation systems and proposes a novel intrusion detection scheme for averaging networks with misbehaving nodes. This prototypical control problem is relevant in network security applications. The objective is for each node to detect and isolate the misbehaving nodes using only the information flow adopted by standard averaging protocols. We focus on the single misbehaving node problem. Our technical approach is based on the theory of Unknown Input Observability. First, we give necessary and sufficient conditions for the misbehavior to be observable and for the identity of the faulty node to be detectable. Second, we design a distributed unknown input estimator, and we characterize its convergence rate in the

}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and A. Bicchi and F. Bullo} } @conference {PB06, title = {A Dynamic Programming Approach to Optimal Planning for Vehicles with Trailers}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2007}, pages = {3098 - 3103}, abstract = {

In this paper we deal with the optimal feedback synthesis problem for robotic vehicles with trailers which can be modeled by differential equations in chained-form. With respect to classical methods for numerical evolution of optimal feedback synthesis via Dynamic Programming which are based on both input and state discretization, our method exploits the lattice structure naturally imposed on the reachable set by input quantization. A generalized Dijkstra algorithm can be used to obtain optimal feedback control laws, for chained-form vehicles with n-trailers, in an effective way.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi} } @article {BHM07, title = {The Effect of Visual Experience on the Development of Functional Architecture in hMT+}, journal = {Cerebral Cortex}, volume = {17}, number = {12}, year = {2007}, note = {

[Epub ahead of print]

}, month = {March 19}, pages = {2933 - 2939}, publisher = {Oxford University Press}, abstract = {

We investigated whether the visual hMT+ cortex plays a role in supramodal representation of sensory flow, not mediated by visual mental imagery. We used functional magnetic resonance imaging to measure neural activity in sighted and congenitally blind individuals during passive perception of optic and tactile flows. Visual motion-responsive cortex, including hMT+, was identified in the lateral occipital and inferior temporal cortices of the sighted subjects by response to optic flow. Tactile flow perception in sighted subjects activated the more anterior part of these cortical regions but deactivated the more posterior part. By contrast, perception of tactile flow in blind subjects activated the full extent, including the more posterior part. These results demonstrate that activation of hMT+ and surrounding cortex by tactile flow is not mediated by visual mental imagery and that the functional organization of hMT+ can develop to subserve tactile flow perception in the absence of any visual experience. Moreover, visual experience leads to a segregation of the motion-responsive occipitotemporal cortex into an anterior subregion involved in the representation of both optic and tactile flows and a posterior subregion that processes optic flow only.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and L. Sani and C. Gentili and E. P. Scilingo and L. Landini and M. Guazzelli and A. Bicchi and J. V. Haxby and P. Pietrini} } @inbook {HCVRSGSPPLB07, title = {Electrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging}, booktitle = {Encyclopedia of Healthcare Information Systems}, year = {2007}, pages = {497 - 503}, publisher = {Medical Information Science}, organization = {Medical Information Science}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and A. Bicchi and P. Pietrini and L. Landini} } @article {RSSRB07, title = {Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids}, journal = {IEEE Transactions on Magnetics}, volume = {43}, number = {9-1}, year = {2007}, pages = {3586-3600}, abstract = {

This paper deals with design and implementation of innovative haptic interfaces based on Magnetorheological fluids (MRFs). This pioneering research work consists in developing 2D and quasi-3D MRF-based devices capable of suitably energizing the fluid with a magnetic field in order to build figures which can be directly squeezed by hands. These devices are able to properly create a distribution of magnetic field over time and space inducing the fluid to assume desired shape and compliance. We implemented different prototypes whose synthesis and design phase, here described in detail, was prepared by preliminary simulations obtained by means of software based on a 3D Finite Element code. In this way, both magnetic field and shear stress profiles inside the fluid can be carefully predicted. Finally, performance of these devices was evaluated and assessed.

}, keywords = {Haptics}, author = {R. Rizzo and N. Sgambelluri and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {LJB07, title = {An experimental study of exploiting multipath fading for robot communications}, booktitle = {Proceedings of Robotics: Science and Systems}, year = {2007}, month = {June}, address = {Atlanta, GA, USA}, abstract = {

A simple approach for mobile robots to exploit multipath fading in order to improve received radio signal strength (RSS), is presented. The strategy is to sample the RSS at discrete points, without deviating too far from the desired position. We first solve the problem of how many samples are needed for given communications performance and how they should be spaced. Second, we propose a circular and a grid trajectory for sampling and give lower bounds on how many samples they will yield. Third, we estimate the parameters of our strategy from measurements. Finally we demonstrate the validity of our analysis through experiments.

}, keywords = {Robotics}, author = {M. Lindh{\`e} and K. H. Johansson and A. Bicchi} } @conference {FontanelliRS07, title = {A Fast RANSAC{\textendash}Based Registration Algorithm for Accurate Localization in Unknown Environments using LIDAR Measurements}, booktitle = {Proc. IEEE Int. Conf. on Automation Science and Engineering}, year = {2007}, month = {September}, address = {Scottsdale, AZ, USA}, abstract = {

The problem of accurate localization using only measurements from a LIDAR sensor is analyzed in this paper. The sensor is rigidly fixed on a generic moving platform, which moves on a plane. Practical on{\textendash}line applications of localization algorithms impose constraints on the execution time, problem that is addressed in this paper and compared with other existing solutions. Due to the nature of the sensor adopted, the localization algorithm is based on a fast and accurate {\em registration} algorithm, which is able to deal with noisy measurements, outliers and dynamic environments. The proposed solution relies on the RANSAC algorithm in combination with a Huber kernel in order to cope with typical nuisances in LIDAR measurements. The robust registration is successively used in combination with an Extended Kalman Filter to track the trajectory of the LIDAR over time, hence to solve the localization problem. Simulations and experimental results are reported to show the feasibility of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Ricciato and S. Soatto} } @conference {PB06, title = {Higher order method for non linear equations resolution: application to mobile robot control}, booktitle = {Proc. European Control Conference}, year = {2007}, pages = {3628-3634}, abstract = {

In this paper a novel higher order method for the resolution of non linear equations is proposed. The particular application to the mobile robot navigation in an environment with obstacles is considered. The proposed method is based on the {\em embedded-relaxed} approach in which the dimension of the resolution space is augmented and a different and faster direction toward the root is computed. The method is proved to converge with higher order for the augmented resolution space of dimension 2 and 3. Finally, the method is applied to the problem of mobile robot navigation between obstacles considered as repulsive potentials.

}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Balestrino and L. Pallottino} } @article {MMMSS-07, title = {Hybrid Modeling and Control of the Common-Rail Injection System}, journal = {Int. J. Control}, volume = {80}, number = {11}, year = {2007}, pages = {1780 - 1795}, abstract = {We present an industrial case study in automotive control of significant complexity: the new common rail fuel injection system for Diesel engines, currently under production by Magneti Marelli Powertrain.In this system, an inlet metering valve, introduced before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point (e.g. engine speed, desired torque). The standard approach followed in automotive control is to use a mean{\textendash}value model for the plant and to develop a controller based on this model.I n this particular case, this approach does not provide a satisfactory solution as the discrete{\textendash}continuous interactions in the fuel injection system, due to the slow time{\textendash}varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation, play a fundamental role.W e present a design approach based on a hybrid model of the Magneti Marelli Powertrain common{\textendash}rail fuel{\textendash}injection system for four-cylinder multi{\textendash}jet engines and a hybrid approach to the design of a rail pressure controller.T he hybrid controller is compared with a classical mean{\textendash}value based approach to automotive control design whereby the quality of the hybrid solution is demonstrated.}, keywords = {Automotive, Embedded Control}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni-Vincentelli and G. Serra} } @conference {BBMSS-07, title = {Hybrid Multi-rate Control of the Common-Rail}, booktitle = {European Control Conference}, year = {2007}, pages = {54-61}, abstract = {

We present an industrial case study in automotive control of significant complexity: the new common-rail fuel- injection system for Diesel engines developed by Magneti Marelli Powertrain. In this system, an inlet metering valve, inserted before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point (e.g. engine speed and torque). The standard approach to controller design adopted in the automotive in- dustry is based on mean-value models of the plant. However, the fuel injection system exhibits complex discrete-continuous interactions, due to the slow time-varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation. Hence, a hybrid approach to controller design is very promising. In this paper, we present the synthesis of a hybrid multi-rate controller for a Magneti Marelli Powertrain common-rail fuel- injection system for four-cylinder multi-jet engines. Controller design is based on a hybrid model of the injection system. The resulting hybrid controller performs significantly better then previous controllers developed in the company on the basis of mean-value models of the plant.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni-Vincentelli and G. Serra} } @conference {1658, title = {Hydroxyapatite/collagen composite matrices for bone reconstruction}, booktitle = {Termis Eu-Meeting - Tissue Engineering 2007}, year = {2007}, pages = {13 (7): 1708}, address = {London (UK) }, keywords = {Bioengineering}, author = {G. Ciardelli and GENTILE, P and Mandrile, R. and V. Chiono and Barbani, N and Mattioli-Belmonte, M. and G. Vozzi and P. Giusti} } @conference {SSTB-WH07, title = {Integrating Two Haptic devices for Performance Enhancement}, booktitle = {World Haptics Conference 2007}, year = {2007}, pages = {139-144}, abstract = {

This paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and G. Tonietti and A. Bicchi} } @article {1652, title = {La rigenerazione nervosa negli innesti a polarit{\`a}~ invertita: dati a confronto tra applicazione sull{\textquoteright}uomo e analisi sperimentale su modello animale}, journal = {RIVISTA DI CHIRURGIA DELLA MANO}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, author = {D. S. POGGI and Massarella, M. and Cerulli, G. and Caraffa, A. and S. Burchielli and Modenato, M. and Cantile, C. and G. Vozzi and C. De Maria and Lisanti, M. and Bonicoli, E. and Cantini, G.} } @conference {FVPDB:CASE07, title = {Local Monitor Implementation for Decentralized Intrusion Detection in Secure Multi-Agent Systems}, booktitle = {3rd IEEE Conference on Automation Science and Engineering}, year = {2007}, pages = {454{\textendash}459}, abstract = {

This paper focuses on the detection of misbehaving agents within a group of mobile robots. A novel approach to automatically synthesize a decentralized Intrusion Detection System (IDS) as well as an efficient implementation of local monitors are presented. In our scenario, agents perform possibly different independent tasks, but cooperate to guarantee the entire system

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and G. Valenti and L. Pallottino and G. Dini and A. Bicchi} } @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.} } @article {1654, title = {New biomedical devices with selective peptide recognition properties. Part 1: Characterization and cytotoxicity of molecularly imprinted polymers}, journal = {JOURNAL OF CELLULAR AND MOLECULAR MEDICINE}, year = {2007}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {1582-1838}, author = {Rechichi, A and Cristallini, C and VITALE, U. and G. Ciardelli and Barbani, N and G. Vozzi and P. Giusti} } @conference {1659, title = {New strategies in polymer functionalisation}, booktitle = {Biosurf, 28-31 August 2007}, year = {2007}, pages = { European Cells and Materials Vol. 14. Suppl. 3}, address = {Zurich (Switzerland)}, keywords = {Bioengineering}, author = {Sartori, S and Rechichi, A and G. Ciardelli and CAPORALE, A and G. Vozzi and MAZZUCCO, L} } @conference {PSFB07-ACC, title = {Probabilistic verification of decentralized multi-agent control strategies: a case study in conflict avoidance}, booktitle = {American Control Conference (ACC)}, year = {2007}, pages = {170-175}, abstract = {

Many challenging verification problems arise from complex hybrid automata that model decentralized control systems. As an example, we will consider decentralized policies that steer multiple vehicles in a shared environment: properties of safety and liveness, such as collision avoidance and ultimate convergence of all vehicles to their goals, must be verified. To formally verify the behavior of proposed policies, it is desired to identify the broadest class of start and goal configurations, such that safety and liveness would be guaranteed. Simple conditions are proposed to identify such a class: ideally, a formal proof that such conditions are necessary and sufficient for safety and liveness is requested. Unfortunately, in decentralized control frameworks classical approaches are difficult to apply. Hence, probabilistic verification method can be applied to quantify the accuracy and the confidence of the veridicity of the desired predicate. The probabilistic verification method is applied to a recently proposed cooperative and completely decentralized collision avoidance policy for non-holonomic vehicles.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi and E. Frazzoli} } @article {SHH, title = {Robust sliding mode control of a robot manipulator based on variable structure-model reference adaptive control approach}, journal = {IET Control Theory Appl.}, volume = {1}, number = {5}, year = {2007}, month = {September 2007}, pages = {-1363}, abstract = {

A model reference adaptive-sliding mode control is presented and applied for a variable stiffness actuated (VSA) system. The VSA is a flexible stiffness machine with two coupled actuators in each link, and its safety during the movement can be guaranteed by varying both stiffness and the angular variables. Realisation of precise control of two coupled actuators poses a considerable challenge, however, because of uncertain time-varying parameters and unknown variation bounds. In this paper a neuro-sliding mode approach based on model reference adaptive control (MRAC) is proposed. The proposed MRAC control structure induces the VSA to follow its nominal dynamics with help of sliding mode control efforts. The sliding gain, implemented by a simple neural network (NN), is adaptively updated based on the Lyapunov criterion. A control law and adaptive laws for the sliding mode control as well as the weights in the NN are established so that the closed-loop system is stable in the sense of Lyapunov. The tracking errors of both the angular variables and stiffness are managed to guarantee the system to be asymptotically stable rather than uniformly ultimately bounded. And, the feasibility of the proposed control approach is demonstrated by means of experimental results as well as computer simulations.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {S. Huh and Z. Bien} } @article {PB07-TAC, title = {On the Stabilization of Linear Systems Under Assigned I/O Quantization}, journal = {IEEE Transactions on Automatic Control}, volume = {52}, number = {10}, year = {2007}, pages = {1994-2000}, abstract = {

This paper is concerned with the stabilization of discrete-time linear systems with quantization of the input and output spaces, i.e., when available values of inputs and outputs are discrete. Unlike most of the existing literature, we assume that how the input and output spaces are quantized is a datum of the problem, rather than a degree of freedom in design. Our focus is hence on the existence and synthesis of symbolic feedback controllers, mapping output words into the input alphabet, to steer a quantized I/O system to within small invariant neighborhoods of the equilibrium starting from large attraction basins. We provide a detailed analysis of the practical stabilizability of systems in terms of the size of hypercubes bounding the initial conditions, the state transient and the steady state evolution. We also provide an explicit construction of a practically stabilizing controller for the quantized I/O case.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi} } @conference {GFBP-07, title = {Steering Dynamical Systems with Finite Plans and Limited Path Length}, booktitle = {European Control Conference}, year = {2007}, pages = {4686-4690}, abstract = {

Complex dynamical systems can be steered by using symbolic input plans. These plans must have a finite descriptive length, and can be expressed by means of words chosen in an alphabet of symbols. In this way, such plans can be sent through a limited capacity channel to a remote system, where they are decoded in suitable control actions. The choice of this symbols is essential to efficiently encode steering plans. To this aim, in this paper, we state the problem of finding symbols maximizing the interval of points reachable by the system along paths with constrained length. We focus on the problem with two symbols, and compare the results with those produced by plans not accounting for the length constraint. Moreover, the behavior of a simple helicopter, steered by both kinds of plans, has been simulated, in order to illustrate the power of the overall control system, and to emphasize the improvements introduced by the new plans.

}, keywords = {Embedded Control, Robotics}, author = {L. Greco and A. Fagiolini and A. Bicchi and B. Piccoli} } @article {BBEFKP06, title = {Symbolic Planning and Control of Robot Motion: Finding the Missing Pieces of Current Methods and Ideas}, journal = {Robotics and Automation Magazine}, volume = {14}, number = {1}, year = {2007}, pages = {61-70}, abstract = {

Approaches to robot motion planning and control that involve tools such as automata, languages, temporal logics, and grammars, have been recently termed "symbolic." In this article, we review some existing results, discuss their relevance and applicability, and outline some of the main open questions and challenges in the area.

}, keywords = {Embedded Control, Robotics}, author = {C. Belta and A. Bicchi and M. Egerstedt and E. Frazzoli and E. Klavins and G. J. Pappas} } @booklet {CHCHLOSIcdc07, title = {Towards uniform linear time-invariant stabilization of systems with persistency of excitation}, howpublished = {Submitted to CDC 2007}, year = {2007}, month = {December}, address = {New Orleans, USA}, abstract = {

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizableand $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally exponentially stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

}, keywords = {Robotics}, author = {A. Chaillet and Y. Chitour and A. Lor and M. Sigalotti} } @booklet {CHCHLOSI07, title = {Uniform stabilization for linear systems with persistency of excitation. The neutrally stable and the double integrator cases}, howpublished = {Submitted to Mathematics of Control, Signals and Systems}, year = {2007}, abstract = {

Consider the controlled system $dx/dt = Ax + \alpha(t)Bu$ where the pair $(A,B)$ is stabilizable and $\alpha(t)$ takes values in $[0,1]$ and is persistently exciting. In particular, when $\alpha(t)$ becomes zero the system dynamics switches to an uncontrollable system. In this paper, we address the following question: is it possible to find a linear time-invariant state-feedback, only depending on $(A,B)$ and the parameters of the persistent excitation, which globally asymptotically stabilizes the system? We give a positive answer to this question for two cases: when $A$ is neutrally stable and when the system is the double integrator.

}, keywords = {Robotics}, author = {A. Chaillet and Y. Chitour and A. Lor and M. Sigalotti} } @conference {FSB07, title = {Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability}, booktitle = {Proc. IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments.}, year = {2007}, month = {April}, abstract = {

An antagonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are analysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.

}, keywords = {Robotics}, author = {R. Filippini and S. Sen and A. Bicchi} } @article {1401, title = {Working towards autonomous distributed systems}, journal = {SEA TECHNOLOGY}, volume = {48}, year = {2007}, note = {

Editorial

}, pages = {7{\textendash}7}, keywords = {Robotics}, issn = {0093-3651}, author = {A. Caiti} } @conference {GVetal06, title = {Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {3832-3837}, abstract = {

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI), are critical tools to study perceptual and cognitive processes. In order to develop complex and well controlled fMRI paradigms, researchers are interested in using active interfaces with electrically powered actuators and sensors. Due to the particularity of the MR environment, safety and compatibility criteria have to be strictly followed in order to avoid risks to the subject under test, to the operators or to the environment, as well as to avoid artifacts in the images. This paper describes the design of an fMRI compatible mechatronic interface based on MR compatibility tests of materials and actuators. In particular, a new statistical test looks at the mean and variations of activity as a time series. The device with two degrees of freedom, allowing one translation with positionfeedback along a horizontal axis and one rotation about a vertical axis linked to the translation, was realized to investigate the brain mechanisms of dynamic tactile perception tasks. It can be used to move and orient various objects below the finger for controlled tactile stimulation. The MR compatibility of the complete interface is shown using the same statistical test as well as a functional study with a human subject.

}, keywords = {Haptics}, author = {R. Gassert and N. Vanello and D. Chapuis and V. Hartwig and E. P. Scilingo and A. Bicchi and L. Landini and E. Burdet and H. Bleuler} } @conference {FontanelliVGCB06, title = {Adaptive non Linear Control of Dynamic Mobile Robots with Parameters Uncertainty}, booktitle = {Int. IFAC Symp. on Robot Control}, year = {2006}, month = {September}, address = {Bologna, Italy}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and R. Viviani and L. Greco and A. Caiti and A. Bicchi} } @conference {KRLOCHNIcdc06, title = {Adaptive output feedback control of spacecraft relative translation}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We address the problem of tracking relative translation in a leader-follower spacecraft formation using feedback from relative position only and under parameter uncertainty (spacecraft mass) and uncertainty in the leader variables (true anomaly rate and rate of change). We only assume boundedness of orbital perturbations and the leader control force but with unknown bounds. Under these conditions we propose a controller that renders the closed-loop system, uniformly semiglobally practically asymptotically stable. In particular, the domain of attraction can be made arbitrarily large by picking convenient gains, and the state errors in the closed-loop system are proved to converge from any initial condition within the domain of attraction to a ball in close vicinity of the origin in a stable way; moreover, this ball can be diminished arbitrarily by increasing the gains in the control law. Simulation results of a leader-follower spacecraft formation using the proposed controller are presented.

}, keywords = {Robotics}, author = {R. Kristiansen and A. Lor and A. Chaillet and P. J. Nicklasson} } @conference {SSBRR, title = {Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06}, year = {2006}, month = {October}, pages = {1558-1563}, abstract = {

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

}, keywords = {Haptics}, author = {N. Sgambelluri and E. P. Scilingo and A. Bicchi and R. Rizzo and M. Raugi} } @booklet {FontanelliG-TR06, title = {Any Time Control}, year = {2006}, month = {March}, publisher = {Interdepartmental Research Center E. Piaggio, University of Pisa}, address = {Pisa, Italy}, abstract = {

It is widely accepted in the control community that the Computer Controlled Systems (briefly, CCSs), have a lot of advantages based primarily on the high reconfigurability of the controller platform and the ability of making complex yet fast decisions. Such positive features make the CCS a useful platform for multitasking control, i.e. using only one single-processor platform to control several plants. Within this framework, the computer has to share its computational time to solve several critical tasks, each one with its priority. Taking into account schedulability and real time operating systems problems, it is just a step forward to realize that tasks with low priority could be interrupted any time, with unpredictable distributions, and it is just a logical intuition that not all the tasks can be at the highest priority. From a control point of view, each control task should compute a control input to the controlled system to prevent instability or to ensure the performances. This field seems to be at the border between the control community and the computer science community and it has not been widely investigated. Some work has been presented introducing more general scheduling models and methods for control systems, where control design methodology takes the availability of computing resources into account and allows the trade{\textendash}offs between control performance and computer resources utilization, and also introducing the idea of any time CCS without solutions. In literature, the Control Server is introduced, allowing the separation between scheduling and control design by treating the controllers as scalable real{\textendash}time components. Jitter and latency is included in the model and cannot be taken over. Furthermore, the interrupt time, the I/O operations and the overrun handling are not taken into account, simply imposing only soft real time control tasks. Useful tools for the analysis of real time control performance are the Jitterbug and the True Time that analyze the control performance once the control tasks are implemented as soft real time tasks.

}, keywords = {Embedded Control, Robotics}, author = {D. Fontanelli and L. Greco} } @conference {LSFD-06, title = {Bi-modal Transducer-based Wearable System for Cardiac Monitoring}, booktitle = {Fourth IASTED International Conference on Biomedical Engineering}, year = {2006}, month = {February}, pages = {92-97}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A Lanata and E. P. Scilingo and R. Francesconi and D. De Rossi} } @conference {ricciardi05:_brain, title = {Brain response to visual, tactile and auditory flow in sighted and blind individuals supports a supramodal functional organization in hMT complex}, booktitle = {Proc. 12th International Conference on Functional Mapping of Human Brain Mapping}, volume = {31}, number = {1}, year = {2006}, note = {

Florence

}, pages = {512 TH-P}, publisher = {Elsevier}, organization = {Elsevier}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and D. Bonino and N. Vanello and J. V. Haxby and E. Seifritz and M. Guazzelli and L. Landini and A. Bicchi and Di Salle, F and P. Pietrini} } @conference {TSCHPAJOcdc06, title = {Cascaded lemma for set-stable systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

A previous result about uniform global asymptotic stability (UGAS) of the equilibrium of a cascaded time-varying systems, is here also shown to hold for closed (not necessarily compact) sets composed by set-stable subsystems of a cascade. In view of this result an optimal control allocation approach is discussed.

}, keywords = {Robotics}, author = {J. Tsonnas and A. Chaillet and E. Panteley and T. A. Johansen} } @conference {FTB06, title = {Casting Robotic end-effectors to reach far objects in space and planetary missions}, booktitle = {Proc. of the 9th ESA Workshop on Advanced Space Technologies for Robotics and Automation}, year = {2006}, pages = {28-30}, keywords = {Robotics}, author = {A. Fagiolini and A. Torelli and A. Bicchi} } @conference {HCV06, title = {A Compatible Electrocutaneous Display for functional Magnetic Resonance Imaging application}, booktitle = {Proc. 28th IEEE Engineering in Medicine and Biology Conference}, year = {2006}, note = {(poster presentation)}, pages = {100-102}, abstract = {In this paper we propose an MR (Magnetic Resonance) compatible electrocutaneous stimulator able to inject an electric current, variable in amplitude and frequency, into the fingertips in order to elicit tactile skin receptors (mechanoreceptors). The desired goal is to evoke specific tactile sensations selectively stimulating skin receptors by means of an electric current in place of mechanical stimuli. The field of application ranges from functional Magnetic Resonance Imaging (fMRI) tactile studies to augmented reality technology. The device here proposed is designed using safety criteria in order to comply with the threshold of voltage and current permitted by regulations. Moreover, MR safety and compatibility criteria were considered in order to perform experiments inside the MR scanner during an fMRI acquisition for functional brain activation analysis. Psychophysical laboratory tests are performed in order to define the different evoked tactile sensation. After verifying the device MR safety and compatibility on a phantom, a test on a human subject during fMRI acquisition is performed to visualize the brain areas activated by the simulated tactile sensation.}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and L. Landini and A. Bicchi} } @inbook {B06, title = {Controllo, Teoria del}, booktitle = {Enciclopedia Italiana di Scienze, Lettere ed Arti}, year = {2006}, publisher = {Istituto della Enciclopedia Italiana {\textquoteleft}{\textquoteleft}G. Treccani{\textquoteright}{\textquoteright}}, organization = {Istituto della Enciclopedia Italiana {\textquoteleft}{\textquoteleft}G. Treccani{\textquoteright}{\textquoteright}}, edition = {XXI Secolo {\textendash} Aggiornamento}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi} } @conference {CHLOcdc06, title = {A converse Lyapunov theorem for semiglobal practical asymptotic stability and application to cascades-based control}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We present a converse Lyapunov result for nonlinear time-varying systems that are uniformly semiglobally asymptotically stable. This stability property pertains to the case when the size of initial conditions may be arbitrarily enlarged and the solutions of the system converge, in a stable way, to a closed ball that may be arbitrarily diminished by tuning a design parameter of the system (typically but not exclusively, a control gain). This result is notably useful in cascaded-based control when uniform practical asymptotic stability is established without a Lyapunov function, , {\i}t e.g.} via averaging. We provide a concrete example by solving the stabilization problem of a hovercraft.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} } @conference {PSFB-MTNS06, title = {Decentralized and scalable conflict resolution strategy for multi-agents systems}, booktitle = {Int. Symp. on Mathematical Theory of Networks and Systems}, year = {2006}, abstract = {

A decentralized cooperative collision avoidance control policy for planar vehicle recently proposed is herein considered. Given some simple conditions on initial configurations of agents, the policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. First a 3D workspace extension is proposed. Furthermore, based on a condition on target configuration previously proposed, some general results on the liveness property are reported. Finally, qualitative evaluations on the strategy and on the proposed target sparsity condition are pointed out.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {CACSD06, title = {On the Design and Control of Wireless Networked Embedded Systems}, booktitle = {Int. Conf. on Computer Aided Control System Design - CACSD{\textquoteright}06}, year = {2006}, pages = {440-445}, publisher = {IEEE}, organization = {IEEE}, abstract = {

Wireless networked embedded systems are becoming increasingly important in a wide area of technical fields. In this tutorial paper we present recent results on design and control of these systems developed within the project Reconfigurable Ubiquitous Networked Embedded Systems (RUNES), which is an European Integrated Project with the aim to control complexity in networked embedded systems by developing robust and scalable middleware systems. New components for control under varying network conditions are discussed for the RUNES architecture. The complexity of the closed-loop system is increased due to the coupling with the disturbances introduced by the communication system. The network may introduce additional delays, jitter, data rate limitations, packet losses etc. Experimental work on integration test beds that demonstrates these results is shown together with motivating links to the RUNES disaster relief tunnel scenario.

}, keywords = {Embedded Control, Robotics}, author = {K -E Arz{\'e}n and A. Bicchi and S. Hailes and K. H. Johansson and J. Lygeros} } @article {1403, title = {Efficient Numerical Approximation of Maximum Entropy Estimates}, journal = {INTERNATIONAL JOURNAL OF CONTROL}, volume = {79}, year = {2006}, pages = {1145{\textendash}1155}, keywords = {Robotics}, issn = {0020-7179}, doi = {10.1080/00207170600818373}, url = {http://dx.medra.org/10.1080/00207170600818373}, author = {A. Balestrino and A. Caiti and E. Crisostomi} } @conference {CIFA06, title = {Estim}, booktitle = {CIFA 2006}, year = {2006}, note = {In French}, month = {June}, address = {Bordeaux, France}, abstract = {Pour les syst{\`e}mes non-lin{\'e}aires, il est connu que la propri{\'e}t{\'e} de stabilit{\'e} asymptotique est conserv{\'e}e par la structure de cascade. Le pr}, author = {A. Chaillet} } @article {BBMP-TAC06, title = {Feedback Encoding for Efficient Symbolic Control of Dynamical Systems}, journal = {IEEE Trans. on Automatic Control}, volume = {51}, number = {6}, year = {2006}, pages = {1-16}, abstract = {

The problem of efficiently steering dynamical systems by generating finite input plans is considered. Finite plans are finite{\textendash}length words constructed on a finite alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. Efficiency is considered in terms of the computational complexity of plans, and in terms of their description length (in number of bits). We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper also investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {SRSRB06, title = {Free Hand Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2006}, note = {

Poster presentation

}, month = {March}, pages = {367-371}, abstract = {

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @article {GreIJSS06, title = {A Geometry-Based Algorithm for the Stability of Planar Switching Systems}, journal = {Int. J. of Systems Science}, volume = {37}, number = {11}, year = {2006}, pages = {747{\textendash}761}, keywords = {Embedded Control, Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @article {1404, title = {GIS tools application for risk assessment of toxic waste buried in seafloor sediments}, journal = {CHEMISTRY IN ECOLOGY}, year = {2006}, pages = {S145{\textendash}S161}, keywords = {Robotics}, issn = {0275-7540}, doi = {10.1080/02757540600670828}, url = {http://dx.medra.org/10.1080/02757540600670828}, author = {A. Caiti and R. Minciardi and M. Palmese and M. Robba and R. Sacile and A. Trucco} } @conference {BBMSS06, title = {Hybrid Modelling and Control of the Common Rail Injection System}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {3927 / 2006}, year = {2006}, pages = {79-92}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

We present an industrial case study in automotive control of significant complexity: the new common rail fuel injection system for Diesel engines, currently under production by Magneti Marelli Powertrain. In this system, a flow-rate valve, introduced before the High Pressure (HP) pump, regulates the fuel flow that supplies the common rail according to the engine operating point. The standard approach followed in automotive control is to use a mean-value model for the plant and to develop a controller based on this model. In this particular case, this approach does not provide a satisfactory solution as the discrete-continuous interactions in the fuel injection system, due to the slow time-varying frequency of the HP pump cycles and the fast sampling frequency of sensing and actuation, play a fundamental role. We present a design approach based on a hybrid model of the Magneti Marelli Powertrain common-rail fuel-injection system for four-cylinder multi-jet engines and a hybrid approach to the design of a rail pressure controller. The hybrid controller is compared with a classical mean-value based approach to automotive control design whereby the quality of the hybrid solution is demonstrated.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and E. Mazzi and A. Sangiovanni Vincentelli and G. Serra}, editor = {J. Hespanha and A. Tiwari} } @conference {BMP06-HSCC, title = {Improving efficiency of finite plans by optimal choice of input sets}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {3927 / 2006}, year = {2006}, pages = {108-122}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

Finite plans proved to be an efficient method to steer complex control systems via feedback quantization. Such finite plans can be encoded by finite{\textendash}length words constructed on suitable alphabets, thus permitting transmission on limited capacity channels. In particular flat systems can be steered computing arbitrarily close approximations of a desired equilibrium in polynomial time. The paper investigates how the efficiency of planning is affected by the choice of inputs, and provides some results as to optimal performance in terms of accuracy and range. Efficiency is here measured in terms of computational complexity and description length (in number of bits) of finite plans.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli}, editor = {J. Hespanha and A. Tiwari} } @article {1405, title = {Innovative technologies in underwater archaeology: field experience, open problems, research lines}, journal = {CHEMISTRY IN ECOLOGY}, year = {2006}, pages = {S383{\textendash}S396}, keywords = {Robotics}, issn = {0275-7540}, doi = {10.1080/02757540600572321}, url = {http://dx.medra.org/10.1080/02757540600572321}, author = {A. Caiti and G. Casalino and G. Conte and S. M. Zanoli} } @conference {CHANmtns06, title = {Integral Input to State Stability for cascaded systems}, booktitle = {MTNS 2006}, year = {2006}, month = {July}, address = {Kyoto, Japan}, abstract = {

The Integral Input to State Stability (iISS) property is studied is the context of nonlinear time-invariant systems in cascade. A sufficient condition is given, in terms of the storage function of each subsystem, to ensure that the cascade composed of an iISS system driven by a Globally Asymptotically Stable (GAS) one remains GAS. Some sufficient conditions for the preservation of the iISS property under a cascade interconnection are also presented.

}, keywords = {Robotics}, author = {A. Chaillet and D. Angeli} } @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 {CHLOautomatica05, title = {Necessary and sufficient conditions for uniform semiglobal practical asymptotic stability: Application to cascaded systems}, journal = {Automatica}, volume = {42}, number = {11}, year = {2006}, month = {November}, pages = {1899-1906}, abstract = {

It is well established that for a cascade of two uniformly globally asymptotically stable (UGAS) systems, the origin remains UGAS provided that the solutions of the cascade are uniformly globally bounded. While this result has met considerable popularity in specific applications it remains restrictive since, in practice, it is often the case that the decoupled subsystems are only uniformly \emph{semiglobally} \emph{practically} asymptotically stable (USPAS). Recently, we established that the cascade of USPAS systems is USPAS under a local boundedness assumption and the hypothesis that one knows a Lyapunov function for the driven subsystem. The contribution of this paper is twofold: 1) we establish USPAS of cascaded systems without the requirement of a Lyapunov function and 2) we present a converse theorem for USPAS. While other converse theorems in the literature cover the case of USPAS ours has the advantage of providing a bound on the gradient of the Lyapunov function, which is fundamental to establish theorems for cascades.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} } @inbook {ISER04, title = {Optimal Mechanical/Control Design for Safe and Fast Robotics}, booktitle = {Experimental Robotics IX: The 9th International Symposium on Experimental Robotics}, series = {Springer Tracts in Advanced Robotics}, volume = {21}, year = {2006}, pages = {311 - 320}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

The problem to ensure safety of performant robot arms during task execution was previously investigated by authors. The problem can be approached by studying an optimal control policy, the "Safe Brachistocrone", whose solutions are joint impedance trajectories coordinated with desired joint velocities. Transmission stiffness is chosen so as to achieve minimum-time task execution for the robot, while guaranteeing an intrinsic safety level in case of an unexpected collision between a link of the arm and a human operator. In this paper we extend this approach to more general classes of robot actuation systems, whereby other impedance parameters beside stiffness (such as e.g. joint damping and/or plasticity) can vary. We report on a rather extensive experimental campaign validating the proposed approach.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi}, editor = {Marcelo H. Ang, Oussama Khatib} } @inbook {BSSTB06, title = {Optimization and Fail-Safety Analysis of Antagonistic Actuation for pHRI}, booktitle = {European Robotics Symposium 2006}, series = {Springer Tracts in Advanced Robotics}, volume = {22}, year = {2006}, pages = {109 - 118}, publisher = {Springer Berlin / Heidelberg}, organization = {Springer Berlin / Heidelberg}, abstract = {

In this paper we consider some questions in the design of actuators for physical Human-Robot Interaction (pHRI) under strict safety requirements in all circumstances, including unexpected impacts and HW/SW failures. We present the design and optimization of agonistic-antagonistic actuation systems realizing the concept of variable impedance actuation (VIA). With respect to previous results in the literature, in this paper we consider a realistic physical model of antagonistic systems, and include the analysis of the effects of cross-coupling between actuators. We show that antagonistic systems compare well with other possible approaches in terms of the achievable performance while guaranteeing limited risks of impacts. Antagonistic actuation systems however are more complex in both hardware and software than other schemes. Issues are therefore raised, as to fault tolerance and fail safety of different actuation schemes. In this paper, we analyze these issues and show that the antagonistic implementation of the VIA concept fares very well under these regards also.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robotics}, author = {G. Boccadamo and R. Schiavi and S. Sen and G. Tonietti and A. Bicchi}, editor = {H. Christensen} } @inbook {KRLOCHNI06, title = {Output feedback control of relative translation in a leader-follower spacecraft formation}, series = {Lecture Notes in Control and Information Sciences}, year = {2006}, pages = {131{\textendash}151}, publisher = {Springer Verlag}, organization = {Springer Verlag}, chapter = {in Workshop on Group Coordination and Cooperative Control}, address = {Tromsoe, Norway}, abstract = {

We present a solution to the problem of tracking relative translation in a leader-follower spacecraft formation using feedback from relative position only. Three controller configurations are presented which enables the follower spacecraft to track a desired reference trajectory relative to the leader. The controller design is performed for different levels of knowledge about the leader spacecraft and its orbit. The first controller assumes perfect knowledge of the leader and its orbital parameters, and renders the equilibrium points of the closed-loop system uniformly globally asymptotically stable (UGAS). The second controller uses the framework of the first to render the closed-loop system uniformly globally practically asymptotically stable (UGPAS), with knowledge of bounds on some orbital parameters, only. That is, the state errors in the closed-loop system are proved to converge from any initial conditions to a ball in close vicinity of the origin in a stable way, and this ball can be diminished arbitrarily by increasing the gains in the control law. The third controller, based on the design of the second, utilizes adaptation to estimate the bounds that were previously assumed to be known. The resulting closed-loop system is proved to be uniformly semiglobally practically asymptotically stable (USPAS). The last two controllers assume boundedness only of orbital perturbations and the leader control force. Simulation results of a leader-follower spacecraft formation using the proposed controllers are presented.

}, keywords = {Robotics}, author = {R. Kristiansen and A. Lor and A. Chaillet and P. J. Nicklasson} } @conference {PB06, title = {Practical stabilization of LTI SISO systems under assigned Input and Output quantization}, year = {2006}, note = {

ADHS{\textquoteright}06

}, month = {July}, pages = {353-358}, abstract = {

This work is concerned with the practical stabilization of discrete{\textendash}time SISO linear systems under assigned quantization of the input and output spaces. A controller is designed which guarantees effective practical stability properties. Unlike most of the existing literature, quantization is supposed to be a problem datum rather than a degree of freedom in design. Moreover, in the framework of control under assigned quantization, results are concerned with state quantization only and do not include the quantized output feedback case considered here. While standard stability analysis techniques are based on Lyapunov theory and invariant ellipsoids, our study of the closed loop dynamics involves a particularly suitable family of sets, which are hypercubes in controller form coordinates.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi} } @conference {PSFB06, title = {Probabilistic verification of a decentralized policy for conflict resolution in multi-agent systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, note = {

Correct version

}, pages = {2448-2453}, abstract = {

In this paper, we consider a decentralized cooperative control policy proposed recently for steering multiple non-holonomic vehicles between assigned start and goal configurations while avoiding collisions. The policy is known to ensure safety (i.e., collision avoidance) for an arbitrarily large number of vehicles, if initial configurations satisfy certain conditions. The method is highly scalable, and effective solutions can be obtained for several tens of autonomous agents. On the other hand, the liveness property of the policy, i.e. the capability of negotiating a solution in finite time, is not yet completely understood. In this paper, we introduce a condition on the final vehicle configurations, which we conjecture to be sufficient for guaranteeing liveness. Because of the overwhelming complexity of proving the sufficiency of such condition, we assess the correctness of the conjecture in probability through the analysis of the results of a large number of randomized experiments.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {CHLOKEcdc06, title = {Robustness of PID controlled manipulators with respect to external disturbances}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2006}, month = {December}, address = {San Diego, USA}, abstract = {

We present a robustness analysis for PID-controlled robot manipulators. For robot manipulators under the influence of external disturbances we provide a proof, and a tuning procedure, to establish uniform semiglobal practical asymptotic stability. In particular, in contrasts to other works on robust stability of PIDs, we do not use La Salle{\textquoteright}s principle but provide a strict Lyapunov function. The perturbations that we consider include discontinuous functions of the state, such as Coulomb friction. As corollaries of our main results, one may conclude the same stability property for the case of motion control using linear PID.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor and R. Kelly} } @conference {PHRI06, title = {Safe and Dependable Physical Human-Robot Interaction in Anthropic Domains: State of the Art and Challenges}, booktitle = {Proc. IROS{\textquoteright}06 Workshop on pHRI - Physical Human-Robot Interaction in Anthropic Domains}, year = {2006}, publisher = {IEEE}, organization = {IEEE}, keywords = {Robotics}, author = {R. Alami and A Albu-Schaeffer and A. Bicchi and R. Bischoff and R. Chatila and A. De Luca and De Santis, A and G. Giralt and J. Guiochet and G. Hirzinger and F. Ingrand and V. Lippiello and R. Mattone and D. Powell and S. Sen and B. Siciliano and G. Tonietti and L. Villani}, editor = {A. Bicchi and A. De Luca} } @conference {DFPSSDB06, title = {A scalable platform for safe and secure decentralized traffic management of multiagent mobile systems}, booktitle = {ACM Workshop on Real-World Wireless Sensor Networks}, year = {2006}, abstract = {

In this paper we describe the application of wireless sensor networking techniques to address the realization of a safe and secure decentralized traffic management system. We consider systems of many heterogeneous autonomous vehicles moving in a shared environment. Each vehicle is assumed to have different and possibly unspecified tasks, but they cooperate to avoid collisions. We are interested in designing a scalable architecture capable of accommodating a very large and dynamically changing number of vehicles, guaranteeing their safety (i.e., collision avoidance), the achievement of their goals, and security against potential adversaries. By properly distributing and revoking cryptographic keys we are able to protect communications from an external adversary as well as to detect non-cooperative, possibly malicious vehicles and trigger suitable countermeasures. In our architecture, scalability is obtained by decentralization, i.e. each vehicle is regarded as an autonomous agent capable of processing information concerning its own state and the state of only a fixed, small number of {\textquoteleft}{\textquoteleft}neighboring{\textquoteright}{\textquoteright} agents. Ad-hoc wireless sensor networks are employed to provide support for this architecture.

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and A. Fagiolini and I. Savino and L. Pallottino and R. Schiavi and G. Dini and A. Bicchi} } @conference {DSSBG06, title = {Security and Advanced Control Issues in a Robotic Platform for Monitoring and Relief}, booktitle = {Proc. of EWSN 2006 February 13-15, ETH Zurich}, year = {2006}, abstract = {

This paper provides an architectural overview and a first implementation of an heterogeneous agent network composed by mobile robots of di

}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and I. M. Savino and R. Schiavi and A. Bicchi and G. Dini} } @article {1273, title = {Sensore di flusso tattile e di parametri ambientali}, year = {2006}, keywords = {Bioengineering}, issn = {PI2006A000119}, author = {G. Vozzi and Cisternino, A. and Colombo, D. and D. Mazzei and Migliore, A.} } @inbook {DS06, title = {Skin-like sensor arrays}, booktitle = {Encyclopedia of Sensors}, year = {2006}, pages = {535-556}, publisher = {American Scientific Publishers}, organization = {American Scientific Publishers}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and E. P. Scilingo} } @mastersthesis {ChailletPhD, title = {On stability and robustness of nonlinear systems {\textendash} Applications to cascaded systems}, year = {2006}, note = {

Obtained Cum Laude. Jury: J.M. Coron, T.I. Fossen (reviewer), A. Lor

}, month = {Jully}, school = {Universit}, type = {phd}, address = {Orsay, France}, keywords = {Robotics}, author = {A. Chaillet} } @conference {CHPAmtns06, title = {Stability of sets for nonlinear systems in cascade}, booktitle = {MTNS 2006}, year = {2006}, month = {July}, address = {Kyoto, Japan}, abstract = {

The stability of (not necessarily compact) sets for nonlinear systems in cascade is addressed. It is proved that if two sets are globally asymptotically stable (GAS) for the subsystems taken separately then their cross-product is GAS for the corresponding cascade, provided that the solutions of the latter are globally bounded. In the case of a suitable growth rate of the interconnection in the state of the driven subsystem, we show that this latter requirement can be relaxed to just forward completeness of the cascade. Our results extend similar results on the stability analysis of cascaded systems and find applications in partial stability analysis and adaptive control.

}, keywords = {Robotics}, author = {A. Chaillet and E. Panteley} } @conference {FGBPM06, title = {Symbolic Control for Underactuated Differentially Flat Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {1649-1654}, abstract = {

In this paper we address the problem of generating input plans to steer complex dynamical systems in an obstacle-free environment. Plans considered admit a finite description length and are constructed by words on an alphabet of input symbols, which could be e.g. transmitted through a limited capacity channel to a remote system, where they can be decoded in suitable control actions. We show that, by suitable choice of the control encoding, finite plans can be efficiently built for a wide class of dynamical systems, computing arbitrarily close approximations of a desired equilibrium in polynomial time. Moreover, we illustrate by simulations the power of the proposed method, solving the steering problem for two examples in the class of underactuated systems, which have attracted wide attention in the recent literature.

}, keywords = {Embedded Control, Robotics}, author = {A. Fagiolini and L. Greco and A. Bicchi and B. Piccoli and A. Marigo} } @inbook {CTS-HYCON06, title = {Tools for semiglobal practical stability analysis of cascaded systems and applications}, series = {International Scientific and Technical Encyclopedia}, year = {2006}, month = {July}, chapter = {in Proceedings of the CTS{\textendash}HYCON Workshop}, address = {Paris, France}, abstract = {

We present sufficient conditions for semiglobal and/or practical stability in terms of Lyapunov-like functions. Based on this, we provide a result for the stability analysis of cascaded systems. A converse result is also presented for a particular class of uniformly semiglobally practically asymptotically stable systems. We briefly show the usefulness of these results through various applications in the control of mechanical systems.

}, keywords = {Robotics}, author = {A. Chaillet} } @article {CHLOEJC06, title = {Uniform global practical asymptotic stability for non-autonomous cascaded systems}, journal = {European Journal of Control}, volume = {12}, number = {6}, year = {2006}, abstract = {

This paper aims to give sufficient conditions for a cascade composed of nonlinear time-varying systems that are uniformly globally practically asymptotically stable (UGPAS) to be UGPAS. These conditions are expressed as relations between the Lyapunov function of the driven subsystem and the interconnection term. Our results generalise previous theorems that establish the uniform global asymptotic stability of cascades.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} } @conference {CHLO06, title = {Uniform Global Practical Stability for non-autonomous cascaded systems}, booktitle = {MTNS 2006}, year = {2006}, month = {July}, address = {Kyoto, Japan}, abstract = {

This paper aims to give sufficient conditions for a cascade composed of nonlinear time-varying systems that are uniformly globally practically asymptotically stable (UGPAS) to be UGPAS. These conditions are expressed as relations between the Lyapunov function of the driven subsystem and the interconnection term. Our results generalize previous theorems that establish the uniform global asymptotic stability of cascades.

}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} } @inbook {KYPACHPE06, title = {A virtual vehicle approach to underway replenishment}, series = {Lecture Notes in Control and Information Sciences}, year = {2006}, pages = {171{\textendash}189}, publisher = {Springer Verlag}, organization = {Springer Verlag}, chapter = {in Workshop on Group Coordination and Cooperative Control}, address = {Tromsoe, Norway}, abstract = {

The problem of coordinated control of a leader-follower system is solved using a virtual vehicle approach to alleviate information requirements on the leader. The virtual vehicle stabilizes to a shifted reference position/heading defined by the leader, and provides a reference velocity for the synchronization control law of the follower. Only position/heading measurements are available from the leader, and the closed-loop errors are shown to be uniformly globally practically asymptotically stable.

}, keywords = {Robotics}, author = {E. Kyrkjebo and E. Panteley and A. Chaillet and K. Pettersen} } @inbook {DLMS01, title = {Wearable Mechanosensing and Emerging Technologies in Fabric-based Actuation}, booktitle = {Intelligent Textiles for Personal Protection and Safety}, volume = {3}, year = {2006}, pages = {55-64}, publisher = {IOS Press}, organization = {IOS Press}, edition = { }, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and E. P. Scilingo and A. Tognetti} } @booklet {BCFGV05, title = {Adaptive nonlinear control of dynamic mobile robots with parameters uncertainty}, year = {2005}, publisher = {Dipartimento di Sistemi Elettrici e Automazione, Universit\à di Pisa}, abstract = {

Research of a modular stabilizing control law for uncertain, nonholonomic mobile systems with actuators limitation has been investigated. Modular design allows the definition of a stabilizing control law for the kinematic model. The presence of uncertainties in the actuators parameters or in the vehicle dynamics has been treated both adding suitable components to the Lyapunov function and using parameters adaptation laws (e.g. adaptive control and backstepping techniques). Simulations are reported for the set point stabilization of a unicycle like vehicle showing the feasibility of the proposed approach. Torque limitations for a unicycle like vehicle has been investigated using backstepping techniques for the vehicle tracking problem. Simulations are reported.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Caiti and D. Fontanelli and L. Greco and R. Viviani} } @article {BRRS-TM, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, journal = {IEEE Transactions on Magnetics}, volume = {41}, number = {5}, year = {2005}, pages = {1876 - 1879}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @article {PB04-rendi, title = {Control synthesis for practical stabilization of quantized linear systems}, journal = {Rend. Sem. Mat. Univ. Pol. Torino, Control Theory and Stabil., I}, volume = {63}, number = {4}, year = {2005}, pages = {397{\textendash}410}, abstract = {

In this work we face the stability problem for quantized control systems (QCS). A discrete{\textendash}time single{\textendash}input linear model is considered and, motivated by technological applications, we assume that a uniform quantization of the control set is a priori fixed. As it is well known, for QCS only practical stability properties can be achieved, therefore we focus on the existence and construction of quantized controllers capable of steering a system to within invariant neighborhoods of the equilibrium. The main contribution of the paper consists in a theorem which provides a condition for the practical stabilization in a fixed number of steps: not only the result is interesting in itself, but also it enables to construct a family of stabilizing controllers by means of Model Predictive Control (MPC) techniques. In the last part of the paper some results on the characterization of controlled{\textendash}invariant sets are reviewed and a lower bound on the size of invariant sets is provided.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi} } @conference {PSFB05, title = {Decentralized Cooperative Conflict Resolution for Multiple Nonholonomic Vehicles}, booktitle = {Proc. AIAA COnf. on Guidance, Navigation and Control}, year = {2005}, abstract = {

In this paper, we consider the problem of collision-free motion planning for multiple nonholonomic planar vehicles. Each vehicle is capable of moving at constant speed along paths with bounded curvature, and is aware of the position and heading of other vehicles within a certain sensing radius. No other information exchange is required between vehicles. We propose a spatially decentralized, cooperative hybrid control policy that ensures safety for arbitrary numbers of vehicles. Furthermore, we show that under certain conditions, the policy avoids dead- and livelock, and eventually all vehicles reach their intended targets. Simulations and experimental results are presented and discussed.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and E. Frazzoli and A. Bicchi} } @conference {TSB05, title = {Design and Control of a Variable Stiffness Actuator for Safe and Fast Physical Human/Robot Interaction}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2005}, pages = {528-533}, abstract = {

This paper is concerned with the design and control of actuators for machines and robots physically interacting with humans. According to criteria established in our previous work on mechanical-control co-design for intrinsically safe, yet performant machines, we pursue the Variable Impedance Actuation (VIA) approach, purporting actuators that can control in real-time both the reference position and the mechanical impedance of the moving parts in the machine. In this paper we describe an implementation of such concepts, consisting of a novel electromechanical Variable Stiffness Actuation (VSA) motor. The design and the functioning principle of the VSA are reported, along with the analysis of its dynamic behavior. A novel scheme for feedback control of this device is presented, along with experimental results showing performance and safety of a one-link arm actuated by the VSA motor.

}, keywords = {Robotics}, author = {G. Tonietti and R. Schiavi and A. Bicchi} } @conference {DSSB-WH05, title = {Does Active Exploration Suppress Tactile Flow Perception?}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {660-661}, abstract = {

In this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.

}, keywords = {Haptics}, author = {D. Dente and E. P. Scilingo and N. Sgambelluri and A. Bicchi} } @inbook {DCLPST05, title = {Electroactive fabrics and wearable man-machine interfaces}, booktitle = {Wearable Electronics and Photonics}, year = {2005}, pages = {59-80}, publisher = {Woodhead Publishing Ltd}, organization = {Woodhead Publishing Ltd}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {LSFD-06, title = {Flusso tattile ed illusione sensoriale}, booktitle = {SINC, Congresso nazionale della Societ}, year = {2005}, month = {May}, pages = {245-249}, address = {Roma, Italy}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo} } @conference {BBCCCCPT05, title = {From tele-laboratory to e-learning in automation curricula at the university of Pisa}, booktitle = {Proc. IFAC World Congress}, year = {2005}, abstract = {

The design and development of computational infrastructures supporting existing tele-laboratory experiences in the field of automation and robotics are described. The goal of the activity is to provide a proper e-learning environment in which remote laboratory experiences are integrated in a coherent way. The addition of e-learning features, as self-assessment and progress monitoring tools, asynchronous tutor interaction, authentication, evaluation and follow-up features, has led also to the modification of the original tele-laboratory set-up.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and V. Calabr{\`o} and T. Cecchini and A. Coppelli and L. Pallottino and G. Tonietti} } @conference {1268, title = {Functional and Pharmacological testing of endothelial cells cultured in dynamic conditions}, booktitle = {Proceedings of: XIV Edizione del Congresso della Fisiologia Clinica-CNR}, year = {2005}, pages = {82-96}, keywords = {Bioengineering}, author = {Vozzi, F. and Gentile, C. and D. Mazzei and G. Vozzi and C. Domenici and A. Ahluwalia} } @conference {BGGT05, title = {Hybrid Modelling of an Electronically Controlled Limited Slip Differential}, year = {2005}, month = {8-10 September}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and G. Greco and M. Guiggiani and G. Tonietti} } @booklet {CHANscl05, title = {Integral Input to State Stable systems in cascade}, howpublished = {Submitted to Systems and Control Letters}, year = {2005}, abstract = {

The Integral Input to State Stability (iISS) property is studied is the context of nonlinear time-invariant systems in cascade. A sufficient condition is given, in terms of the storage function of each subsystem, to ensure that the cascade composed of an iISS system driven by a Globally Asymptotically Stable (GAS) one remains GAS. Some sufficient conditions for the preservation of the iISS property under a cascade interconnection are also presented.

}, keywords = {Robotics}, author = {A. Chaillet and D. Angeli} } @article {1407, title = {Localization of autonomous underwater vehicles by floating acoustic buoys: a set-membership approach}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {30}, year = {2005}, pages = {140{\textendash}152}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @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 {pietrini2005ois, title = {Oltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale}, journal = {Neurological Sciences}, volume = {26}, year = {2005}, pages = {S81{\textendash}S83}, keywords = {Haptics}, author = {P. Pietrini and E. Ricciardi and C. Gentili and D. Bonino and N. Vanello and L. Sani and S. Danti and M. Guazzelli and A. Bicchi and TE Vecchi} } @article {BCPT03, title = {On-line Robotic Experiments for Tele-Education at the University of Pisa}, journal = {Int. Journal of Robotic Systems}, volume = {22}, number = {4}, year = {2005}, note = {

Special Issue on Internet \& Online Robots for Telemanipulation

}, pages = {217-230}, abstract = {

In this paper we describe work being done at our department to make the Robotics Laboratory accessible to student and colleagues, to execute and watch real-time experiments at any time and from anywhere. We describe few different installations, and highlight the underlying philosophy, wich is aimed at enlarging the lab in all the dimensions of space, time, and available resources, through the use of Internet technologies.

}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and L. Pallottino and G. Tonietti} } @conference {SRPB-05, title = {Optic and tactile flow: does a supramodal response exist?}, booktitle = {International multisensory research forum, 6th Annual meeting}, year = {2005}, month = {June}, address = {Rovereto, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and E. Ricciardi and P. Pietrini and A. Bicchi} } @article {1280, title = {Osmolality control by inhalation or micro-infusions?}, journal = {WIT Transactions on Biomedicine and Health}, volume = {9}, year = {2005}, pages = {559-570}, abstract = {

A model of osmolarity is proposed in this paper. This model represents a typical example of embedded physiological feedback control in physiology. Extensive simulation tests with a compartmental approach (using the specific software SAAM II) have been performed, showing that the model agrees with the findings published in the literature of endocrine physiology and with medical practice. As a relevant example of application of the models, the diabetes insipidus pathology was considered. In the case of central insipidus diabetes, it is possible to predict effects of a therapy, giving out synthetic ADH (where ADH is the antidiuretic hormone, the vasopressine) for restoring homeostatic conditions. Two kinds of therapy were considered: supply by inhalation or by microinfusion. In the first case, we evaluated the effect of inhalation using a two compartmental model to describe the effect of commercial drug (minirin, that means desmopressine acetate), and compared results with data existing in the literature. In the second case, the aim was to have a helping tool in the study and development of micro-infusors with sensors and controllers embedded so as to be able to release a controlled drug quantity, accorded to the patient and optimized for avoiding hyper- or ipo-concentrations of plasma ADH hormone. In this case, we used a mono-compartmental model, considering that the drug is infused directly in the plasma; results are again compared with data existing in the literature and with experimental data.

}, keywords = {Bioengineering}, author = {Ciofani, G. and A. Landi and D. Mazzei and A. Mazzoldi} } @conference {MOCHLOBEifac05, title = {Output feedback control via adaptive observers with persistency of excitation}, booktitle = {Proc. 16th. IFAC World Congress}, year = {2005}, month = {July}, address = {Praha, Tcheck Republic}, abstract = {

We address the problem of adaptive observer design for nonlinear time-varying systems which can be transformed in the so-called output feedback form (linear in the unmeasured variables). The observer design follows up previous work on adaptive observers for linear systems and has the form of the classical Luenberger observers for linear systems except that the observer gain is time-varying. A specific form of persistency of excitation is imposed to guarantee the convergence of the (state and parameter) estimation errors. As for the output feedback loop, we proceed using a cascade approach, i.e., we impose the appropriate conditions so that the closed loop system has a cascaded structure. Uniform global asymptotic stability may then be concluded based on cascaded systems theory.

}, keywords = {Robotics}, author = {De Leon Morales, J. and A. Chaillet and A. Lor and G. Besancon} } @article {BSB04, title = {Path-Following with a Bounded-Curvature Vehicle: a Hybrid Control Approach}, journal = {International Journal of Control}, volume = {78}, number = {15}, year = {2005}, month = {October}, pages = {1228-1247}, abstract = {

In this paper, we consider the problem of stabilizing the kinematic model of a car to a path in the plane under rather general conditions. The path is subject to very mild restrictions, while the car model, although rather simplified, contains the most relevant limitations inherent in wheeled robots kinematics. Namely, the car can only move forward, its steering radius is lower bounded and a limited sensory information only provides a partial knowledge of some state parameters. In particular, we consider the case that the current distance and the heading angle error with respect to the closest point on the reference path can be measured but only the sign of the path curvature is detected. These constraints are such to make classical control techniques inefficient. As the feedback information is both continuous and discrete, the hybrid systems formalism turns out to be well appropriate to model the problem. The proposed approach is based on optimal control techniques successfully applied in a previous work for following rectilinear path. We propose here an extension to the tracking of more general paths with moderate curvature. The stability of the closed-loop system is proved by means of the hybrid system formalism and hybrid formal verification techniques. Finally, the practicality of the proposed approach, in spite of non{\textendash}idealities in real-world applications, is discussed by reporting experimental results.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi and P. Sou{\`e}res} } @conference {DOUBLEINT, title = {On the PE stabilization of time-varying systems: open questions and preliminary answers}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2005}, month = {December}, pages = {6847{\textendash}6852}, address = {Sevilla, Spain}, abstract = {

We address the following fundamental question: given a double integrator and a linear control that stabilizes it exponentially, is it possible to use the {\em same} control input in the case that the control input is multiplied by a time-varying term? Such question has many interesting motivations and generalizations: 1) we can pose the same problem for an input gain that depends on the state and time hence, a specific persistency of excitation property for nonlinear systems must be imposed; 2) the stabilization {\textendash}with the same method{\textendash} of chains of integrators of higher order than two is fundamentally more complex and has applications in the stabilization of driftless systems; 3) the popular backstepping method stabilization method for systems with non-invertible input terms. The purpose of this note is two-fold: we present some open questions that we believe are significant in time-varying stabilization and present some preliminary answers for simple, yet challenging case-studies.

}, keywords = {Robotics}, author = {A. Lor and A. Chaillet and G. Besancon and Y. Chitour} } @conference {BDSS-WH05, title = {Perceptual Bias in Tactile Flow}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {17-20}, abstract = {

In this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo and N. Sgambelluri} } @article {SGPTGD05, title = {Performance evaluation of Sensing Fabrics for Monitoring Physiological and Biomechanical Variables}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {345-352}, keywords = {Bioengineering}, author = {E. P. Scilingo and A. Gemignani and R. Paradiso and N. Taccini and B. Ghelarducci and D. De Rossi} } @conference {IARP05, title = {Physical Human-Robot Interaction in Anthropic Domains: Safety and Dependability}, booktitle = {Proc. 4th IARP/IEEE-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2005}, abstract = {

In this paper we describe the motivations and the aim ofthe EURON-2 research project {\textquoteleft}{\textquoteleft}\underline{P}hysical \underline{H}uman-\underline{R}obot \underline{I}nteraction in Anthropic \underline{Dom}ains{\textquoteright}{\textquoteright} (PRHIDOM). This project, which moves along the lines indicated by the 1$^{st}$ IARP/IEEE-RAS Workshop on Technical Challenge for Dependable Robots in Human Environments \cite{iarp01}, is about {\textquoteleft}{\textquoteleft}charting{\textquoteright}{\textquoteright} the new {\textquoteleft}{\textquoteleft}territory{\textquoteright}{\textquoteright} of physical Human-Robot Interaction (pHRI). To ensure these goals, the integration competences in control, robotics, design and realization of mechanical systems, human-machine interaction, and in safety-dependability of mechatronic systems is required. The PHRIDOM Consortium is composed of 5 partners from 3 different European countries.

}, keywords = {Robotics}, author = {A Albu-Schaeffer and A. Bicchi and G. Boccadamo and R. Chatila and A. De Luca and De Santis, A and G. Giralt and G. Hirzinger and V. Lippiello and R. Mattone and R. Schiavi and B. Siciliano and G. Tonietti and L. Villani} } @conference {1266, title = {Physiological Cybernetics: Model of Osmolality and Volemia}, booktitle = {Proc. and 2005 European Control Conf. Decision and Control CDC-ECC {\textquoteright}05. 44th IEEE Conf}, year = {2005}, pages = {5552{\textendash}5557}, keywords = {Bioengineering}, doi = {10.1109/CDC.2005.1583046}, author = {Ciofani, G. and A. Landi and D. Mazzei and A. Mazzoldi} } @article {DCS05, title = {Polymers based interfaces as bioninspired {\textquoteright}smart skins{\textquoteright}}, journal = {Advances in Colloids and Interface Science}, volume = {116}, year = {2005}, month = {August}, pages = {165-178}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and E. P. Scilingo} } @conference {ABBPSZ05, title = {Randomized Algorithms for Platform{\textendash}based Design}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2005}, pages = {6638 - 6643}, abstract = {

The design of automotive control systems is becoming increasingly complex as the level of performance required by car manufactures grows continuously and the constraints on cost and development time imposed by the market become tighter. A successful design, without costly and time consuming re-design cycles, can be achieved only by using an efficient design methodology that allows for component re-use and evaluation of platform requirements at the early stages of the design flow. In this paper, we illustrate a control-implementation design methodology for the development of embedded controllers by composition of algorithms picked up from libraries. Randomized algorithms and hybrid system theory are used to develop techniques for functional and architecture evaluations, which are implemented in a prototype tool.

}, keywords = {Embedded Control, Robotics}, author = {A. Agostini and A. Balluchi and A. Bicchi and B. Piccoli and Sangiovanni Vincentelli, A. and K. Zadarnowska} } @conference {1267, title = {Realisation of a concentration gradients cell chamber to study their effect of biomolecules on the cell activity}, booktitle = {Proceedings of: 4Th Annual Meeting of the European Tissue Engineering Society (ETES)}, year = {2005}, keywords = {Bioengineering}, author = {D. Mazzei and Vozzi, F. and G. Vozzi and A. Ahluwalia} } @article {1406, title = {Risk assessment of seafloor waste: acoustical imaging of buried waste}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {13}, year = {2005}, pages = {385{\textendash}401}, keywords = {Robotics}, issn = {0218-396X}, doi = {10.1142/S0218396X05002694}, url = {http://dx.medra.org/10.1142/S0218396X05002694}, author = {A. Caiti and M. Palmese and A. Trucco} } @mastersthesis {GrecoPhD, title = {Stability and Stabilization Issues in Switched Systems}, year = {2005}, school = {University of Pisa}, type = {phd}, keywords = {Robotics}, author = {L. Greco} } @conference {TocCDC05, title = {Stabilization of a Class of Planar Nonlinear Systems}, booktitle = {44th IEEE CDC-ECC{\textquoteright}05}, year = {2005}, month = {December}, address = {Seville, Spain}, keywords = {Robotics}, author = {F. Tocchini and L. Greco and M. Innocenti} } @article {LSTTD05, title = {Strain sensing fabric for hand posture and gesture monitoring}, journal = {IEEE Transactions on Information Technology in BioMedicine}, volume = {9}, number = {3}, year = {2005}, month = {September}, pages = {372-381}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti and D. De Rossi} } @conference {ricciardi05:_supram_mt, title = {Supramodal response of human MT+ complex to visual and tactile perception of flow as demonstrated by fMRI studies in sighted and congenitally blind individuals}, booktitle = {11th annual meeting of the organization for Human Brain Mapping}, volume = {1}, year = {2005}, note = {

Toronto

}, pages = {129-129}, keywords = {Haptics}, author = {E. Ricciardi and L. Sani and C. Gentili and N. Vanello and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @inbook {BSDDS05, title = {Tactile Flow and Haptic Discrimination of Softness}, booktitle = {Multi-point Interaction with Real and Virtual Objects}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {18}, year = {2005}, pages = {165-176}, publisher = {Springer Verlag}, organization = {Springer Verlag}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri}, editor = {F. Barbagli and D Prattichizzo and K. Salisbury} } @conference {CHLOifac05, title = {Uniform Semiglobal Practical Asymptotic Stability for nonlinear time-varying systems in cascade}, booktitle = {Proc. 16th. IFAC World Congress}, year = {2005}, month = {July}, address = {Praha, Tcheck Republic}, keywords = {Robotics}, author = {A. Chaillet and A. Lor} } @conference {FAB05, title = {Visual-based Feedback Control of Casting Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2005}, note = {

(ICRA05 B. Wegbreit Award for Best Manipulation Paper)

}, pages = {2203-2208}, abstract = {

In this paper, we present a method to control casting manipulation by means of real-time visual feedback. Casting manipulation is a technique to deploy a robotic end-effector at large distances from the robot{\textquoteright}s base, by throwing the end-effector and controlling its ballistic flight using forces transmitted through a light tether connected to the end-effector itself. The tether cable can also be used to retrieve the end-effector and exert forces on the robot{\textquoteright}s environment. Previous work has shown that casting manipulation is able to catch objects at a large distance, proving it viable for applications such as sample acquisition and return, rescue, etc. In previous experiments, the position of the target object was known exactly. In this paper, we present a first attempt at closing a real-time control loop on casting manipulation using visual feedback of moving targets. As accurate planning methods developed for off-line open-loop planning cannot be used in real-time, we develop a simplified model and control algorithm, whose effectiveness is demonstrated through experiments.

}, keywords = {Robotics}, author = {A. Fagiolini and H. Arisumi and A. Bicchi} } @conference {SRSRB04, title = {Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids}, booktitle = {Proc. Int. Conf. Eurohaptics 2004}, year = {2004}, month = {June}, pages = {442-445}, address = {Munich, Germany}, abstract = {

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {BRRS, title = {Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces}, booktitle = {Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004).}, year = {2004}, month = {June}, address = {Seoul, Korea}, abstract = {

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and M. Raugi and R. Rizzo and N. Sgambelluri} } @conference {BPMLSC-04, title = {Analysis Of Heart Rate And Respiration Variability Signals Obtained Through A Wearable System}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {R. Paradiso and M. O. Mendez and G. Loriga and E. P. Scilingo and S. Cerutti} } @inbook {DLSCTT04, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {Wearable eHealth Systems for Personalised Health Management}, year = {2004}, pages = {209-213}, publisher = {IOS Press}, organization = {IOS Press}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and Carpi, F and A. Tognetti and Tesconi, M} } @conference {DPSB04, title = {A compatibility test for tactile displays designed for fMRI studies.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {456-458}, abstract = {

The purpose of this document is to provide a compatibility test for mechatronic devices to be used within a diagnostic MR environment. In order to design new devices that can produce tactile stimuli of different nature inside the MRI environment, compatibility tests with several materials and mechatronic devices are reported. Results of these experiments are analyzed in order to evaluate artefacts caused by the presence and actuation of the devices.

}, keywords = {Haptics}, author = {V. Hartwig and N. Vanello and R. Gassert and D. Chapuis and M. F. Santarelli and V. Positano and E. Ricciardi and P. Pietrini and L. Landini and A. Bicchi} } @conference {PPBJ04, title = {Control of Distributed Embedded Systems in the Presence of Unknown{\textendash}but{\textendash}Bounded Noise}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2004}, pages = {1448-1453}, abstract = {

In this paper we consider the problem of controlling multiple scalar systems through a limited capacity shared channel. Each system is affected by process noise and can be controlled byactuators with values in a {\em fixed}inite set. The control objective is to bound the evolution of the systems in specified sets (controlled invariance). Our goal is to find an optimal allocation of the shared communication resource to the different control activities and to identify correct choices for the design parameters. The paper provides fundamental conceptual tools to attack the design problem in the formal framework of an optimization problem. Namely, we give a feasibility criterion to decide whether a set of design parameters conforms with a control specification (i.e., with the controlled invariance of a specified set for each system). Moreover, we offer the explicit computation of the minimum bit rate necessary for the controlled invariance of a set, which is of utmost importance for solving the optimization problem.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and L. Palopoli and A. Bicchi and K. H. Johansson} } @conference {PSB04, title = {Decentralized Cooperative Conflict Resolution Among Multiple Autonomous Mobile Agents}, booktitle = {cdc}, year = {2004}, pages = {4758-4763}, abstract = {

In this paper we consider policies for cooperative, decentralized traffic management among a number of autonomous mobile agents. The conflict resolution problem is addressed considering realistic restrictions on possible maneuvers. We formulate this problem as one in Mixed Integer Linear Programming (MILP). The method, which proves successful in a centralized implementation with a large number of cooperating agents, is also extended to a decentralized setting. Conditions for the existence of conflict avoidance maneuvers for a system of 5 autonomous agents with a transitive information structure are provided, along with the explicit policy to be applied by each agent.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and V. G. Scordio and A. Bicchi} } @conference {RS04, title = {Design of a System for the Energization of MagnetoRheological Fluids}, booktitle = {Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004)}, year = {2004}, month = {March}, pages = {921-924}, address = {Pisa, Italy}, abstract = {

In a previous paper, a device for the characterization of MagnetoRheological Fluids (MRF) has been described. The MRF consist of micro-sized, magnetically active particles dispersed in a carrier medium. When exposed to a magnetic field, MRF change their own consistency turning from fluid to near-solid state responding to the applied field within milliseconds. This interesting property, suggests the possibility to use magnetorheological fluids to mimic the compliance of biological tissues in order to realize a haptic display, such as in surgical training for minimally invasive surgery and/or open surgery simulations [2]. In this scenario the operator could interact with a virtual object which simulate several biological tissues by magnetically tuning the rheological properties of the fluid. In this paper an accurate analysis of an immersive device for the magnetic excitation of the fluid is presented. In particular such analysis is focused on a system of ferromagnetic "pistons", that, properly positioned in the device, can address the magnetic flux in the MRF.

}, keywords = {Haptics}, author = {R. Rizzo and N. Sgambelluri} } @conference {CPTSLDGGBVG-04, title = {Development of a Wearable System Based on Smart Textiles and GPRS Transmission for Remote Multiparametric Monitoring of Cardiac Patients: Preliminary Results of the WEALTHY Project}, booktitle = {THE 5th International Heart Health Conference}, year = {2004}, month = {June}, address = {Milan, Italy}, keywords = {Bioengineering}, author = {S. Coli and R. Paradiso and N. Taccini and E. P. Scilingo and G. Loriga and D. De Rossi and A. Gemignani and B. Ghelarducci and L. Bourdon and A. Ditmar and T. Vavouras and B. Gros and J. Luprano and M. Jaenecke and C. Coucke and G. Delhomme and D. Cianflone} } @conference {BMP04, title = {Discrete and Hybrid Nonholonomy}, booktitle = {Hybrid Systems: Computation and Control}, series = {LNCS}, volume = {2993}, number = {157{\textendash}172}, year = {2004}, pages = {157-172}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

In this paper we consider the generalization of the classical notion of nonholonomy of smooth constraints in analytical mechanics, to a substantially wider set of systems, allowing for discrete and hybrid (mixed continuous and discrete) configurations and transitions. We show that the general notion of nonholonomy can be captured by the definition of two different types of nonholonomicbehaviours, which we call {\em internal}nd {\em external}, respectively. Examples are reported of systems exhibiting either the former only, or the latter only, or both. For some classes of systems, we provide equivalent or sufficient characterizations of such definitions, which allow for practical tests.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli}, editor = {R. Alur and G. Pappas} } @article {1408, title = {Evolutionary path planning for autonomous underwater vehicles in a variable ocean}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {29}, year = {2004}, pages = {418{\textendash}429}, keywords = {Robotics}, issn = {0364-9059}, author = {A. Alvarez and A. Caiti and R. Onken} } @article {BT03, title = {Fast and Soft Arm Tactics: Dealing with the Safety-Performance Trade-Off in Robot Arms Design and Control}, journal = {IEEE Robotics and Automation Magazine}, volume = {11}, number = {2}, year = {2004}, note = {

PUBLISHER{\textquoteright}S NOTE: In this paper, there are three errors introduced during production. First, the correct title of the article is Fast and Soft Arm Tactics. Also, on formulae for GSI and HIC in page 23, the acceleration is measured in multiples of the acceleration of gravity (g) [not grams], while time is measured in seconds. Finally, within Figure 1, one should read Compliant Covering, and Mrob = Mrotor + Mlink [instead of Krob = Krotor + Klink]. Please visit http://www.ncsu.edu/IEEE-RAS/RAM/BicchiFigure1.pdf to see the original figure.

}, pages = {22{\textendash}33}, abstract = {

In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. The particular but basic problem of single-joint actuation is considered in detail. Intuitively, while a rigid and powerful structure of the arm would favour its performance, lightweight compliant structures are more suitable to safe operation. The quantitative analysis of the resulting design trade-off between safety and performance is one of the objectives of our work. Such analysis has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus our attention on one, the Variable-Stiffness Transmission (VST) approach. Some aspects related to the implementation of the mechanics and control of VST joints are reported.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti} } @article {MFB03, title = {A Hybrid-Control Approach to the Parking Problem of a Wheeled Vehicle Using Limited View-Angle Visual Feedback}, journal = {Int. Jour. of Robotics Research}, volume = {23}, number = {4-5}, year = {2004}, month = {April-May}, pages = {437-448}, abstract = {

In this paper we consider the mobile robot parking problem, i.e. the stabilization of a wheeled vehicle to a given position and orientation, using only visual feedback from low-cost cameras. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi} } @inbook {S04, title = {I Sensori fisici}, booktitle = {Sensori per Misure Biomediche}, year = {2004}, pages = {59-107}, publisher = {Patron}, organization = {Patron}, keywords = {Bioengineering}, author = {E. P. Scilingo} } @conference {DPSB04, title = {Integration of Tactile Flow from Multi-Finger and Multi-Dimensional Information}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {282-289}, abstract = {

In this paper we pursue an investigation on the role of perceptual flow in the tactile domain, which appears to be a primary source for information such as shape, motion and softness. In this paper, we report on a set of psychophysical experiments involving how humans integrate incoherent tactile flow stimuli. Two experiments are reported, whereby discordant stimuli are conveyed to the subject by two different fingertips, or by two different families of mechanoreceptors in the same finger. Results from the first experiment show that, in these conditions, the tactile and the optic perceptive systems act in a very similar way. In the second experiment the interaction between tactile flow and friction generate an illusory phenomenon peculiar of the tactile system.

}, keywords = {Haptics}, author = {D. Dente and A. Pisani and E. P. Scilingo and A. Bicchi} } @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} } @conference {HBM04, title = {Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain}, booktitle = {10th Annual Meeting of the Organization for Human Brain Mapping}, year = {2004}, abstract = {

V5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.

}, keywords = {Haptics}, author = {N. Vanello and E. Ricciardi and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {RVDSSGSPSGHLBP04, title = {Perception of visual and tactile flow activates common cortical areas in the human brain.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {290-292}, abstract = {

We report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @inbook {BLMS03, title = {On The Problem of Simultaneous Localization, Map Building, and Servoing of Autonomous Vehicles}, booktitle = {Advances in Control of Articulated and Mobile Robots}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {10}, year = {2004}, pages = {223-239}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this chapter, we consider three of the main problems that arise in the navigation of autonomous vehicles in partially or totally unknown environments, i.e. building a map of the environment, self-localizing, and servoing the robot so as to achieve given goals based on sensorial information. As compared to most part of the existing literature on SLAM, we privilege here a system-theoretic view to the problem, which allows the localization and mapping problems to be cast in a unified framework with the control problem. The chapter is an overview of existing results in this vein, and of some interesting directions for research in the field. All chapters of this volume were revised and published online March 2005. The volume number was corrected from 4010 to 10.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and F. Lorussi and P. Murrieri and V. G. Scordio}, editor = {B. Siciliano and A. De Luca and C. Melchiorri and G. Casalino} } @conference {BJPP, title = {Quantised Control in Distributed Embedded Systems.}, booktitle = {Proc. 16th Int. Symp. on Mathematical Theory of Networks and Systems}, year = {2004}, abstract = {

Traditional control design is based on ideal assumptions concerning the amount, type and accuracy of the information flow that can be circulated across the controller. Unfortunately, real implementation platforms exhibit non-idealities that may substantially invalidate such assumptions. As a result, the system’s closed-loop performance can be severely affected and sometimes stability itself is jeopardised. These problems show up with particular strength when multiple feedback loops share a limited pool of computation and communication resources. In this case the designer is confronted with the challenging task of choosing at the same time the control law and the optimal allocation policy for the shared resources (control algortihm/system architecture co-design).

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and K. H. Johansson and L. Palopoli and B. Picasso} } @article {MCB04, title = {Reachability and Steering of Rolling Polyhedra: A Case Study in Discrete Nonholonomy}, journal = {IEEE Trans. on Automatic Control}, volume = {49}, number = {5}, year = {2004}, month = {May}, pages = {710-726}, abstract = {

Rolling a ball on a plane is a standard example of nonholonomy reported in many textbooks, and the problem is also well understood for any smooth deformation of the surfaces. For non-smoothly deformed surfaces, however, much less is known. Although it may seem intuitive that nonholonomy is conserved (think e.g. to polyhedral approximations of smooth surfaces), current definitions of {\textquoteleft}{\textquoteleft}nonholonomy{\textquoteright}{\textquoteright} are inherently referred to systems described by ordinary differential equations, and are thus inapplicable to such systems. \{\.I}n this paper we study the set of positions and orientations that a polyhedral part can reach by rolling on a plane through sequences of adjacent faces. We provide a description of such reachable set, discuss conditions under which the set is dense, or discrete, or has a compound structure, and provide a method for steering the system to a desired reachable configuration, robustly with respect to model uncertainties. \\Based on ideas and concepts encountered in this case study, and in some other examples we provide, we turn back to the most general aspects of the problem and investigate the possible generalization of the notion of (kinematic) nonholonomy to non-smooth, discrete, and hybrid dynamical systems. To capture the essence of phenomena commonly regarded as {\textquoteleft}{\textquoteleft}nonholonomic{\textquoteright}{\textquoteright}, at least two irreducible concepts are to be defined, of {\textquoteleft}{\textquoteleft}internal{\textquoteright}{\textquoteright} and {\textquoteleft}{\textquoteleft}external{\textquoteright}{\textquoteright} nonholonomy, which may coexist in the same system. These definitions are instantiated by examples.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and Y. Chitour and A. Marigo} } @conference {BBCCPPT04, title = {A Robotic Set-Up with Remote Access for {\textquoteleft}{\textquoteleft}Pick and Place{\textquoteright}{\textquoteright} Operations Under Uncertainty Conditions}, booktitle = {E-learning and Virtual and Remote Laboratories}, series = {Proc. VIRTUAL-LAB 2004}, year = {2004}, pages = {144{\textendash}149}, abstract = {

The work describes on-going work at the University of Pisa on the field of tele-laboratories and distance learning. In particular, the group is working at the evolution of existing tele-laboratory experiments in the field of robotics and control into learning units of a self-consistent didactic project. The pick-and-place system described has been designed to provide the set-up for robot arm motion planning with specific objectives and evaluation tools.

}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Caiti and T. Cecchini and L. Pallottino and A. Pisani and G. Tonietti}, editor = {P. Borza and L. Gomes and G. Scutaru} } @conference {BTS04, title = {Safe and Fast Actuators for Machines Interacting with Humans}, booktitle = {Proc. of the 1st Technical Exhibition Based Conference on Robotics and Automation, TExCRA2004, November 18-19, TEPIA, Tokyo, Japan -}, year = {2004}, pages = {(in press)}, abstract = {

This paper describes a new generation of actuators for robotic applications, and more generally for machines that are designed to interact with humans. Such actuators, called Variable Impedance Actuators, are designed to achieve fast motion control while guaranteeing safety of human operators in worst-case impact situation. The fundamental innovation is to implement safety by purely mechanical, passive means, to guarantee intrinsic safety, while active control is used to recover performance. The design concept, which is the subject of a patent application, has led to the experimental implementation of a Variable Stiffness Actuator. The effectiveness of the VSA has been recently validated theoretically and experimentally by authors.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and R. Schiavi} } @conference {GSLTPD-04, title = {A sensing shirt for monitoring behavioral and autonomic parameters}, booktitle = {55}, year = {2004}, month = {February}, pages = {83}, address = {Innsbruck, Austria}, keywords = {Bioengineering}, author = {A. Gemignani and E. P. Scilingo and G. Loriga and N. Taccini and R. Paradiso and D. De Rossi and B. Ghelarducci} } @conference {PB04mi, title = {Some relations between ergodicity and minimality properties of invariant sets in quantized control systems}, booktitle = {Bifurcations in nonsmooth and hybrid dynamical systems: analysis, control and applications}, series = {S.I.C.C. (Societ\à Italiana Caos e Complessit\à)}, year = {2004}, note = {

poster presentation

}, month = {21-22 October}, address = {Milan}, abstract = {

Linear dynamical systems controlled by quantized inputs exhibit phenomena which are typically non-linear, including chaotic behaviours. We consider discrete-time single-input models of the type x(k+1)=Ax(k)+bu(k). The construction of invariant sets for this class of hybrid systems is of utmost importance for the stabilization problem. We first review a technique to construct invariant sets when an arbitrary quantized input set is assigned. We hence study minimality properties for invariant sets when inputs take integer values. There is a relation between a so-called strong minimality property and ergodicity of the closed-loop dynamics, in particular, ergodicity implies strong minimality. A condition ensuring strong minimality is given in terms of the coefficients of the characteristic polynomial of the matrix {\textquoteright}A{\textquoteright}. Two examples are presented: the first one shows that strong minimality does not imply ergodicity. The second one shows that our condition for strong minimality is only sufficient: this is done by exhibition of an ergodic dynamics for which our condition is not satisfied.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi} } @conference {GreMED04, title = {Stabilization of a Class of Unstable Switching Systems}, booktitle = {12th IEEE Mediterranean Conference}, year = {2004}, month = {June}, address = {Kusadasi, Turkey}, keywords = {Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @conference {DFB04, title = {Towards Cooperative Visual-Based Localization, Mapping, and Servoing}, year = {2004}, note = {

Proc. IEEE Mediterranean Conf.

}, abstract = {

In this paper we consider the problem of navigating an autonomous robot using primarily vision for localizing the robot, building a map of the environment, and navigating through viapoints to goals. A visual servo scheme is used that can steer the wheeled vehicle among images. Goal images do not necessarily correspond to images physically taken from the desired vehicle posture, as servoing to reconstructed virtual images is possible. A topological image map is constructed to support this, based on images grabbed by on-board cameras, along with a global feature-based metric map, using extended Kalman filter techniques. The method also enables a team of multiple vehicles to merge their information, and to coordinate navigation using each other{\textquoteright}s images. Realistic assumptions on limited communication bandwidth between agents and available memory storage are taken into account considering informative, memory-safe maps. Simulations and preliminary experimental results on a laboratory setup are reported.

}, keywords = {Embedded Control, Robics}, author = {A. Danesi and D. Fontanelli and A. Bicchi} } @conference {DLSCTTO-04, title = {An Upper Limb Kinesthetic-Like System For Tele-Rehabilitation}, booktitle = {Mediterranean Conference on Medical and Biological Engineering}, year = {2004}, month = {August}, address = {Island of Ischia, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo and F. Carpi and M. Tesconi and A. Tognetti and P. Orsini} } @article {LRSTD04, title = {Wearable, Redundant Fabric-Based Sensor Arrays for Reconstruction of Body Segment Posture}, journal = {IEEE Sensors Journal}, volume = {4}, number = {6}, year = {2004}, month = {December}, pages = {807-818}, keywords = {Bioengineering}, author = {F. Lorussi and W. Rocchia and E. P. Scilingo and A. Tognetti and D. De Rossi} } @inbook {DLMOS03, title = {Active dressware: wearable kinesthetic systems}, booktitle = {Sensor and sensing in biology and engineering}, year = {2003}, pages = {379-392}, publisher = {Springer Wien}, organization = {Springer Wien}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLS-03, title = {Artificial kinesthetic systems for telerehabilitation}, booktitle = {International Workshop in New generation of wearable systems for e-Health: towards a revolution of citizen{\textquoteright} health and life style management?}, year = {2003}, month = {December}, pages = {129-133}, address = {Lucca, Italy}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and E. P. Scilingo} } @conference {DFMSB03, title = {Cooperative Simultaneous Localization and Map Building for Servoing}, booktitle = {Proceedings of Multiagent Robotic Systems Trends and Industrial Application - Robocup 2003 Conference}, year = {2003}, month = {July}, address = {Padova}, keywords = {Embedded Control, Robotics}, author = {A. Danesi and D. Fontanelli and P. Murrieri and V. G. Scordio and A. Bicchi} } @article {DCLMPS03, title = {Electroactive Fabrics And Wearable Biomonitoring Devices}, journal = {AUTEX Research Journal}, volume = {3}, number = {4}, year = {2003}, month = {December}, pages = {180-185}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo and A. Tognetti} } @conference {BMP03, title = {Encoding steering control with symbols}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2003}, pages = {3343-3348}, abstract = {

In this paper, we consider the problem of steering complex dynamical systems among equilibria in their state space in efficient ways. Efficiency is considered as the possibility of compactly representing the (typically very large, or infinite) set of reachable equilibria and quickly computing plans to move among them. To this purpose, we consider the possibility of building lattice structures by purposefully introducing quantization of inputs. We consider different ways in which control actions can be encoded in a finite or numerable set of symbols, review different applications where symbolic encoding of control actions can be employed with success, and provide a unified framework in which to study the many different possible manifestations of the idea.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {OVMB03, title = {From nominal to robust planning: The plate-ball manipulation system}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {3175-3180}, address = {Taipei, Taiwan}, abstract = {

Robotic manipulation by rolling contacts is an appealing method for achieving dexterity with relatively simple hardware. While there exist techniques for planning motions of rigid bodies in rolling contact under nominal conditions, an inescapable challenge is the design of robust controllers of provable performance in the presence of model perturbations. As a preliminary step in this direction, we present in this paper an iterative robust planner of arbitrary accuracy for the plate-ball manipulation system subject to perturbations on the sphere radius. The basic tool is an exact geometric planner for the nominal system, whose repeated application guarantees the desired robustness property on the basis of the Iterative Steering paradigm. Simulation results under perturbed conditions show the effectiveness of the method.

}, keywords = {Embedded Control, Robotics}, author = {G. Oriolo and M. Vendittelli and A. Marigo and A. Bicchi} } @conference {SSDRB03, title = {Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation}, booktitle = {Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2003}, pages = {10{\textendash}15}, abstract = {

In this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {BDS03, title = {Haptic Illusions Induced by Tactile Flow}, booktitle = {EuroHaptics Conference}, year = {2003}, pages = {2412-2417}, abstract = {

In this paper we report on a set of experiments involving perceptual illusions elicited by dynamic tactile stimulation of fingertips. These misperceptions are akin to some well studied optical illusions, which have been given an explanation in terms of the mechanisms of optic flow perception. We hypothesize that a similar perceptual mechanism exists for tactile flow, which is related to how humans perceive relative motion and pressure between the fingertips and objects in contact. We present a computational model of tactile flow, and discuss how it relates to accepted models of the neurophyisiology of touch. A particularly interesting phenomenon observed under some experimental circumstances, consisting of an incoherent tactile perception generating what we call a tactile vertigo, can be explained in terms of this model. The proposed tactile flow model also explains other phenomena observed in the past (namely, the Contact Area Spread Rate effect), and is of importance in designing simpler, more effective devices for artificial haptic sensing and displays.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo} } @conference {PGSD-03, title = {Knitted Bioclothes for Cardiopulmonary Monitoring}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3720-3723}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {R. Paradiso and A. Gemignani and E. P. Scilingo and D. De Rossi} } @booklet {GreTR03, title = {Necessary and Sufficient Conditions for Asymptotic Stability of Second Order LTI Switching Systems}, year = {2003}, publisher = {Dept. of Electrical Systems and Automation, University of Pisa}, keywords = {Robotics}, author = {L. Greco and F. Tocchini and M. Innocenti} } @article {BB02, title = {Necessary and Sufficient Conditions for Robust Perfect Tracking under Variable Structure Control}, journal = {International Journal of Robust and Nonlinear Control}, volume = {13}, number = {2}, year = {2003}, month = {02/2003}, pages = {141-151}, abstract = {

The tracking control of linear MIMO systems with structured uncertainty is considered. A necessary and sufficient condition for robust asymptotic tracking employing variable structure techniques in the presence of multiplicative uncertainty is derived. The constructive proof of the theorem provides an explicit formula for controller synthesis.

}, keywords = {Embedded Control, Robotics}, author = {A. Balluchi and A. Bicchi} } @conference {PCB03, title = {Quality of service control in soft real-time applications}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2003}, pages = {664-669}, abstract = {

In this paper we present results obtained in the context of Quality of Service (QoS) control for soft real-time applications. The discussion addresses the issue of dynamically adjusting the bandwidth for a set of periodic tasks, when a reservation-based (RB) CPU scheduling policy is used. RB techniques are particularly suitable for this kind of applications since they allow an accurate mathematical modelling of the dynamic evolution of the QoS experienced by tasks. Based on this model, a control policy guaranteeing specified QoS levels for different tasks is illustrated, along with necessary and sufficient conditions for its existence. Moreover, the problem of steering a task QoS back into its nominal level is tackled, in response to deviations due to temporary overload conditions. Simulation results are reported, for the purpose of validating the approach.

}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and T. Cucinotta and A. Bicchi} } @inbook {PB03-ADHS, title = {Receding-Horizon Control of LTI Systems with Quantized Inputs}, booktitle = {Analysis and Design of Hybrid Systems 2003}, year = {2003}, pages = {259-264}, publisher = {Elsevier}, organization = {Elsevier}, abstract = {

This paper deals with the stabilization problem for a particular class of hybrid systems, namely discrete-time linear systems subject to a uniform (a priori fixed) quantization of the control set. Results of our previous work on the subject provided a description of minimal (in a specific sense) invariant sets that could be rendered maximally attractive under any quantized feedback strategy. In this paper, we consider the design of stabilizing laws that optimize a given cost index on the state and input evolution on a finite, receding horizon. Application of Model Predictive Control techniques for the solution of similar hybrid control problems through Mixed Logical Dynamical reformulations can provide a stabilizing control law, provided that the feasibility hypotheses are met. In this paper, we discuss precisely what are the shortest horizon length and the minimal invariant terminal set for which it can be guaranteed a stabilizing MPC scheme. The final paper will provide an example and simulations of the application of the control scheme to a practical quantized control problem.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and S. Pancanti and A. Bemporad and A. Bicchi}, editor = {Gueguen Engell and Zaytoon} } @article {InnAut03, title = {Sliding Mode Control for Two-Time Scale Systems: Stability Issues}, journal = {Automatica}, volume = {39}, year = {2003}, month = {February}, pages = {273{\textendash}280}, keywords = {Robotics}, author = {M. Innocenti and L. Greco and L. Pollini} } @conference {ZBSVB03, title = {Stabilization of a class of discrete-time hybrid automata}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2003}, pages = {1147-1152}, abstract = {

In this paper, the problem of stabilizing linear discrete time hybrid automata is considered. A synthesis methodology is obtained by extending to hybrid systems the stabilization techniques based on stable convex combinations, originally developed for switching systems. An algorithm to explore the candidate stabilizing controller actions is proposed and an application to an automotive engine control problem is described.

}, keywords = {Embedded Control, Robotics}, author = {M. Zoncu and A. Balluchi and A. Sangiovanni Vincentelli and A. Bicchi} } @inbook {PB03-HSCC, title = {Stabilization of LTI Systems with Quantized State-Quantized Input Static Feedback}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2623}, year = {2003}, pages = {405-416}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

This paper is concerned with the stabilization problem for discrete-time linear systems subject to a uniform quantization of the control set and to a regular state quantization, both fixed a priori. As it is well known, for quantized systems only weak (practical) stability properties can be achieved. Therefore, we focus on the existence and construction of quantized controllers (mapping a quantized state into a quantized input set) capable of steering a system to within invariant neighbourhoods of the equilibrium. Such analysis is helpful because it allows to decide a priori whether adesired control objective can be achieved by using a \textit{given} technology (actuators, sensors, communication and computational means).

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and A. Bicchi}, editor = {A. Pnueli and O. Maler} } @article {SLMD03, title = {Strain-Sensing Fabrics for Wearable Kinaesthetic-Like Systems}, journal = {IEEE Sensors Journal}, volume = {3}, number = {4}, year = {2003}, month = {August}, pages = {460-467}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and A. Mazzoldi and D. De Rossi} } @conference {SSDRB03, title = {Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {2412-2417}, address = {Taipei, Taiwan}, abstract = {

In this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator{\textquoteright}s hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @inbook {BTBP03, title = {Variable Stiffness Actuators for Fast and Safe Motion Control}, booktitle = {Proceedings of the International Symposium on Robotics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, year = {2003}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper we propose Variable Stiffness actuation as a viable mechanical/control co-design approach for guaranteeing control performance for robot arms that are inherently safe to humans in their environment. A new actuator under development in our Lab is then proposed, which incorporate the possibility to vary transmission stiffness during motion execution, thus allowing substantial motion speed-up while maintaining low injury risk levels.

}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti and M. Bavaro and M. Piccigallo}, editor = {B. Siciliano and O. Khatib and Groen, F.} } @conference {LSTTD-03, title = {Wearable Sensing Garment For Posture Detection, Rehabilitation And Tele-Medicine}, booktitle = {4th International IEEE EMBS Special Topic Conference on Information Technology Applications in Biomedicine}, year = {2003}, month = {April}, pages = {287-290}, address = {Birmingham,UK}, keywords = {Bioengineering}, author = {F. Lorussi and E. P. Scilingo and M. Tesconi and A. Tognetti and D. De Rossi} } @conference {TCLMOSTD-03, title = {Wearable Sensory-Motor Orthoses for Tele-Rehabilitation}, booktitle = {25th Annual International Conference of the IEEE Engineering in Medicine and Biology Society}, year = {2003}, month = {September}, pages = {3724-3727}, address = {Cancun,Mexico}, keywords = {Bioengineering}, author = {A. Tognetti and F. Carpi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo and M. Tesconi and D. De Rossi} } @conference {DLMOS-02, title = {Active dressware: Wearable kinestetic system}, booktitle = {International Interactive Textiles for the Warrior Conference}, year = {2002}, month = {July}, address = {Boston, USA}, keywords = {Bioengineering}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {TB02, title = {Adaptive Simultaneous Position and Stiffness Control for a Soft Robot Arm}, booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems}, year = {2002}, month = {October}, pages = {1992-1997}, abstract = {

In this paper, an independent joint position and stiffness adaptive control for a robot arm actuated by McKibbenartificial muscles is reported. In particular, {\em muscular} nd {\em dynamic} parameters of the system are supposed unknown. Adaptive control performance is tested in a one degree of freedom experimental setup and compared with PID control performance. The adaptive control scheme is then applied to a robot arm that is conceived to perform tasks in an anthropic environment. The adaptive control developed is such that performance of the robot arm is very similar to this of human arm. Experimental results are reported.

}, keywords = {Robotics}, author = {G. Tonietti and A. Bicchi} } @article {PFB02-TITS, title = {Conflict Resolution Problems for Air Traffic Management Systems Solved with Mixed Integer Programming}, journal = {IEEE Trans. Intelligent Transportation Systems}, volume = {3}, number = {1}, year = {2002}, month = {March}, pages = {3-11}, abstract = {

This paper considers the problem of solving conflicts arising among several aircraft that are assumed to move in a shared airspace. Aircraft can not get closer to each other than a given safety distance in order to avoid possible conflicts between different airplanes. For such system of multiple aircraft, we consider the path planning problem among given waypoints avoiding all possible conflicts. In particular we are interested in optimal paths, i.e. we want to minimize the total flight time. We propose two different formulations of the multi-aircraft conflict avoidance problem as a mixed-integer linear program: in the first case only velocity changes are admissible maneuvers, in the second one only heading angle changes are allowed. Due to the linear formulation of the two problems, solutions may be obtained quickly with standard optimization software, allowing our approach to be implemented in real time.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and E. Feron and A. Bicchi} } @conference {PGB02, title = {Construction of invariant and attractive sets for quantized-input linear systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {824-829}, abstract = {

In this paper, the problem of the stabilization of a discrete-time linear system subject to a fixed and uniformly quantized control set is considered. It is well known that, working with quantized inputs, the states of the system (except for a negligible set of initial conditions) cannot reach asymptotically the equilibrium point. Our aim is then to find an invariant and attractive neighborhood of the equilibrium and provide with a controller which steers the system into it. We construct a continuous and increasing family of invariant sets including one which is, in a specific sense, minimal. The invariance and attractivity properties of such sets are revised in the finite control set case: we propose a family of controllers taking on a finite number of values and ensuring the system convergence to the minimal invariant set. Some consequences of our technique are underlined with particular regard to the usage of Model Predictive Control tools. In the last section an example which shows the effectiveness of our results is presented.

}, keywords = {Embedded Control, Robotics}, author = {B. Picasso and F. Gouaisbaut and A. Bicchi} } @book {BCP02, title = {Control Problems in Robotics}, volume = {4}, year = {2002}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg}, keywords = {Robotics}, editor = {A. Bicchi and H. Christensen and D Prattichizzo} } @conference {MFBENEA02, title = {Controllo Ibrido di Veicoli su Ruote con Retroazione Visiva}, booktitle = {Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics}, year = {2002}, month = {October}, pages = {197-199}, address = {ENEA, Frascati}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi} } @conference {TB02-IARP, title = {Design, Realization and Control of Soft Robot Arms for Intrinsically Safe Interaction with Humans}, booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2002}, month = {October}, pages = {79-87}, keywords = {Robotics}, author = {A. Bicchi and G. Tonietti} } @article {BM02, title = {Dexterous Grippers: Putting Nonholonomy to Work for Fine Manipulation}, journal = {Int. Jour. of Robotics Research}, volume = {21}, number = {5-6}, year = {2002}, note = {

Special Issue on Nonholonomy on Purpose, H. Arai, A. Bicchi, eds.

}, month = {May-June}, pages = {427-442}, keywords = {Robotics}, author = {A. Bicchi and A. Marigo} } @article {BA02, title = {Editorial for the Special Issue on Nonholonomy on Purpose}, journal = {Int. Jour. of Robotics Research}, volume = {21}, number = {5-6}, year = {2002}, month = {May-June}, pages = {387-388}, keywords = {Robotics}, author = {A. Bicchi and H. Arai} } @conference {DCLMST-02, title = {Electroactive Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {The first IEEE International Conference on Sensors}, year = {2002}, month = {June}, pages = {1608-1613}, address = {Orlando, Florida}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {DCLMST-02, title = {Electroactive Fibers and Fabrics for Distributed, Conformable and Interactive Systems}, booktitle = {Proceedings of the First European Workshop on Structural Health Monitoring}, year = {2002}, month = {July}, address = {Cachan, France}, keywords = {Bioengineering}, author = {D. De Rossi and F. Carpi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and A. Tognetti} } @conference {PB02, title = {Grasp Control: a General Manipulation System Approach}, booktitle = {Proc. Int. Works. Towards Intelligent Robotic Manipulation}, year = {2002}, month = {September}, publisher = {IEEE/RSJ IROS}, organization = {IEEE/RSJ IROS}, address = {Lausanne}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and A. Bicchi}, editor = {C. Melchiorri and P. J. Sanz and R. Molfino} } @conference {MPB02, title = {A Group-Theoretic Characterization of Quantized Control Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {811-816}, abstract = {

In this paper we consider the reachability problem for quantized control systems, i.e. systems that take inputs from a finite set of symbols. Previous work addressed this problem for linear systems and for some specific classes of nonlinear driftless systems. In this paper we attack the study of more general nonlinear systems. To do so we find it useful to pose the problem in more abstract terms, and make use of the wealth of tools available in group theory, which enables us to proceed in our agenda of better understanding effects of quantization of inputs on dynamic systems.

}, keywords = {Embedded Control, Robotics}, author = {A. Marigo and B. Piccoli and A. Bicchi} } @conference {BSSDR02, title = {Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc.2th Int. Conf. Eurohaptics 2002}, year = {2002}, month = {July}, pages = {6-11}, abstract = {

In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.

}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and N. Sgambelluri and D. De Rossi} } @conference {MB02-ICRA, title = {A local-local planning algorithm for rolling objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2002}, month = {May}, pages = {1759-1764}, abstract = {

In this paper, we consider planning motions of objects of regular shape rolling on a plane among obstacles. Theoretical foundations and applications of this type of operations in robotic manipulation and locomotion have been discussed elsewhere. In this paper, we propose a novel algorithm that improves upon existing techniques in that: i) it is finitely computable and predictable (an upper bound on the computations necessary to reach a given goal within a tolerance can be given), and ii) it possesses a topological (local-local) property which enables obstacles and workspace limitations to be dealt with in an effective way.

}, keywords = {Embedded Control, Robotics}, author = {A. Marigo and A. Bicchi} } @conference {PBSV02, title = {Numerically efficient control of systems with communication constraints}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2002}, month = {December}, pages = {1626-1631}, abstract = {

The problem of stabilization to the trivial equilibrium of a system with communication constraints is addressed. The communication constraints are related to the fact that commands are issued to different groups of actuators through a shared resource. We tackle the problem by using a Model Predictive Control scheme, which,at every step, decides the allocation of the bus {\em and} he control command values. After discussing two different alternatives for dealing with the scheduling constraints, we develop a formulation based on the generalized linear complementarity problem, which enables the application of efficient numerical solutions. Finally, we give some preliminary result on the parametric dependence of the problem{\textquoteright}s solution from the system{\textquoteright}s state.

}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and A. Bicchi and A. L. Sangiovanni-Vincentelli} } @inbook {PLPB02, title = {Optimal control of quantized input systems}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {351-363}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Leonardi and L. Pallottino and A. Bicchi}, editor = {C. Tomlin and M. Greenstreet} } @conference {PPB02, title = {On Optimal Steering of Quantized Input Systems}, booktitle = {Proceedings of the NSF/ONR Workshop on Future Directions in Nonlinear Control of Mechanical Systems}, year = {2002}, address = {Urbana, IL.}, abstract = {

In this paper we consider the problem of optimal control (specifically, minimum-time steering) for systems with quantized inputs. In particular, we propose a new approach to the solution of the optimal control problem for an important class of nonlinear systems, i.e. chained-form systems. By exploiting results on the structure of the reachability set of these systems under quantized control, the optimal solution is determined solving an integer linear programming problem. Our algorithm represents an improvement with respect to classical approaches in terms of exactness, as it does not resort to any a priori state-space discretization. Although the computational complexity of the problem in our formulation is still formally exponential, it lends itself to application of Branch and Bound techniques, which substantially cuts down computations in many cases, as it has been experimentally observed.

}, keywords = {Embedded Control, Robotics}, author = {S. Pancanti and L. Pallottino and A. Bicchi} } @article {BMP02, title = {On the reachability of quantized control systems}, journal = {IEEE Trans. on Automatic Control}, volume = {4}, number = {47}, year = {2002}, month = {April}, pages = {546-563}, abstract = {

In this paper we study control systems whose input sets are quantized, i.e. finite or regularly distributed on a mesh. We specifically focus on problems relating to the structure of the reachable set of such systems, which may turn out to be either dense or discrete. We report results on the reachable set of linear quantized systems, and on a particular but interesting class of nonlinear systems, i.e. nonholonomic chained-form systems. For such systems, we provide a complete characterization of the reachable set, and, in the case the set is discrete, a computable method to completely and succinctly describe its structure. Implications and open problems in the analysis and synthesis of quantized control systems are addressed.

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {PBENEA02, title = {Risoluzione ottima dei conflitti tra agenti autonomi: applicazione al controllo del traffico aereo}, booktitle = {Proc. 1st. Natl. Conf. and Exhibit on Autonomous Intelligent Systems and Advanced Robotics}, year = {2002}, month = {October}, pages = {193-197}, address = {ENEA, Frascati}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi} } @conference {PBP02, title = {Safety of a decentralized scheme for Free-Flight ATMS using Mixed Integer Linear Programming}, booktitle = {American Control Conference}, year = {2002}, month = {May}, pages = {742-747}, abstract = {

In this paper we consider policies for free-flight management of air traffic. We consider instantaneous and bounded heading angle deviation as conflict avoidance maneuvers. The corresponding model, resulting in a Mixed Integer Linear Programming (MILP) problem allow to solve both conflict detection and conflict resolution problems. The developed algorithm proved successful in a centralized implementation with a large number of cooperating aircraft. However, the application of such algorithm to a Free Flight environment, where cooperation can only be expected from neighboring aircraft, poses many challenges. We consider a model of the decentralized conflict resolution strategy that is based on a hybrid system, and sufficient conditions under which a 3-aircraft Free Flight MILP-based scheme guarantees safety of flight are provided.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and A. Bicchi and S. Pancanti} } @conference {SLDPGPAGG-02, title = {A Sensing Shirt for Monitoring Body Kinematic and Vital Signs}, booktitle = {Symposium on Telemedicine In Care Delivery, Technology and Application}, year = {2002}, month = {June}, pages = {57-67}, address = {Pisa, Italy}, keywords = {Bioengineering}, author = {E. P. Scilingo and F. Lorussi and D. De Rossi and R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and A. Gemignani and B. Ghelarducci} } @article {1409, title = {Set-membership acoustic tracking of autonomous underwater vehicles}, journal = {ACTA ACUSTICA UNITED WITH ACUSTICA}, volume = {88}, year = {2002}, pages = {648{\textendash}652}, keywords = {Robotics}, issn = {1610-1928}, author = {A. Caiti and A. Garulli and F. Livide and D Prattichizzo} } @article {MDLSP02, title = {Smart textiles for wearable motion capture systems}, journal = {AUTEX Research Journal}, volume = {2}, number = {4}, year = {2002}, month = {December}, pages = {199-203}, keywords = {Bioengineering}, author = {A. Mazzoldi and D. De Rossi and F. Lorussi and E. P. Scilingo and R. Paradiso} } @conference {InnACC02, title = {Stability Issues in Dual Time Scale Systems}, booktitle = {American Control Conference}, year = {2002}, month = {May}, address = {Anchorage, Alaska}, keywords = {Robotics}, author = {M. Innocenti and L. Greco and L. Pollini} } @inbook {PPSEB02, title = {Synthesis of robust control systems under resource constraints}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {LNCS 2289}, year = {2002}, pages = {337-350}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {L. Palopoli and C. Pinello and A. L. Sangiovanni-Vincentelli and L. El-Ghaoui and A. Bicchi}, editor = {M. Greenstreet and C. Tomlin} } @booklet {GreTR02, title = {Variable Structure Control for Singularly Perturbed System: Stability Issues}, year = {2002}, month = {March}, publisher = {Dept. of Electrical Systems and Automation, University of Pisa}, address = {Pisa, Italy}, keywords = {Robotics}, author = {M. Innocenti and L. Greco} } @inbook {MFB02, title = {Visual-servoed parking with limited view angle}, booktitle = {Experimental Robotics VIII}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {5}, year = {2002}, pages = {254-263}, publisher = {Springer Verlag}, organization = {Springer Verlag}, abstract = {

In this paper the problem of stabilizing a wheeled vehicle of unicycle type to a set point, using only visual feedback, is considered. The practically most relevant problem of keeping the tracked features in sight of the camera while maneuvering to park the vehicle is taken into account. This constraint, often neglected in the literature, combines with the nonholonomic nature of the vehicle kinematics in a challenging controller design problem. We provide an effective solution to such problem by using a combination of previous results on non-smooth control synthesis, and recently developed hybrid control techniques. Simulations and experimental results on a laboratory vehicle are reported, showing the practicality of the proposed approach.

}, keywords = {Embedded Control, Robotics}, author = {P. Murrieri and D. Fontanelli and A. Bicchi}, editor = {B. Siciliano and P. Dario} } @conference {PGPALSDO-02, title = {A wearable motion capture system for multimedia applications}, booktitle = {Avantex Symposium - International Forum for Textiles and Technology in the Future}, year = {2002}, month = {May}, address = {Frankfurt, Germany}, keywords = {Bioengineering}, author = {R. Paradiso and M. Ghignoli and M. Pacelli and G. Anerdi and F. Lorussi and E. P. Scilingo and D. De Rossi and P. Orsini} } @conference {DLMOS-01, title = {Active dressware: wearable haptics systems}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {155-158}, address = {Lucca, Italy}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @conference {DLMSO-01, title = {Active dressware :wearable proprioceptive system based on electroactive polymers}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, pages = {161-162}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @conference {BCQRTB01, title = {Breaking the Lab{\textquoteright}s Walls: Tele-Laboratories at the University of Pisa}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2001}, pages = {1903-1908}, address = {Seoul, Korea}, keywords = {Telelab}, author = {A. Bicchi and A. Coppelli and F. Quarto and L. Rizzo and F. Turchi and A. Balestrino} } @conference {BLT01, title = {Compliant design for intrinsic safety: general issues and preliminary design}, booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems}, year = {2001}, month = {October}, pages = {1864-1869}, address = {Maui, Hawaii}, abstract = {

In this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.

}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {A. Bicchi and S. Lodi Rizzini and G. Tonietti} } @conference {BLT01-iarp, title = {Compliant robot arm design for intrinsic safety}, booktitle = {Proc. IARP/RAS Workshop on Technical Challenges for Dependable Robots in Human Environments}, year = {2001}, pages = {100-106}, abstract = {In this paper, we describe some initial results of a project aiming at development of a programmable-compliance, inherently safe robot arm for applications in anthropic environmnets. In order to obtain safety in spite of worst-case situations (such as unexpected delays in teleoperation, or even controller failure), we will consider achieving compliance by mechanical rather than by control design. We first describe some of the control problems that the presence of large, possibly unknown mechanical compliance typically introduces, and present a result that shows the possibility to cope with these uncertainties in an adaptive way. In the second part of the paper we describe the initial development of a new prototype arm under construction in our laboratory. The arm is designed to achieve arbitrary position tracking in 3D with controlled effective compliance at the joints.}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {A. Bicchi and S. Lodi Rizzini and G. Tonietti}, editor = {G. Giralt and P. Corke} } @conference {CLMPS-01, title = {Electroactive polymer based skin and muscles for man machine interfaces}, booktitle = {MRS Fall Meeting}, year = {2001}, month = {December}, address = {Boston, USA}, keywords = {Man-machine Interface}, author = {F. Carpi and F. Lorussi and A. Mazzoldi and G. Pioggia and E. P. Scilingo} } @conference {SBDR-01, title = {Haptic devices for minimally invasive surgery}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {194-198}, address = {Lucca, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi} } @conference {DLMPS-01, title = {Haptic smart skins: from biomimetics reasoning to wearing technology}, booktitle = {Fifth Workshop on Multifunctional Polymer and Smart Polymer Systems}, year = {2001}, month = {January}, address = {Wollongong, Australia}, keywords = {Biomechanics, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and R. Paradiso and E. P. Scilingo} } @inbook {BSB01, title = {Hybrid Feedback Control for Path Tracking by a Bounded-Curvature Vehicle}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {2034}, year = {2001}, pages = {133-146}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Heidelberg, Germany}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and P. Sou{\`e}res and A. Bicchi}, editor = {Di Benedetto, M. D. and A. L. Sangiovanni-Vincentelli} } @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 {LMB01, title = {Optimal exploratory paths for a mobile rover}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2001}, pages = {2078-2083}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Lorussi and A. Marigo and A. Bicchi} } @article {SBB01, title = {Optimal feedback control for line tracking with a bounded-curvature vehicle}, journal = {Int. Journal of Control}, volume = {74}, number = {10}, year = {2001}, month = {July}, pages = {1009-1019}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @conference {ADLMOS-01, title = {Piezoresistive fabrics for monitoring body kinematics and gesture}, booktitle = {First International Symposium on Measurement, Analysis and Modeling of Human Functions}, year = {2001}, month = {September}, pages = {395-399}, address = {Sapporo, Japan}, keywords = {Biomechanics, Smart Textiles}, author = {A. Ahluwalia and D. De Rossi and F. Lorussi and A. Mazzoldi and P. Orsini and E. P. Scilingo} } @book {NSBV01, title = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Autonomous Vehicles, Robot Arms}, url = {http://www.springer.com/?SGWID=6-102-0-0-0}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @conference {BPBP01, title = {Randomized parallel simulation of constrained multibody systems for VR/haptic applications}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, volume = {3}, year = {2001}, pages = {2319-2324}, abstract = {

In this paper, we consider the problem of efficiently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to afford accurate performance in real-time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of differential equation with algebraic constraints (DAE\&$\#$39;s), that are often too heavy and stiff to be computed in real-time by present-day single-processor machines. On the other hand, the structure of most state-of-the-art algorithms does not easily lend itself to parallelization. In this paper, we propose and experimentally verify a technique for DAE simulation that profitably uses a degree of randomization to achieve efficient parallelization.

}, keywords = {Dynamics and Simulation for Virtual Reality, Haptics}, author = {A. Bicchi and L. Pallottino and M. Bray and P. Perdomi} } @inbook {BK01, title = {Robotic Grasping and Manipulation}, booktitle = {Ramsete: Articulated and mobile robots for services and Technology}, volume = {270}, year = {2001}, pages = {55-74}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {4}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar}, editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi} } @conference {PPACGLSDGB-01, title = {Sensing Threads and Fabrics for Monitoring Body Kinematic and Vital Signs}, booktitle = {Fibres and Textiles for the Future}, year = {2001}, month = {August}, pages = {55-63}, address = {Tampere, Finland}, keywords = {Smart Textiles, Vital Signs}, author = {M. Pacelli and R. Paradiso and G. Anerdi and S. Ceccarini and M. Ghignoli and F. Lorussi and E. P. Scilingo and D. De Rossi and A. Gemignani and B. Ghelarducci} } @conference {DLMWS-01, title = {Strain-amplified electroactive polymer actuator for haptic interfaces}, booktitle = {Proceedings of SPIE}, year = {2001}, month = {July}, pages = {43-53}, address = {Newport Beach, USA}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and W. Rocchia and E. P. Scilingo} } @conference {SB-01, title = {Tactile Flow: Does it exist, is it useful and how?}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {142}, address = {Lucca, Italy}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi} } @conference {PPDLMSO-01, title = {Wearable technology for multisensory expressive gesture applications}, booktitle = {5th International Symposium on Wearable Computers}, year = {2001}, month = {October}, address = {Zurich, Switzerland}, keywords = {Biomechanics, Smart Textiles}, author = {R. Paradiso and M. Pacelli and D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo and P. Orsini} } @inbook {DLMS01, title = {Wearable thermo- and piezoresistive sensors: realization and properties}, booktitle = {Sensors and Microsystems}, year = {2001}, pages = {195-200}, publisher = {World Scientific}, organization = {World Scientific}, keywords = {Piezoresistive sensor, Smart Textiles}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and E. P. Scilingo} } @article {BP00-Robotica, title = {Analysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems}, journal = {Robotica}, volume = {18}, year = {2000}, month = {January}, pages = {23-31}, keywords = {Haptics, Physical Human-Robot Interaction (pHRI), Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @inbook {BSDR00, title = {Experimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel}, booktitle = {Robotics Research IX}, year = {2000}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and D. De Rossi} } @article {B00, title = {Hands for Dextrous Manipulation and Robust Grasping: a Difficult Road Towards Simplicity}, journal = {IEEE Trans. on Robotics and Automation}, volume = {16}, number = {6}, year = {2000}, month = {December}, pages = {652-662}, keywords = {Haptics, Robot Hands}, author = {A. Bicchi} } @article {BDS00, title = {Haptic discrimination of softness in teleoperation: the role of the contact area spread rate}, journal = {IEEE Trans. on Robotics and Automation}, volume = {16}, number = {5}, year = {2000}, month = {October}, pages = {496-504}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen as the contact force increases. Devices for implementing such a perceptual channel are described, and a pratical application to a mini-invasive surgery tool is presented. Psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Haptic Sensing, Haptics, Tactile Flow}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {BBCRS00, title = {Hybrid Tracking Control for Spark-Ignition Engines}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {4}, year = {2000}, month = {December}, pages = {3126-31}, address = {Sydney, NSW, Australia}, keywords = {Automotive, Autonomous Vehicles, Hybrid and Embedded Control Systems}, author = {A. Balluchi and A. Bicchi and C. Caterini and C. Rossi and A. L. Sangiovanni-Vincentelli} } @conference {BCP00, title = {Localization Of Vehicles By Sensory Information}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {68-73}, keywords = {Autonomous Vehicles, Localization and Mapping, Nonlinear Control Systems, Sensors}, author = {A. Bicchi and F. Conticelli and D Prattichizzo} } @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 {CCB00, title = {Nonholonomic Kinematics and Dynamics of the Sphericle}, booktitle = {Proc. IEEE Int. Symp. Intelligent Robots and Systems}, year = {2000}, pages = {805-810}, address = {Takamatsu, Japan}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Spherical Vehicles}, author = {C. Camicia and F. Conticelli and A. Bicchi} } @conference {CBB00, title = {Observability and nonlinear observers for mobile robot localization}, booktitle = {IFAC Int. Symp. on Robot Control, SyRoCo 2000}, year = {2000}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {F. Conticelli and A. Bicchi and A. Balestrino} } @inbook {CB00, title = {Observer Design for Locally Observable Analytic Systems: Convergence, Separation Property, and Redundancy}, booktitle = {Nonlinear Control in the Year 2000}, series = {LNCIS}, volume = {258}, year = {2000}, pages = {315-330}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Localization and Mapping, Nonlinear Control Systems}, author = {F. Conticelli and A. Bicchi}, editor = {A. Isidori and F. F. Lamnabhi-Lagarrigue and W. Respondek} } @conference {PB00, title = {On the optimal conflict resolution for air traffic control}, booktitle = {Proc. IEEE Intelligent Transportation Systems}, year = {2000}, pages = {167-172}, address = {Dearborn, MI}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with velocity constraints and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a simplified aircraft conflict scenario are provided.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {L. Pallottino and A. Bicchi} } @article {BP00-TITS, title = {On optimal cooperative conflict resolution for air traffic management systems}, journal = {IEEE Trans. Intelligent Transportation Systems}, volume = {1}, number = {4}, year = {2000}, month = {December}, pages = {221-231}, abstract = {

In this paper, we consider optimal resolution of air traffic conflicts. Aircraft are assumed to cruise within a given altitude layer, and are modeled as a kinematic system with constant velocity and curvature bounds. Aircraft can not get closer to each other than a predefined safety distance. For such system of multiple aircraft, we consider the problem of planning optimal paths among given waypoints. Necessary conditions for optimality of solutions are derived, and used to devise a parameterization of possible trajectories that turns into efficient numerical solutions to the problem. Simulation results for a realistic aircraft conflict scenario are provided. A decentralized implementation of the optimal conflict resolution scheme is introduced that may allow free-flight coordination in a cooperative airspace management scheme. Impact of decentralization on performance and safety is finally discussed with the help of extensive simulations.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and L. Pallottino} } @conference {SBB00, title = {Optimal Feedback Control for Route Tracking with a Bounded-Curvature Vehicle}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {April}, pages = {2473-2478}, address = {San Francisco, CA, USA}, keywords = {Robotics}, author = {P. Sou{\`e}res and A. Balluchi and A. Bicchi} } @inbook {BP00-WAFR, title = {Optimal planning for coordinated vehicles with bounded curvature}, booktitle = {Algorithmic and Computational Robotics: New Directions}, volume = {1}, year = {2000}, note = {

The Workshop on Algorithmic Foundations of Robotics

}, pages = {167-172}, publisher = {A K Peters, MA}, organization = {A K Peters, MA}, abstract = {

In this paper we consider the problem of planning motions of a system of multiple vehicles moving in a plane. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. For such system of multiple vehicles, we consider the problem of planning optimal paths in the absence of obstacles. The case when a constant distance between vehicles is enforced (such as when cooperative manipulation of objects is performed by the vehicle team) is also considered.

}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and L. Pallottino}, editor = {B. Donald and K. Lynch and D. Rus} } @article {MCPB00, title = {Planning Motions of Polyhedral Parts by Rolling}, journal = {Algorithmica}, volume = {26}, year = {2000}, pages = {560-576}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems, Robot Hands}, author = {A. Marigo and M. Ceccarelli and S. Piccinocchi and A. Bicchi} } @conference {BMP00, title = {Quantized Control Systems and Discrete Nonholonomy}, booktitle = {Proc. IFAC Workshop on Lagrangian and Hamiltonian Methods for Nonlinear Control}, year = {2000}, publisher = {Elsevier}, organization = {Elsevier}, address = {Princeton, NJ, USA}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Bicchi and A. Marigo and B. Piccoli} } @conference {MPB00-cdc, title = {Reachability Analysis for a Class of Quantized Control Systems}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {2000}, month = {December}, pages = {3963-3968}, address = {Sydney, AU}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and B. Piccoli and A. Bicchi} } @conference {BK00, title = {Robotic Grasping and Contact: A Review}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {348-353}, address = {San Francisco, CA}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and V. Kumar} } @article {MB00, title = {Rolling Bodies with Regular Surface: Controllability Theory and Applications}, journal = {IEEE Trans. on Automatic Control}, volume = {45}, number = {9}, year = {2000}, month = {September}, pages = {1586-1599}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Marigo and A. Bicchi} } @conference {BM00, title = {Rolling Contacts and Dextrous Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, month = {May}, pages = {282-287}, address = {San Francisco, CA}, keywords = {Nonholonomic Systems, Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo} } @article {1410, title = {Seafloor properties determination from acoustic backscattering at normal incidence with a parametric source}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {8}, year = {2000}, pages = {365{\textendash}388}, issn = {0218-396X}, author = {A. Caiti} } @conference {PPB00, title = {Shortest paths for teams of vehicles}, booktitle = {Proc. WAC Int. Symp. on Robotics and Applications}, year = {2000}, month = {June}, pages = {124-129}, abstract = {

In this paper we consider the problem of planning motions of a team of vehicles that move in a planar environment. Each vehicle is modelled as a kinematic system with velocity constraints and curvature bounds. Vehicles can not get closer to each other than a predefined safety distance. When manipulating a common object cooperatively, further constraints apply. For such systems, we consider the problem of planning optimal paths in the absence of obstacles.

}, keywords = {Embedded Control, Robotics}, author = {L. Pallottino and G. Parlangeli and A. Bicchi} } @conference {BBPS00, title = {Stability and Robustness of Optimal Synthesis for Route Tracking by Dubins{\textquoteright} Vehicles}, booktitle = {Proc. 39th IEEE Conference on Decision and Control}, volume = {1}, year = {2000}, note = {

(invited paper)

}, month = {December}, pages = {581-6}, address = {Sydney, Australia}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and B. Piccoli and P. Sou{\`e}res} } @conference {CPGB00, title = {Vision-Based Dynamic Estimation and Set-Point Stabilization of Nonholonomic Vehicles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2000}, pages = {2771-2776}, address = {San Francisco, CA, USA}, keywords = {Autonomous Vehicles, Nonlinear Control Systems, Sensors and Observers, visual servoing}, author = {F. Conticelli and D Prattichizzo and F. Guidi and A. Bicchi} } @article {BB99, title = {Decentralized Variable Structure Tracking for Systems with Time-Domain Dominance}, journal = {International Journal of Applied Mathematics and Computer Science}, volume = {9}, number = {2}, year = {1999}, pages = {265-291}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi} } @conference {BMP99, title = {Dexterity through rolling: Manipulation of unknown objects}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {1583-1568}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and A. Marigo and D Prattichizzo} } @inbook {B99, title = {An experimental study of performance and fault tolerance of a hybrid free-flight control scheme}, booktitle = {Robustness in Identification and Control}, series = {LNCIS 245}, year = {1999}, pages = {449-463}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi}, editor = {A. Garulli and A. Tesi and A. Vicino} } @conference {BCP99, title = {Optimal Design of Dynamic Multiaxis Force/Torque Sensors}, booktitle = {Proc. IEEE Int. Conference on Decision and Control}, year = {1999}, pages = {2981-2986}, abstract = {The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @article {1411, title = {Parametric sonars for seafloor characterization}, journal = {MEASUREMENT SCIENCE \& TECHNOLOGY}, volume = {10}, year = {1999}, pages = {1105{\textendash}1115}, issn = {0957-0233}, doi = {10.1088/0957-0233/10/12/301}, url = {http://dx.medra.org/10.1088/0957-0233/10/12/301}, author = {A. Caiti and O. Bergem and J. Dybedal} } @conference {BDRS99, title = {Psychophysical Evaluation of Simplified Haptic Perception Media}, booktitle = {Proc. Int. Workshop on Robot and Human Interaction}, year = {1999}, month = {September}, address = {Pisa}, abstract = {

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficlt and costly. In this paper we discuss a simplified model of haptic detection of softness (whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted). We provide a thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {ABDRS99, title = {The Role of Contact Area Spread Rate in Haptic Discrimination of Softness}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {305-310}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen. Devices for implementing this new perceptual channel are described, and some preliminary psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {G. Ambrosi and A. Bicchi and D. De Rossi and E. P. Scilingo} } @inbook {MB98, title = {Rolling bodies with regular surfaces: the holonomic case}, booktitle = {Differential geometry and control}, series = {Proceedings of Symposia in Pure Mathematics}, volume = {64}, year = {1999}, pages = {241-256}, publisher = {American Mathematical Society}, organization = {American Mathematical Society}, author = {A. Marigo and A. Bicchi}, editor = {G. Ferreyra and R. Gardner and H. Hermes and H. Sussmann} } @conference {PMBV98, title = {Active Suspensions Decoupling by Algebraic Output Feedback}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Embedded Control, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BMPPPTS98, title = {Decentralized Air Traffic Management Systems: Performance and Fault Tolerance}, booktitle = {Proc. IFAC Workshop on Motion Control}, year = {1998}, keywords = {Air Traffic Management Systems, Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Marigo and G. Pappas and M. Pardini and G. Parlangeli and C. Tomlin and S. Sastry} } @article {PB98, title = {Dynamic Analysis of Mobility and Graspability of General Manipulation Systems}, journal = {IEEE Trans. on Robotics and Automation}, volume = {14}, number = {2}, year = {1998}, pages = {241-258}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @conference {PMBV98-CCA, title = {Geometric Disturbance Decoupling Control of Vehicles with Active Suspensions}, booktitle = {Proc. IEEE Conf. on Control Applications}, year = {1998}, pages = {253-257}, keywords = {Automotive, Autonomous Vehicles}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {SBDRI-98, title = {Haptic display able to replicate the rheological behaviour of surgical tissues}, booktitle = {Proc. 20th International Conference IEEE/EMBS}, year = {1998}, pages = {1738-1741}, address = {Hong Kong}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and P. Iacconi} } @conference {BBPRS98, title = {Hybrid Optimization Problems in Automotive Applications}, booktitle = {Proc. IFAC International Workshop on Motion Control}, year = {1998}, note = {(invited paper)}, month = {September}, pages = {273-278}, address = {Grenoble, France}, keywords = {Automotive, Hybrid and Embedded Control Systems}, author = {A. Balluchi and A. Bicchi and G. Padroni and C. Rossi and A. L. Sangiovanni-Vincentelli} } @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 {BPMB98, title = {On the observability of mobile vehicles localization}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, abstract = {

In this paper, we consider the problem of localizing a mobile vehicle moving in an unstructured environment, based on triangulation measurements derived from processed optical information. The problem is shown to be intrinsically nonlinear, in the sense that the linear approximation of the system has different structural properties than the original model. In particular, linearized approximations are non{\textendash}observable, while results obtained from differential{\textendash}geometric nonlinear system theory prove the possibility of reconstructing the position and orientation of the vehicle and the position of the obstacles in the environment from optical information.

}, keywords = {Autonomous Vehicles, Localization and Mapping, Sensors and Observers}, author = {A. Bicchi and D Prattichizzo and A. Marigo and A. Balestrino} } @conference {BPA98, title = {Optimization of Internal Forces in Force-Closure Grasps}, booktitle = {Proc. IEEE Mediterranean Conf. On Control And Systems}, year = {1998}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo and G. Antognetti} } @conference {MB98-CDC, title = {Steering Driftless Nonholonomic Systems by Control Quanta}, booktitle = {Proc. IEEE Int. Conf. on Decision and Control}, year = {1998}, pages = {4164-4169}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems, Quantized Control Systems}, author = {A. Marigo and A. Bicchi} } @article {PB97, title = {Consistent Specification of Manipulation Tasks for Defective Mechanical Systems}, journal = {ASME Jour. Dynam. Systems, Measurement, and Control}, volume = {119}, year = {1997}, month = {December}, pages = {767-777}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @conference {PMBV97-SYROCO, title = {On the Decoupling and Output Functional Controllability of Robotic Manipulation}, booktitle = {Proc. IFAC Int. Symp. on Robot Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BCP97-ICAR, title = {Dynamic force/torque sensors: theory and experiments }, booktitle = {Proc. Int. Conference on Advanced Robotics}, year = {1997}, pages = {727-732}, address = {Monterey, CA, USA}, abstract = {

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

}, keywords = {Sensors}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @conference {BPM97, title = {Force and Dynamic Manipulability for Cooperating Robot Systems}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1997}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo and C. Melchiorri} } @conference {PMBV97-CDC, title = {On the Geometric Control of Internal Forces in Power Grasp}, booktitle = {Proc. Conf. on Decision and Control}, year = {1997}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PMBV97-CIS, title = {Geometric Control Techniques for Manipulation Systems}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {PMBV97-AIMETA, title = {Geometric Control Techniques for Mechanical Systems}, booktitle = {Int. Conf. Italian Association for Theretical and Applied Mechanics}, year = {1997}, address = {Siena, Italia, september 29 - October 3 1997}, keywords = {Haptics, Robotics}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {SDRBI97-ASME, title = {Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments}, booktitle = {Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {1997}, address = {Dallas}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @conference {PCPB97, title = {Interactive Benchmark for Planning Algorithms on the Web}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, pages = {399-404}, keywords = {Autonomous Vehicles, Navigation and Planning, Telelab}, author = {S. Piccinocchi and M. Ceccarelli and F. Piloni and A. Bicchi} } @conference {BBPG97, title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli} } @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} } @conference {BB97, title = {Necessary and Sufficient Dominance Conditions for Robust Decentralization of VS Tracking Control}, booktitle = {Proc. European Control Conference}, year = {1997}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi} } @conference {BCP97, title = {Optimal Design of Dynamic Force/Torque Sensors}, booktitle = {Proceeding Int. Conf. Computer Integrated Systems}, year = {1997}, address = {Belfort, France}, keywords = {Robotics}, author = {A. Bicchi and A. Caiti and D Prattichizzo} } @inbook {BMP99-CPRA, title = {Robotic Dexterity via Nonholonomy}, booktitle = {Control Problems in Robotics and Automation}, series = {LNCIS 230}, year = {1997}, pages = {35-49}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and A. Marigo and D Prattichizzo}, editor = {B. Siciliano and K. Valavanis} } @inbook {CMPB97, title = {Rolling Polyhedra on a Plane: Analysis of the Reachable Set}, booktitle = {Algorithms for Robotic Motion and Manipulation}, year = {1997}, pages = {277-286}, publisher = {A. K. Peters}, organization = {A. K. Peters}, address = {Wellesley, MA, U.S.A.}, keywords = {Embedded Control, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {J.P. Laumond and M. Overmars} } @conference {SDRBI97-EMB, title = {Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons{\textquoteright} haptic percetion of manipulated tissues}, booktitle = {Proc. IEEE Int. Conf. Engineering in Medicine and Biology}, year = {1997}, address = {Chicago}, keywords = {Haptics, Sensors}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @inbook {BP97, title = {On some structural properties of general manipulation systems}, booktitle = {Modelling and Control of Mechanichal Systems}, year = {1997}, pages = {187-202}, publisher = {Imperial College Press}, organization = {Imperial College Press}, address = {London, U.K.}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo}, editor = {A. Astolfi and D. J. N. Limebeer and C. Melchiorri and A. Tornamb\èe and R.B. Vinter} } @article {1413, title = {Acoustic estimation of seafloor parameters: A radial basis functions approach}, journal = {THE JOURNAL OF THE ACOUSTICAL SOCIETY OF AMERICA}, volume = {100}, year = {1996}, pages = {1473{\textendash}1481}, issn = {0001-4966}, doi = {10.1142/S0218396X96000088}, url = {http://dx.medra.org/10.1142/S0218396X96000088}, author = {A. Caiti and S. M. Jesus} } @inbook {PSB96, title = {Contact and Grasp Robustness Measures: Analysis and Experiments}, booktitle = {Experimental Robotics-IV}, series = {LNCIS 223}, year = {1996}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, abstract = {

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so\–called {\textquoteleft}{\textquoteleft}Instrumented Talon\&$\#$39;\&$\#$39;, are reported as an illustration.

}, keywords = {Grasping, Haptics, Robot Hands}, author = {D Prattichizzo and J. K. Salisbury and A. Bicchi}, editor = {O. Khatib and K. Salisbury} } @conference {BCMP96, title = {Dexterity through Rolling: Towards Manipulation of Unknown Objects}, booktitle = {Proc. Third Int. Symp. on Methods and Models for Automation and Robotics}, year = {1996}, address = {Miedzyzdroje, Poland}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and Y. Chitour and A. Marigo and D Prattichizzo} } @article {1414, title = {Estimating geoacoustic bottom properties from towed array data}, journal = {JOURNAL OF COMPUTATIONAL ACOUSTICS}, volume = {4}, year = {1996}, pages = {273{\textendash}290}, issn = {0218-396X}, doi = {10.1142/S0218396X96000088}, url = {http://dx.medra.org/10.1142/S0218396X96000088}, author = {S. M. Jesus and A. Caiti} } @article {1415, title = {Geoacoustic seafloor exploration with a towed array in a shallow water area of the Strait of Sicily}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {21}, year = {1996}, pages = {355{\textendash}366}, issn = {0364-9059}, doi = {10.1109/48.544046}, url = {http://dx.medra.org/10.1109/48.544046}, author = {A. Caiti and S. M. Jesus and A. Kristensen} } @conference {B96, title = {Hands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity}, booktitle = {Robotics Research - VII}, year = {1996}, pages = {2-15}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi}, editor = {G. Giralt and G. Hirzinger} } @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} } @conference {PMBV96, title = { Noninteracting force/motion control of defective manipulation systems }, booktitle = {Proc. Conf. on Decision and Control}, year = {1996}, keywords = {Robot Arms, Robot Hands}, author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino} } @conference {BBBC96, title = {Path Tracking Control for Dubin{\textquoteright}s Cars}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, keywords = {Autonomous Vehicles, Embedded Control, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and A. Balestrino and G. Casalino} } @article {BCS96, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among Obstacles}, journal = {Journal of Intelligent and Robotic Systems}, volume = {16}, year = {1996}, pages = {387-405}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @inbook {CMPB96, title = {Reachability of Rolling Parts}, booktitle = {Advances in Robotics: The ERNET Perspective}, year = {1996}, pages = {51-60}, publisher = {World Scientific Publisher Corp.}, organization = {World Scientific Publisher Corp.}, address = {Singapore}, keywords = {Haptics, Robotics}, author = {Y. Chitour and A. Marigo and D Prattichizzo and A. Bicchi}, editor = {C. Bonivento and C. Melchiorri and H. Tolle} } @conference {BBCP96, title = {Reflex Control of Locomotion for a Four-Legged Vehicle with Leg Redundancy}, booktitle = {Proc. IFAC World Congress}, year = {1996}, keywords = {Autonomous Vehicles, Legged Vehicles}, author = {A. Balluchi and A. Bicchi and G. Casalino and D Prattichizzo} } @conference {BCDRIS96, title = { A sensor-based minimally invasive surgery tool for detecting tissue elastic properties }, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, pages = {884-888}, keywords = {Haptics, Tools for Minimally Invasive Surgery}, author = {A. Bicchi and G. Canepa and D. De Rossi and P. Iacconi and E. P. Scilingo} } @conference {PB96, title = {Specifying Consistent Control Goals for Kinematically Defective Manipulation Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, keywords = {Robot Arms, Robot Hands}, author = {D Prattichizzo and A. Bicchi} } @article {1418, title = {BEAMFORMING ON SEISMIC INTERFACE WAVES WITH AN ARRAY OF GEOPHONES ON THE SHALLOW SEA-FLOOR}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {20}, year = {1995}, pages = {300{\textendash}310}, issn = {0364-9059}, doi = {10.1109/48.468245}, url = {http://dx.medra.org/10.1109/48.468245}, author = {J. A. Tencate and T. G. Muir and A. Caiti and A. Kristensen and J. F. Manning and J. A. Shooter and R. A. Koch and E. Michelozzi} } @article {1751, title = {Calibration technique for Intrinsic Tactile Sensors}, year = {1995}, note = {

Italian Patent

}, address = {Italy}, keywords = {Robotics}, issn = {FI95A000108}, author = {A. Bicchi and F. Granata} } @article {CABB95, title = {Closed loop steering of unicycle like vehicles via Lyapunov techniques}, journal = {IEEE Robotics and Automation Magazine}, volume = {2}, number = {1}, year = {1995}, month = {March}, pages = {27-35}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @article {B95, title = {On the Closure Properties of Robotic Grasping}, journal = {The Int. J. of Robotics Research}, volume = {14}, number = {4}, year = {1995}, month = {August}, pages = {319-334}, keywords = {Haptics, Robotics}, author = {A. Bicchi} } @conference {BS95, title = {Dexterous Manipulation Through Rolling}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {452-457}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and R. Sorrentino} } @article {BM95, title = {Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation}, journal = {The Journal of Advanced Robotics}, year = {1995}, month = {October}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi and H. Mayeda} } @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} } @conference {SBCB95, title = {Nonholonomic, Bounded Curvature Path Planning In Cluttered Environments}, booktitle = {IEEE/INRIA Conf. on Emerging Technologies and Factory Automation}, year = {1995}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {C. Santilli and A. Bicchi and G. Casalino and A. Balestrino} } @conference {BPS95, title = {Planning Motions of Rolling Surfaces}, booktitle = {Proc. IEEE Conf. on Decision and Control}, year = {1995}, keywords = {Nonlinear Control Systems, Robot Hands}, author = {A. Bicchi and D Prattichizzo and S. S. Sastry} } @conference {BCS95, title = {Planning Shortest Bounded-Curvature Paths for a Class of Nonholonomic Vehicles among obstacles}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {1349-1354}, keywords = {Autonomous Vehicles, Navigation and Planning}, author = {A. Bicchi and G. Casalino and C. Santilli} } @conference {BBB95, title = {Quasi-Block Diagonal Dominance Condition for Robust Decentralized Tracking Control}, booktitle = {Proc. European Control Conference}, year = {1995}, address = {Rome}, keywords = {Embedded Control, Nonlinear Control Systems}, author = {A. Balluchi and A. Bicchi and A. Balestrino} } @article {1416, title = {STABILIZATION OF SPECTRAL METHODS FOR THE ANALYSIS OF SINGULAR SYSTEMS USING PIECEWISE-CONSTANT BASIS FUNCTIONS}, journal = {CIRCUITS SYSTEMS AND SIGNAL PROCESSING}, volume = {14}, year = {1995}, pages = {299{\textendash}316}, issn = {0278-081X}, doi = {10.1007/BF01189015}, url = {http://dx.medra.org/10.1007/BF01189015}, author = {A. Caiti and G. Cannata} } @conference {BP95, title = {A Standard Form for the Dynamics of General Manipulation Systems}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1995}, pages = {2810-2815}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {A. Bicchi and D Prattichizzo} } @article {1417, title = {TOWARDS THE REALIZATION OF AN ARTIFICIAL TACTILE SYSTEM - FINE-FORM DISCRIMINATION BY A TENSORIAL TACTILE SENSOR ARRAY AND NEURAL INVERSION ALGORITHMS}, journal = {IEEE TRANSACTION ON SYSTEMS MAN AND CYBERNETICS}, volume = {25}, year = {1995}, pages = {933{\textendash}946}, issn = {0018-9472}, doi = {10.1109/21.384256}, url = {http://dx.medra.org/10.1109/21.384256}, author = {A. Caiti and G. Canepa and D. De Rossi and F. Germagnoli and G. Magenes and T. Parisini} } @conference {PPB94, title = {Articulated Structures with Tendon Actuation for Whole-Limb Manipulation}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1994}, keywords = {Haptics, Robot Arms, Robot Hands}, author = {P. Petreschi and D Prattichizzo and A. Bicchi} } @conference {CABB94-VSLT, title = {Closed loop control of unicycle-like vehicles via Lyapunov techniques}, booktitle = {Proc. Int. Workshop on Variable Structure and Lyapunov Techniques}, year = {1994}, address = {Benevento}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @conference {ACBB94, title = {Closed loop smooth steering of unicycle-like vehicles}, booktitle = {Proc. Int. Conf. Decision and Control}, year = {1994}, pages = {2455-2460}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {M. Aicardi and G. Casalino and A. Balestrino and A. Bicchi} } @conference {CABB94-SYROCO, title = {Closed-Loop Steering and Path Following for Unicycle-like Vehicles: a Simple Liapunov Function Based Approach}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {G. Casalino and M. Aicardi and A. Bicchi and A. Balestrino} } @article {1752, title = {Contact Pointing Device for 3D Graphic Software Interfaces}, year = {1994}, address = {Italy}, issn = {PI94A000025}, author = {A. Bicchi and F. Granata} } @conference {BPP94, title = {Control of manipulation with dextrous hands}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi and P. Petreschi and D Prattichizzo} } @conference {BP94, title = {Controllability of whole-arm manipulation}, booktitle = {Proc. Int. Conf. Decision and Control}, year = {1994}, pages = {373-374}, keywords = {Haptics, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=410900}, author = {A. Bicchi and D Prattichizzo} } @conference {BBB94-CDC, title = {A Diagonal Dominance Condition for Robust Decentralized Variable Structure Control}, booktitle = {Proc. Conf. on Decision and Control}, year = {1994}, pages = {2324-2329}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and A. Balestrino} } @article {1419, title = {ESTIMATION OF SHEAR-WAVE VELOCITY IN SHALLOW MARINE-SEDIMENTS}, journal = {IEEE JOURNAL OF OCEANIC ENGINEERING}, volume = {19}, year = {1994}, pages = {58{\textendash}72}, issn = {0364-9059}, doi = {10.1109/48.289451}, url = {http://dx.medra.org/10.1109/48.289451}, author = {A. Caiti and T. Akal and R. D. Stoll} } @conference {B94-SYROCO-1, title = {On the Force-Closure Property of Robotic Grasping}, booktitle = {Proc. IFAC Int. Symposium on Robot Control}, year = {1994}, publisher = {Elsevier Science, Oxford, UK}, organization = {Elsevier Science, Oxford, UK}, address = {Capri}, keywords = {Grasping, Robot Hands}, author = {A. Bicchi} } @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} } @article {BC94, title = {Optimal Design of Multivariate Sensors}, journal = {Measurement Science and Technology (Institute of Physics Journal {\textquoteleft}{\textquoteleft}E{\textquoteright}{\textquoteright})}, volume = {5}, year = {1994}, pages = {319-332}, keywords = {Robot Hands, Sensors}, author = {A. Bicchi and G. Canepa} } @article {B94, title = {On the Problem of Decomposing Grasp and Manipulation Forces in Multiple Whole-Limb Manipulation}, journal = {Int. Journal of Robotics and Autonomous Systems}, volume = {13}, year = {1994}, pages = {127-147}, keywords = {Grasping, Robotics}, author = {A. Bicchi} } @article {1420, title = {SPECTRAL METHODS FOR THE SOLUTION OF LINEAR DESCRIPTOR SYSTEMS USING FOURIER FUNCTIONS}, journal = {CIRCUITS SYSTEMS AND SIGNAL PROCESSING}, volume = {13}, year = {1994}, pages = {225{\textendash}239}, issn = {0278-081X}, doi = {10.1007/BF01188108}, url = {http://dx.medra.org/10.1007/BF01188108}, author = {A. Caiti and G. Cannata} } @conference {BBB94-VSLT, title = {Time-Domain Dominance Condition for Decentralized Variable Structure Control of Systems in Input-Output Form}, booktitle = {Proc. Int. Workshop on Variable Structure and Lyapunov Techniques}, year = {1994}, address = {Benevento}, keywords = {Autonomous Vehicles, Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and A. Balestrino} } @article {1423, title = {COMMENTS ON THE PROPERTIES OF THE OPERATIONAL MATRICES OF INTEGRATION AND DIFFERENTIATION FOR FOURIER TRIGONOMETRIC FUNCTIONS}, journal = {IEEE TRANSACTIONS ON AUTOMATIC CONTROL}, volume = {38}, year = {1993}, pages = {667{\textendash}671}, issn = {0018-9286}, doi = {10.1109/9.250546}, url = {http://dx.medra.org/10.1109/9.250546}, author = {A. Caiti and G. Cannata} } @article {BSB93-IJRR, title = {Contact Sensing from Force and Torque Measurements}, journal = {The Int. J. of Robotics Research}, volume = {12}, number = {3}, year = {1993}, pages = {249-262}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock} } @conference {BBB93, title = {Efficient Parallel Algorithm for Optimal Block Decomposition of Transfer Function Matrices for Decentralized Control of Large-Scale Systems}, booktitle = {Proc. Conference on Decision and Control}, year = {1993}, keywords = {Hybrid and Embedded Control Systems, Nonlinear Control Systems}, author = {A. Balluchi and A. Balestrino and A. Bicchi} } @inbook {BSB93, title = {Experimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors}, booktitle = {Experimental Robotics-III}, series = {LNCIS 190}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {A. Bicchi and J. K. Salisbury and D. L. Brock}, editor = {R. Chatila and G. Hirzinger} } @conference {B93, title = {Force Distribution in Multiple Whole-Limb Manipulation}, booktitle = {Proc. IEEE Int. Conf. Robotics and Automation}, year = {1993}, pages = {196-201}, address = {Atlanta}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @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} } @inbook {BP93, title = {New Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation}, booktitle = {Robotics, Mechatronics and Manufacturing Systems}, year = {1993}, pages = {373-3790}, publisher = {North Holland}, organization = {North Holland}, address = {Amsterdam}, keywords = {Haptics, Robotics}, author = {A. Bicchi and D Prattichizzo}, editor = {T. Takamori and K. Tsuchiya} } @article {1422, title = {Skin-like tactile sensor arrays for contact stress field extraction}, journal = {MATERIALS SCIENCE AND ENGINEERING. C, BIOMIMETIC MATERIALS, SENSORS AND SYSTEMS}, volume = {1}, year = {1993}, pages = {23{\textendash}36}, issn = {0928-4931}, author = {D. De Rossi and G. Canepa and G. Magenes and F. Germagnoli and A. Caiti and T. Parisini} } @conference {PBC93, title = {Statically Stable Legged Locomotion with Leg Redundancy}, booktitle = {Proc. IASTED Int. Conf. on Robotics and Manufacturing}, year = {1993}, publisher = {IASTED}, organization = {IASTED}, address = {Oxford, UK, september 23-25 1993}, keywords = {Embedded Control, Robotics}, issn = {O-88986-179-X}, author = {D Prattichizzo and A. Bicchi and G. Casalino} } @conference {BBLP93, title = {A variable structure approach to force/motion control of robot manipulators}, booktitle = {Proc. Int. Conf. FAST - BIAS}, year = {1993}, address = {Milan, Italy, November 23-25 1993}, keywords = {Robotics}, author = {A. Balestrino and A. Bicchi and A. Landi and D Prattichizzo} } @inbook {VB93, title = {Whole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity}, booktitle = {Robots and Biological Systems}, series = {NATO-ASI Series F: Computer and Systems Sciences, vol. 102}, year = {1993}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Vassura and A. Bicchi}, editor = {P. Dario and P. Aebischer and G. Sandini} } @conference {1879, title = {Adaptive neural state observer for unknown non linear plants}, booktitle = {IMACS/SICE International Symposium on Robotics, Mechatronics and Manufacturing Systems}, year = {1992}, address = {Kobe, Japan, Sep 16-20 1992}, keywords = {Robotics}, author = {Bini Verona, F and A. Bicchi and De Gasperis, G. and A. Landi and G. Silvestri} } @conference {B92-IFTOMM, title = {Algorithms for the Analysis of Form- and Force-Closure}, booktitle = {IFToMM Int. Symp. on Theory of Machines and Mechanisms}, year = {1992}, address = {Nagoya, Japan}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @article {B92, title = {A Criterion for Optimal Design of Multiaxis Force Sensors}, journal = {Journal of Robotics and Autonomous Systems}, volume = {10}, number = {4}, year = {1992}, pages = {269-286}, keywords = {Force/Torque Sensors, Robot Hands, Tactile Sensors}, author = {A. Bicchi} } @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} } @conference {B92-ACC, title = {Optimal Control of Robotic Grasping}, booktitle = {Proc. American Control Conference}, year = {1992}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi} } @inbook {BM92, title = {Quasi-Static Compensation of Force Errors for Flexible Manipulators}, booktitle = {Selected papers from the Third IFAC/IFIS/IMAC Symposium on Robot Control}, year = {1992}, pages = {381-385}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U.K.}, keywords = {Robotics}, author = {A. Bicchi and C. Melchiorri}, editor = {I. Troch and K. Desoer and P. Kopacek} } @inbook {BBD92, title = {Robot Tactile Perception}, booktitle = {Sensor Based Robots: Algorithms and Architectures}, year = {1992}, publisher = {Springer Verlag}, organization = {Springer Verlag}, address = {Berlin Heidelberg, Germany}, keywords = {Haptics, Robotics}, author = {G. Buttazzo and A. Bicchi and P. Dario}, editor = {C. S. G. Lee} } @conference {BBL92, title = {Trajectory Planning of Industrial Robots in a Structured Environment}, booktitle = {Int. Conf. on CAD/CAM, Robotics and Factories of the Future}, year = {1992}, address = {Metz, France}, keywords = {Embedded Control, Robotics}, author = {A. Balestrino and A. Bicchi and A. Landi} } @conference {B91, title = {Analysis Control of Power Grasping}, booktitle = {Proc. IEEE/RSJ Workshop on Intelligent Robots and Systems}, year = {1991}, address = {Osaka, Japan}, keywords = {Grasping, Haptics, Robot Hands}, author = {A. Bicchi} } @inbook {BB91, title = {Robotic Tactile Sensing: Skin-like and Intrinsic Approach}, booktitle = {Intelligent Robotic Systems: Analysis, Design and Programming}, year = {1991}, publisher = {Marcel Dekker}, organization = {Marcel Dekker}, address = {New York, NY, USA}, keywords = {Haptics, Robotics}, author = {A. Bicchi and G. Buttazzo}, editor = {S. Tzafestas} } @conference {B90, title = {Intrinsic Contact Sensing for Soft Fingers}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1990}, address = {Cincinnati, OH, USA}, keywords = {Force/Torque Sensors, Haptics, Robot Hands, Tactile Sensors}, author = {A. Bicchi} } @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} } @conference {VBT90, title = {Sensorial Integration for a Robotic Dextrous Hand}, booktitle = {Proc. Int. Symp. on Measurement and Control in Robotics}, year = {1990}, address = {Houston, Texas, USA}, keywords = {Haptics, Robot Hands, Sensors}, author = {G. Vassura and A. Bicchi and A. Tonielli} } @article {1753, title = {Technique for measuring tightening torque of bolts and similar devices}, year = {1990}, address = {Italy}, issn = {67106 A-90}, author = {A. Bicchi and M. Nicola} } @conference {BB89, title = {Adaptive Surface Following and Reconstruction Using Intrinsic Tactile Sensing}, booktitle = {Proc. IEEE Int. Works. on Sensorial Integration for Industrial Robots}, year = {1989}, address = {Zaragoza, Spain}, keywords = {Haptics, Robotics}, author = {A. Balestrino and A. Bicchi} } @conference {BSD89, title = {Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing}, booktitle = {Proc. IEEE Conf. on Robotics and Automation}, year = {1989}, address = {Scottsdale, AZ, USA}, keywords = {Grasping, Haptics, Robot Hands, Sensors}, author = {A. Bicchi and J. K. Salisbury and P. Dario} } @conference {BBDGMP89, title = {Leg-Ankle-Foot System for Investigating Sensor Based Legged Locomotion}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems}, year = {1989}, address = {Tsukuba, Japan}, keywords = {Embedded Control, Robotics}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=637970}, author = {A. Bicchi and L. Bosio and P. Dario and M. Guiggiani and E. Manfredi and P. C. Pinotti} } @article {1777, title = {Need better sensor: try using polymers}, journal = {RESEARCH \& DEVELOPMENT}, year = {1989}, pages = {66{\textendash}70}, keywords = {Bioengineering}, issn = {0746-9179}, author = {D. De Rossi} } @conference {BBBD89, title = {A Robot Workstation for Autonomous Assembling}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1989}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Stuttgard, Germany}, keywords = {Robot Hands}, author = {G. Buttazzo and M. Bergamasco and A. Bicchi and P. Dario} } @article {1776, title = {Shear stress detection in an elastic layer by a piezoelectric polymer tactile sensor}, journal = {IEEE TRANSACTIONS ON ELECTRICAL INSULATION}, volume = {24}, year = {1989}, pages = {1077{\textendash}1081}, keywords = {Bioengineering}, issn = {0018-9367}, author = {C. Domenici and D. De Rossi and A. Bacci and S. Bennati} } @article {1775, title = {Tactile sensing by an electromechanochemical skin analog}, journal = {SENSORS AND ACTUATORS}, volume = {17}, year = {1989}, pages = {107{\textendash}114}, keywords = {Bioengineering}, issn = {0250-6874}, author = {D. De Rossi and L. Lazzeri and C. Domenici and A. Nannini and P. Basser} } @conference {DBSBB88, title = {Advanced Rehabilitative Robots}, booktitle = {Proc. ISIR Int. Symposium and Exposition on Robots}, year = {1988}, address = {Sydney, Australia}, keywords = {Physical Human-Robot Interaction (pHRI), Robot Arms}, author = {P. Dario and M. Bergamasco and A. Sabatini and A. Bicchi and G. Buttazzo} } @article {1774, title = {Artificial sensing skin mimicking mechanoelectrical conversion properties of human dermis}, journal = {IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING}, volume = {35}, year = {1988}, pages = {83{\textendash}92}, keywords = {Bioengineering}, issn = {0018-9294}, author = {D. De Rossi and A. Nannini and C. Domenici} } @article {1773, title = {Determination of mechanical parameters related to the kinetics of swelling in an electrically activated contractile gel}, journal = {PROGRESS IN COLLOID \& POLYMER SCIENCE}, volume = {78}, year = {1988}, pages = {4{\textendash}8}, keywords = {Bioengineering}, issn = {0340-255X}, author = {Chiarelli, P and D. De Rossi} } @conference {BBDF88, title = {Integrated Tactile Sensing for Gripper Fingers}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1988}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Zuerich, Switzerland}, keywords = {Haptics, Robot Hands, Tactile Sensors}, author = {A. Bicchi and M. Bergamasco and P. Dario and A. Fiorillo} } @inbook {BD88, title = {Intrinsic Tactile Sensing for Artificial Hands}, booktitle = {Robotics Research - IV}, year = {1988}, pages = {83-90}, publisher = {MIT Press}, organization = {MIT Press}, address = {Cambridge, MA, USA}, keywords = {Haptics, Robotics}, author = {A. Bicchi and P. Dario}, editor = {R. Bolles and B. Roth} } @article {1772, title = {Sensori per applicazioni biomediche}, journal = {FISICA E TECNOLOGIA}, volume = {11}, year = {1988}, pages = {{\textendash}}, issn = {0391-9757}, author = {P. Dario and D. De Rossi} } @article {1770, title = {A Biomimetic tactile array with stress-component-selective sensing capabilities}, journal = {MATERIALS SCIENCE}, volume = {13}, year = {1987}, pages = {47{\textendash}50}, keywords = {Bioengineering}, issn = {0137-1339}, author = {D. De Rossi and C. Domenici and A. Nannini and R. Francesconi} } @article {1769, title = {Biomimetic tactile sensor with stress-component-discrimination capability}, journal = {JOURNAL OF MOLECULAR ELECTRONICS}, volume = {3}, year = {1987}, pages = {173{\textendash}181}, keywords = {Bioengineering}, issn = {0748-7991}, author = {D. De Rossi and A. Nannini and C. Domenici} } @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 {1771, title = {NTIR Optical Immunosensor}, journal = {MEDICINE BIOLOGIE ENVIRONMENT}, volume = {15}, year = {1987}, pages = {49{\textendash}54}, keywords = {Bioengineering}, author = {M. Monici and A. Nannini and D. De Rossi} } @conference {DBBB87, title = {A Shape Memory Alloy Actuating Module for Fine Manipulation}, booktitle = {Proc. IEEE Workshop on Microrobots and Teleoperators}, year = {1987}, address = {Hyannis, MA, USA}, keywords = {Robot Hands}, author = {P. Dario and M. Bergamasco and L. Bernardi and A. Bicchi} } @article {1754, title = {Universal Cylindrical Loadcell}, year = {1987}, address = {Italy}, issn = {1211362}, author = {A. Bicchi} } @article {1765, title = {Approccio bionico allo sviluppo di trasduttori tattili ed attuatori lineari per robotica avanzata}, journal = {ALTA FREQUENZA}, volume = {55}, year = {1986}, pages = {55{\textendash}62}, keywords = {Bioengineering}, issn = {0002-6557}, author = {D. De Rossi and C. Domenici and Chiarelli, P} } @article {1763, title = {Contractile behaviour of electrically activated mechanochemical polymer actuators}, journal = {ASAIO TRANSACTIONS}, volume = {32}, year = {1986}, pages = {157{\textendash}162}, keywords = {Robotics}, issn = {0889-7190}, author = {D. De Rossi and Chiarelli, P and G. Buzzigoli and C. Domenici and L. Lazzeri} } @inbook {BDP86, title = {On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects}, booktitle = {Robot Control}, series = {IFAC Proceedings Series, vol.9}, year = {1986}, pages = {251-256}, publisher = {Pergamon Press Books}, organization = {Pergamon Press Books}, address = {Oxford, U. K.}, keywords = {Haptics, Robot Hands, Sensors}, author = {A. Bicchi and P. Dario and P. C. Pinotti}, editor = {L. Basanez and G. Ferrate and G. N. Saridis} } @article {1764, title = {Design criteria for ferroelectric polymer sensors and their applications to artificial organ technology}, journal = {ASAIO TRANSACTIONS}, volume = {32}, year = {1986}, pages = {697{\textendash}701}, keywords = {Bioengineering}, issn = {0889-7190}, author = {D. De Rossi} } @article {1766, title = {Effetti di osteosintesi endomidollari a polimeri piezoelettrico: ricerca sperimentale}, journal = {ORTOPEDIA E TRAUMATOLOGIA OGGI}, volume = {4}, year = {1986}, pages = {229{\textendash}232}, keywords = {Bioengineering}, issn = {0392-1417}, author = {F. Carlucci and P. Puntoni and ARISPICI, M and M. Cecconi and C. Domenici and P. Dario and D. De Rossi} } @article {1762, title = {Indwelling acoustic sensors for early detection of total artificial heart failure}, journal = {LIFE SUPPORT SYSTEMS}, volume = {4}, year = {1986}, pages = {239{\textendash}248}, keywords = {Bioengineering}, issn = {0261-989X}, author = {Y. L. Sheng and D. De Rossi and P. Dario and P.M. Galletti} } @article {1767, title = {Piezoelectric properties of dry human skin}, journal = {IEEE TRANSACTIONS ON ELECTRICAL INSULATION}, volume = {EI-21}, year = {1986}, pages = {511{\textendash}517}, keywords = {Bioengineering}, issn = {0018-9367}, author = {D. De Rossi and C. Domenici and P. Pastacaldi} } @inbook {DBFBF86, title = {A Sensorized Scenario for Basic Investigation on Active Touch}, booktitle = {Robot Sensors: Tactile and Non-Vision}, series = {International Trends in Manufacturing Technology Series, vol. 2}, year = {1986}, pages = {237-245}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Kempston, Bedford, U. K.}, keywords = {Haptics, Robotics}, author = {P. Dario and A. Bicchi and A. Fiorillo and G. Buttazzo and R. Francesconi}, editor = {Alan Pugh} } @conference {1880, title = {On the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects}, booktitle = {IFAC Symposium on Robot Control (SYROCO85)}, year = {1985}, address = {Barcelona, Spain, 6-8 November 1985}, keywords = {Haptics, Robotics}, author = {A. Bicchi and P. Dario and P. C. Pinotti} } @article {1749, title = {Electrically induced contractile phenomena in charged polymer networks: preliminary study on the feasibility of muscle-like structures}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {31}, year = {1985}, pages = {60{\textendash}65}, keywords = {Bioengineering}, issn = {0066-0078}, author = {D. De Rossi and P. Parrini and Chiarelli, P and G. Buzzigoli} } @article {1750, title = {Tactile sensors and the gripping challenge}, journal = {IEEE SPECTRUM}, volume = {22}, year = {1985}, pages = {46{\textendash}52}, keywords = {Bioengineering}, issn = {0018-9235}, author = {P. Dario and D. De Rossi} } @conference {DBVP85, title = {Tendon Actuated Exploratory Finger With Polymeric, Skin-like Tactile Sensor}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1985}, address = {St. Louis, MO, USA.}, keywords = {Haptics, Robot Hands, Robotics, Sensors}, author = {P. Dario and A. Bicchi and F. Vivaldi and P. C. Pinotti} } @article {1747, title = {Alcuni fenomeni di traduzione meccanoelettrica in materiali organici di sintesi: propriet{\~A} e analogie con meccanismi di origine biologica}, journal = {L{\textquoteright}ELETTROTECNICA}, volume = {80}, year = {1984}, pages = {619{\textendash}631}, keywords = {Bioengineering}, issn = {0013-6131}, author = {D. De Rossi and P. Dario and C. Domenici and P. Parrini} } @article {1743, title = {Ferroelectric polymer tactile sensors for prostheses}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {199{\textendash}214}, keywords = {Bioengineering}, issn = {0015-0193}, author = {P. Dario and D. De Rossi and C. Giannotti and F. Vivaldi and P. C. Pinotti} } @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 {1741, title = {Piezoelectric properties and dielectric losses in PVDF-PMMA blends}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {61{\textendash}70}, keywords = {Bioengineering}, issn = {0015-0193}, author = {C. Domenici and D. De Rossi and A. Nannini and R. Verni} } @article {1742, title = {Prime esperienze sull{\textquoteright}impiego di un polimero piezoelettrico (PVF2) nella riparazione di fratture sperimentali nel ratto}, journal = {ANNALI DELLE FACOLT{\~A}? DI MEDICINA VETERINARIA}, volume = {34}, year = {1984}, pages = {47{\textendash}60}, keywords = {Bioengineering}, issn = {0390-4660}, author = {F. Carlucci and P. Puntoni and ARISPICI, M and M. Cecconi and C. Domenici and P. Dario and D. De Rossi} } @article {1740, title = {Prosthetic vascular graft monitoring by ultrasound using piezoelectric polymers (PZP)}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {30}, year = {1984}, pages = {{\textendash}}, keywords = {Bioengineering}, issn = {0066-0078}, author = {P. Dario and P.D. Richardson and M. Bertoncini and D. De Rossi and L.A. Trudell and P.M. Galletti} } @article {1745, title = {PVF2 Catheter-tip transducers for pressure, sound and flow measurement}, journal = {FERROELECTRICS}, volume = {60}, year = {1984}, pages = {149{\textendash}162}, keywords = {Bioengineering}, issn = {0015-0193}, author = {P. Dario and D. De Rossi and R. Bedini and R. Francesconi and M.G. Tivella} } @article {1748, title = {Pyroelectric sensing station for automatic recognition of position and orientation of objects}, journal = {INTERNATIONAL JOURNAL OF MACHINE TOOL DESIGN \& RESEARCH}, volume = {24}, year = {1984}, pages = {145{\textendash}160}, keywords = {Bioengineering}, issn = {0020-7357}, author = {L.R Wang and P. Dario and D. De Rossi and R. Francesconi and P. C. Pinotti} } @article {1746, title = {Sensori tattili a polimeri ferroelettrici}, journal = {TECNICHE DELL{\textquoteright}AUTOMAZIONE \& ROBOTICA}, volume = {7-8}, year = {1984}, pages = {25{\textendash}29}, keywords = {Bioengineering}, issn = {1721-7563}, author = {P. Dario and D. De Rossi and C. Domenici and P. C. Pinotti} } @article {1738, title = {Biomedical applications of piezoelectric and pyroelectric polymers}, journal = {FERROELECTRICS}, volume = {49}, year = {1983}, pages = {49{\textendash}58}, keywords = {Bioengineering}, issn = {0015-0193}, author = {D. De Rossi and P. Dario} } @article {1739, title = {The electromechanical connection: piezoelectric polymers in artificial organs}, journal = {TRANSACTIONS - AMERICAN SOCIETY FOR ARTIFICIAL INTERNAL ORGANS}, volume = {6}, year = {1983}, pages = {1{\textendash}11}, keywords = {Bioengineering}, issn = {0066-0078}, author = {D. De Rossi and P.M. Galletti and P. Dario and P.D. Richardson} } @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 {1735, title = {Recent developments in biomedical signal transduction techniques}, journal = {ELETTROMEDICALI}, volume = {2}, year = {1982}, pages = {76{\textendash}91}, keywords = {Bioengineering}, issn = {0393-7070}, author = {P. Dario and D. De Rossi} } @article {1736, title = {Techniques and transducers for non-invasive measurement of physiological parameters}, journal = {ELETTROMEDICALI}, volume = {2}, year = {1982}, pages = {59{\textendash}75}, keywords = {Bioengineering}, issn = {0393-7070}, author = {D. De Rossi} } @article {1733, title = {Touch-sensitive polymer skin uses piezoelectric properties to recognize orientation of objects}, journal = {SENSOR REVIEW}, volume = {4}, year = {1982}, pages = {194{\textendash}198}, keywords = {Bioengineering}, issn = {0260-2288}, author = {P. Dario and R. Bardelli and D. De Rossi and L.R Wang and P. C. Pinotti} } @article {1734, title = {Trasduttori acustici a polimeri piezoelettrici}, journal = {RIVISTA ITALIANA DI ACUSTICA}, volume = {4}, year = {1982}, pages = {121{\textendash}141}, keywords = {Bioengineering}, issn = {0393-1110}, author = {D. De Rossi and R. Bardelli and P. Dario and C. Domenici and F. Pedrini} } @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} } @article {1731, title = {A new fibre-optic liquid crystal catheter for oxygen saturation and blood flow measurement in the coronary sinus}, journal = {JOURNAL OF BIOMEDICAL ENGINEERING}, volume = {2}, year = {1980}, pages = {257{\textendash}264}, keywords = {Bioengineering}, issn = {0141-5425}, author = {D. De Rossi and A. Benassi and A. L{\textquoteright}Abbate and P. Dario} } @article {1730, title = {A liquid crystal fiberoptic catheter for blood flow measurement by thermodilution}, journal = {JOURNAL OF NUCLEAR MEDICINE AND ALLIED SCIENCES}, volume = {23}, year = {1979}, pages = {173{\textendash}177}, keywords = {Bioengineering}, issn = {0392-0208}, author = {P. Dario and D. De Rossi and A. Riva and A. Benassi and A. L{\textquoteright}Abbate} } @article {1728, title = {Dispositivo a cristalli liquidi per la realizzazione di maschere ad oscuramento pilotato nella saldatura elettrica}, journal = {RIVISTA ITALIANA DELLA SALDATURA}, volume = {6}, year = {1978}, pages = {359{\textendash}366}, keywords = {Bioengineering}, issn = {0035-6794}, author = {R. Bedini and D. De Rossi} } @article {1729, title = {Electro-optic behaviour of a field-induced twisted structure with quasi homeotropic boundary conditions}, journal = {JOURNAL OF APPLIED PHYSICS}, volume = {49}, year = {1978}, pages = {1139{\textendash}1142}, keywords = {Bioengineering}, issn = {0021-8979}, author = {D. De Rossi and J. Robert} } @article {1727, title = {An introduction to medical thermography}, journal = {JOURNAL OF NUCLEAR MEDICINE AND ALLIED SCIENCES}, volume = {21}, year = {1977}, pages = {5{\textendash}6}, keywords = {Bioengineering}, issn = {0392-0208}, author = {D. De Rossi} } @article {3654, title = {Combined Sensing, Cognition, Learning and Control to Developing Future Neuro-Robotics Systems: A Survey}, journal = {IEEE Transactions on Cognitive and Developmental Systems ( Early Access )}, author = {J. Li and Z. Li and F. Chen and A. Bicchi and Y. Sun and T. Fukuda} } @article {3648, title = {Skin stretch haptic feedback to convey closure information in anthropomorphic, under-actuated upper limb soft prostheses}, journal = {IEEE Transactions on Haptics ( Early Access )}, author = {E. Battaglia and J. Clark and M. Bianchi and M. G. Catalano and A. Bicchi and M. K. O{\textquoteright}Malley} }