@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} } @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 {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 {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 {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} } @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 {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 {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 {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 {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 {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} } @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 {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} } @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 {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} } @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} } @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 {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 {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 {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} } @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} } @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 {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} } @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 {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} } @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 {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 {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 {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} } @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 {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} } @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} } @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} } @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 {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 {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 {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 {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 {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 {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 {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} } @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 {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 {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} } @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} } @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} } @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 {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 {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 {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 {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 {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} } @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 {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 {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} } @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} } @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} } @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} } @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 {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 {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} } @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 {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} } @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 {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 {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 {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} } @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 {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 {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} } @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 {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 {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 {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 {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} } @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 {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 {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} } @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 {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} } @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 {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 {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} } @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.} } @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} } @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} } @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} } @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} } @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 {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} } @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 {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} } @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 {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} } @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} } @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 {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 {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 {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 {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 {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 {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} } @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 {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} } @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} } @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} } @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 {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 {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} } @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} } @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} } @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 {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} } @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} } @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} } @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} } @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} } @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} } @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} } @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} } @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 {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} } @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.} } @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} } @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} } @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} } @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} } @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} } @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} } @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 {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} } @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 {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 {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 {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} } @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} } @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 {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 {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 {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 {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 {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} } @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} } @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 {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} } @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 {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 {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} } @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} } @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 {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} } @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} } @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} } @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 {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} } @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} } @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} } @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} } @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 {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 {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} } @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 {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 {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.} } @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} } @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} } @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 {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 {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.} } @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} } @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} } @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.} } @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 {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} } @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} } @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 {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} } @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} } @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 {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} } @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 {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 {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 {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} } @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 {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} } @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 {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} } @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} } @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 {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} } @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} } @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 {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} } @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} } @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 {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 {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} }