@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 {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} } @article {2841, title = {An Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window}, journal = {IEEE Transactions on Haptics}, volume = {10}, year = {2017}, month = {01/2017}, pages = {123-129}, abstract = {

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

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = { 10.1109/TOH.2016.2614679}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7579582}, author = {M. L. D{\textquoteright}Angelo and F. Cannella and M. Bianchi and M. D{\textquoteright}Imperio and E. Battaglia and M. Poggiani and G. Rossi and A. Bicchi and D. G. Caldwell} } @conference {2899, title = {Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study}, booktitle = {Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference }, year = {2016}, address = {Orlando, USA, August 16-20, 2016}, doi = {10.1109/EMBC.2016.7591957}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957}, author = {S. B. Godfrey and M. Bianchi and A. Bicchi and M. Santello} } @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 {1438, title = {Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2744 - 2750}, keywords = {Haptics, Robotics}, url = {10.1109/ICRA.2013.6630955 }, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Garabini and S. Grechi and G Fantoni and A. Bicchi} } @inbook {2002, title = {Immersive Multimodal Interactive Presence}, booktitle = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {215{\textendash}228}, publisher = {SPRINGER-VERLAG}, organization = {SPRINGER-VERLAG}, chapter = {FMRI Compatible Sensing Glove for Hand Gesture Monitoring}, address = {LONDON {\textendash} GBR}, isbn = {9781447127536}, doi = {10.1007/978-1-4471-2754-3_12}, url = {http://dx.medra.org/10.1007/978-1-4471-2754-3_12}, author = {N. Vanello and V. Hartwig and E. P. Scilingo and D. Bonino and E. Ricciardi and A. Tognetti and P. Pietrini and D. De Rossi and L. Landini and A. Bicchi} } @article {1232, title = {Interacting with networks: How does structure relate to controllability in single-leader, consensus networks?}, journal = {Control Systems Magazine}, volume = {32}, year = {2012}, pages = {66 - 73}, keywords = {Embedded Control, Robotics}, author = {M. Egerstedt and S. Martini and M. Cao and K. Camlibel and A. Bicchi} } @conference {PCBB, title = {Identifying Cyber Attacks via Local Model Information}, booktitle = {International Conference on Decision and Control - CDC 2010}, year = {2010}, month = {December}, pages = {5961 - 5966}, address = {Atlanta, USA}, keywords = {Embedded Control, Robotics}, author = {F. Pasqualetti and R. Carli and A. Bicchi and F. Bullo} } @conference {SFB-ICRA09, title = {Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence}, booktitle = {Int. Conference of Robotics and Automation}, year = {2009}, month = {May, 12 - 17}, pages = {259 - 264}, address = {Kobe, Japan}, keywords = {Embedded Control, Robotics}, author = {R. Schiavi and F. Flacco and A. Bicchi} } @conference {SSTB-WH07, title = {Integrating Two Haptic devices for Performance Enhancement}, booktitle = {World Haptics Conference 2007}, year = {2007}, pages = {139-144}, abstract = {

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

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and G. Tonietti and A. Bicchi} } @conference {BMP06-HSCC, title = {Improving efficiency of finite plans by optimal choice of input sets}, booktitle = {Hybrid Systems: Computation and Control}, series = {Lecture Notes in Computer Science}, volume = {3927 / 2006}, year = {2006}, pages = {108-122}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, abstract = {

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

}, keywords = {Embedded Control, Robotics}, author = {A. Bicchi and A. Marigo and B. Piccoli}, editor = {J. Hespanha and A. Tiwari} } @conference {DPSB04, title = {Integration of Tactile Flow from Multi-Finger and Multi-Dimensional Information}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {282-289}, abstract = {

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

}, keywords = {Haptics}, author = {D. Dente and A. Pisani and E. P. Scilingo and A. Bicchi} } @conference {PCPB97, title = {Interactive Benchmark for Planning Algorithms on the Web}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, pages = {399-404}, keywords = {Autonomous Vehicles, Navigation and Planning, Telelab}, author = {S. Piccinocchi and M. Ceccarelli and F. Piloni and A. Bicchi} } @conference {BBPG97, title = {Introducing the Sphericle: an experimental testbed for research and teaching in nonholonomy}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1997}, keywords = {Autonomous Vehicles, Nonlinear Control Systems}, author = {A. Bicchi and A. Balluchi and D Prattichizzo and A. Gorelli} } @article {BM95, title = {Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation}, journal = {The Journal of Advanced Robotics}, year = {1995}, month = {October}, keywords = {Grasping, Robot Arms, Robot Hands}, author = {A. Bicchi and H. Mayeda} } @conference {B90, title = {Intrinsic Contact Sensing for Soft Fingers}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1990}, address = {Cincinnati, OH, USA}, keywords = {Force/Torque Sensors, Haptics, Robot Hands, Tactile Sensors}, author = {A. Bicchi} } @conference {BBDF88, title = {Integrated Tactile Sensing for Gripper Fingers}, booktitle = {Proc. Int. Conf. on Robot Vision and Sensory Control}, year = {1988}, publisher = {I. F. S. Publications Ltd.}, organization = {I. F. S. Publications Ltd.}, address = {Zuerich, Switzerland}, keywords = {Haptics, Robot Hands, Tactile Sensors}, author = {A. Bicchi and M. Bergamasco and P. Dario and A. Fiorillo} } @inbook {BD88, title = {Intrinsic Tactile Sensing for Artificial Hands}, booktitle = {Robotics Research - IV}, year = {1988}, pages = {83-90}, publisher = {MIT Press}, organization = {MIT Press}, address = {Cambridge, MA, USA}, keywords = {Haptics, Robotics}, author = {A. Bicchi and P. Dario}, editor = {R. Bolles and B. Roth} }