@article {4081,
	title = {Exploring the Role of Palm Concavity and Adaptability in Soft Synergistic Robotic Hands},
	journal = { IEEE Robotics and Automation Letters },
	volume = {5},
	year = {2020},
	month = {17 June 2020},
	pages = {4703 - 4710},
	chapter = {4703},
	abstract = {<p>Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an articulated palm improves finger workspace and manipulability. We propose a mechanical design of a modular palm with two elastic rolling-contact palmar joints, that can be integrated on the Pisa/IIT SoftHand, without introducing additional motors. With this prototype, we evaluate experimentally the grasping capabilities of a robotic palm. We compare its performance to that of the same robotic hand with the palm fixed, and to that of a human hand. To assess the effective grasp quality achieved by the three systems, we measure the contact area using paint-transfer patterns in different grasping actions. Preliminary grasping experiments show a closer resemblance of the soft-palm robotic hand to the human hand. Results evidence a higher adaptive capability and a larger involvement of all fingers in grasping.</p>
},
	keywords = {Ellipsoids, Grasping, Indexes, Kinematics, Robots, Shape, Thumb},
	issn = { 2377-3766},
	doi = {10.1109/LRA.2020.3003257},
	url = {https://ieeexplore.ieee.org/document/9119822?source=authoralert},
	author = {Capsi-Morales, Patricia and G. Grioli and C. Piazza and A. Bicchi and M. G. Catalano}
}
@article {3700,
	title = {Deconfliction of Motion Paths With Traffic Inspired Rules},
	journal = {IEEE Robotics and Automation Letters},
	volume = {4},
	year = {2019},
	month = {April},
	pages = {2227-2234},
	keywords = {Automobiles, Autonomous Vehicles, Collision Avoidance, multi-robot systems, Navigation, Physical Human-Robot Interaction, Roads, Robots, Safety},
	issn = {2377-3766},
	doi = {10.1109/LRA.2019.2899932},
	author = {F. Celi and L. Wang and L. Pallottino and M. Egerstedt}
}
@article {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}
}
