@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 {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}
}
