@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 {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 {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 {3233,
	title = {Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions},
	journal = {FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY},
	volume = {4},
	year = {2016},
	pages = {1{\textendash}28},
	keywords = {ambulatory monitoring, data fusion, gait, Grasping, reaching, stroke rehabilitation, wearable sensors},
	doi = {10.3389/fbioe.2016.00028},
	author = {F. Lorussi and N. Carbonaro and D. De Rossi and R. Paradiso and Veltink, P. and A. Tognetti}
}
@inbook {BK01,
	title = {Robotic Grasping and Manipulation},
	booktitle = {Ramsete: Articulated and mobile robots for services and Technology},
	volume = {270},
	year = {2001},
	pages = {55-74},
	publisher = {Springer-Verlag},
	organization = {Springer-Verlag},
	chapter = {4},
	address = {Berlin Heidelberg, Germany},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi and V. Kumar},
	editor = {S. Nicosia and B. Siciliano and A. Bicchi and P. Valigi}
}
@article {BP00,
	title = {Manipulability of Cooperating Robots with Unactuated Joints and Closed-Chain Mechanisms},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {16},
	number = {4},
	year = {2000},
	month = {August},
	pages = {336-345},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@conference {BK00,
	title = {Robotic Grasping and Contact: A Review},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2000},
	pages = {348-353},
	address = {San Francisco, CA},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi and V. Kumar}
}
@article {PB98,
	title = {Dynamic Analysis of Mobility and Graspability of General Manipulation Systems},
	journal = {IEEE Trans. on Robotics and Automation},
	volume = {14},
	number = {2},
	year = {1998},
	pages = {241-258},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
@conference {BP98,
	title = {Manipulability of Cooperating Robots with Passive Joints},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {1998},
	pages = {1038-1043},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi and D Prattichizzo}
}
@article {PB97,
	title = {Consistent Specification of Manipulation Tasks for Defective Mechanical Systems},
	journal = {ASME Jour. Dynam. Systems, Measurement, and Control},
	volume = {119},
	year = {1997},
	month = {December},
	pages = {767-777},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and A. Bicchi}
}
@conference {PMBV97-SYROCO,
	title = {On the Decoupling and Output Functional Controllability of Robotic Manipulation},
	booktitle = {Proc. IFAC Int. Symp. on Robot Control},
	year = {1997},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
@conference {PMBV97-CDC,
	title = {On the Geometric Control of Internal Forces in Power Grasp},
	booktitle = {Proc. Conf. on Decision and Control},
	year = {1997},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {D Prattichizzo and P. Mercorelli and A. Bicchi and A. Vicino}
}
@inbook {PSB96,
	title = {Contact and Grasp Robustness Measures: Analysis and Experiments},
	booktitle = {Experimental Robotics-IV},
	series = {LNCIS 223},
	year = {1996},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	abstract = {<p>In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so\&ndash;called {\textquoteleft}{\textquoteleft}Instrumented Talon\&$\#$39;\&$\#$39;, are reported as an illustration.</p>
},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {D Prattichizzo and J. K. Salisbury and A. Bicchi},
	editor = {O. Khatib and K. Salisbury}
}
@conference {B96,
	title = {Hands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity},
	booktitle = {Robotics Research - VII},
	year = {1996},
	pages = {2-15},
	publisher = {Springer Verlag},
	organization = {Springer Verlag},
	address = {Berlin Heidelberg, Germany},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi},
	editor = {G. Giralt and G. Hirzinger}
}
@article {BM95,
	title = {Introduction to the Special Issue on Enveloping Grasping and Whole-Arm Manipulation},
	journal = {The Journal of Advanced Robotics},
	year = {1995},
	month = {October},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi and H. Mayeda}
}
@article {BMB95,
	title = {On the Mobility and Manipulability of General Multiple Limb Robotic Systems},
	journal = {IEEE Trans. Robotics and Automation},
	volume = {11},
	number = {2},
	year = {1995},
	month = {April},
	pages = {215-228},
	keywords = {Grasping, Manipulability, Robot Arms, Robot Hands},
	author = {A. Bicchi and C. Melchiorri and D. Balluchi}
}
@conference {BPP94,
	title = {Control of manipulation with dextrous hands},
	booktitle = {Proc. IFAC Int. Symposium on Robot Control},
	year = {1994},
	publisher = {Elsevier Science, Oxford, UK},
	organization = {Elsevier Science, Oxford, UK},
	address = {Capri},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi and P. Petreschi and D Prattichizzo}
}
@conference {B94-SYROCO-1,
	title = {On the Force-Closure Property of Robotic Grasping},
	booktitle = {Proc. IFAC Int. Symposium on Robot Control},
	year = {1994},
	publisher = {Elsevier Science, Oxford, UK},
	organization = {Elsevier Science, Oxford, UK},
	address = {Capri},
	keywords = {Grasping, Robot Hands},
	author = {A. Bicchi}
}
@article {B94,
	title = {On the Problem of Decomposing Grasp and Manipulation Forces in Multiple Whole-Limb Manipulation},
	journal = {Int. Journal of Robotics and Autonomous Systems},
	volume = {13},
	year = {1994},
	pages = {127-147},
	keywords = {Grasping, Robotics},
	author = {A. Bicchi}
}
@conference {B93,
	title = {Force Distribution in Multiple Whole-Limb Manipulation},
	booktitle = {Proc. IEEE Int. Conf. Robotics and Automation},
	year = {1993},
	pages = {196-201},
	address = {Atlanta},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi}
}
@conference {B92-IFTOMM,
	title = {Algorithms for the Analysis of Form- and Force-Closure},
	booktitle = {IFToMM Int. Symp. on Theory of Machines and Mechanisms},
	year = {1992},
	address = {Nagoya, Japan},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi}
}
@conference {B92-ACC,
	title = {Optimal Control of Robotic Grasping},
	booktitle = {Proc. American Control Conference},
	year = {1992},
	keywords = {Grasping, Robot Arms, Robot Hands},
	author = {A. Bicchi}
}
@conference {B91,
	title = {Analysis Control of Power Grasping},
	booktitle = {Proc. IEEE/RSJ Workshop on Intelligent Robots and Systems},
	year = {1991},
	address = {Osaka, Japan},
	keywords = {Grasping, Haptics, Robot Hands},
	author = {A. Bicchi}
}
@conference {BSD89,
	title = {Augmentation of Grasp Robustness Using Intrinsic Tactile Sensing},
	booktitle = {Proc. IEEE Conf. on Robotics and Automation},
	year = {1989},
	address = {Scottsdale, AZ, USA},
	keywords = {Grasping, Haptics, Robot Hands, Sensors},
	author = {A. Bicchi and J. K. Salisbury and P. Dario}
}
