Publications

[2012] [2013] [2014] [2015] [2016]

[2016]

Journal Papers

A. Bicchi , G. Tamburrini, Social Robotics and Societies of Robots, Information Society Vol. 31, Issue 3 Taylor and Francis Inc. United Kingdom,  pp. 237-243

E. Battaglia , M. Bianchi , A. Altobelli , G. Grioli , M. G. Catalano , A. Serio , M. Santello , A. Bicchi ThimbleSense: A Fingertip-Wearable Tactile Sensor for Grasp Analysis IEEE Transactions on Haptics Vol. 9/Issue 1

S. Ciotti , E. Battaglia , N. Carbonaro , A. Bicchi , A.Tognetti , M. Bianchi A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition  Sensors Vol. 16/Issue 6

M. Santello, M. Bianchi, M. Gabiccini, E. Ricciardi, G. Salvietti, D. Prattichizzo, M. Ernst, A. Moscatelli, H. Jörntell, A. M.L. Kappers, K. Kyriakopoulos, A. Albu-Schäffer, C. Castellini, A. Bicchi  Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands Physics of Life Reviews Vol. 17 pp 1-23

A. Moscatelli , M. Bianchi , A. Serio , A. Terekhov , V. Hayward , M. O. Ernst , A. Bicchi The Change in Fingertip Contact Area as a Novel Proprioceptive Cue  Current Biology Vol. 26/Issue 9 pp. 1159-1163

Conference Papers

M. Bianchi, E. Battaglia, M. Poggiani, S. Ciotti, A. Bicchi A Wearable Fabric-based display for haptic multi-cue delivery 2016 IEEE Haptics Symposium (HAPTICS) pp 277-283

C. Piazza, C. Della Santina, M. Catalano, G. Grioli, M. Garabini, A. Bicchi SoftHand Pro-D: Matching dynamic content of natural user commands with hand embodiment for enhanced prosthesis control 2016 IEEE International Conference on Robotics and Automation (ICRA) pp 3516-3523

[2015]

Journal Papers

Glenn Mathijssen , Joshua Schultz , Bram Vanderborght , Antonio Bicchi, A muscle-like recruitment actuator with modular redundant actuation units for soft robotics, Robotics and Autonomous Systems Vol. 74 Elsevier Netherlands

M. Bianchi and Serio, A., Design and Characterization of a Fabric-based Softness Display, IEEE Transactions on Haptics, vol. 8, no. 2, pp. 152-163, 2015.

A. Bicchi and Tamburrini, G., Social Robotics and Societies of Robots, The Information Society Special Issue: Beyond Industrial Robotics: Social Robots Entering Public and Domestic Spheres, vol. 31, no. 3, 2015.

N. Karavas, Ajoudani, A., Tsagarakis, N. G., Saglia, J., Bicchi, A., and Caldwell, D., Tele- Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance, Robotics and Autonomous Systems, Vol. 73, pp. 78-90

G. Mathijssen, Schultz, J., Vanderborght, B., and Bicchi, A., A muscle-like recruitment actuator with modular redundant actuation units for soft robotics, Robotics and Autonomous Systems, vol. 74, part A, pp. 40-50, 2015

Conference Papers

A. Ajoudani, Tsagarakis, N. G., and Bicchi, A., On the Role of Robot Configuration in Cartesian Stiffness Control, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, pp. 1010 - 1016

A.Ajoudani , C. Fang , N. G. Tsagarakis , A. Bicchi A reduced-complexity description of arm endpoint stiffness with applications to teleimpedance control 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp.1017-102

A. Altobelli, M. Bianchi, M. G. Catalano, A. Serio, G. Baud-Bovy, A. Bicchi An instrumented manipulandum for human grasping studies 2015 IEEE International Conference on Rehabilitation Robotics (ICORR) pp. 169-174

E. Battaglia, Bianchi, M., D'Angelo, M. L., D'Imperio, M., Cannella, F., Scilingo, E. P., and Bicchi, A., A Finite Element Model of Tactile Flow for Softness Perception, in 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milano, Italy, August 25th-29th, 2015, In Press.

M. Bianchi, Poggiani, M., Serio, A., and Bicchi, A., A Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks, in IEEE World Haptics Conference, Chicago, USA, 22-25 June 2015, pp. 49-56

M. Bonilla, Farnioli, E., Pallottino, L., and Bicchi, A., Sample-Based Motion Planning for Soft Robot Manipulators Under Task Constraints, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, pp. 2522 - 2527

M. Bonilla, Resasco, D., Gabiccini, M., and Bicchi, A., Grasp Planning with Soft Hands using Bounding Box Object Decomposition, in IEEE International Conference of Intelligent Robots and Systems (IROS2015), Hamburg, Germany, September 28 - October 02, 2015, In Press. 

S. Casini, M. Morvidoni, M. Bianchi, M. Catalano, G. Grioli, A. Bicchi Design and realization of the CUFF - clenching upper-limb force feedback wearable device for distributed mechano-tactile stimulation of normal and tangential skin forces 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) pp 1186-1193

C. Della Santina, Grioli, G., Catalano, M. G., Brando, A., and Bicchi, A., Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+, in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), Seoul, Korea, November 3 - 5, 2015, In Press

E. Farnioli, Gabiccini, M., and Bicchi, A., Optimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, pp. 5675 - 5681

S. B. Godfrey, Altobelli, A., Rossi, M., and Bicchi, A., Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties, in 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015), Milano, Italy, August 25th-29th, 2015, In Press

E. Miguel, D'Angelo, M. L., Cannella, F., Bianchi, M., Memeo, M., Bicchi, A., Caldwell, D. G., and Otaduy, M. A., Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering, in IEEE World Haptics Conference, Chicago, USA, 22-25 June 2015, pp. 63-68

M. Rossi, Altobelli, A., Godfrey, S. B., Ajoudani, A., and Bicchi, A., Electromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept, in International Conference on Rehabilitation Robotics (ICORR), 2015, Singapore, 11 – 14 August 2015, pp. 181-186

G. Santaera, Luberto, E., Serio, A., Gabiccini, M., and Bicchi, A., Low-cost, Fast and Accurate Reconstruction of Robotic and Human Postures via IMU Measurements, in IEEE International Conference on Robotics and Automation (ICRA2015), Seattle, USA, 25 - 30 May, pp. 2728-2735

 

[2014]

Journal Papers

A. Ajoudani, Godfrey, S. B., Catalano, M. G., Bianchi, M., Grioli, G., Tsagarakis, N. G., and Bicchi, A., Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand, IEEE Transactions on Haptics, vol. 7, no. 2, pp. 203 - 215, 2014

M. G. Catalano, Grioli, G., Farnioli, E., Serio, A., Piazza, C., and Bicchi, A., Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand, International Journal of Robotics Research, vol. 33, no. 5, pp. 768–782, 2014

Conference Papers

A. Altobelli, Bianchi, M., Serio, A., Baud-Bovy, G., Gabiccini, M., and Bicchi, A., Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies, in 22nd Mediterranean Conference of Control and Automation (MED) 2014 , Palermo, Italy, 16-19 June 2014 , 2014, pp. 346 - 350

A. Ajoudani, Lee, J., Rocchi, A., Ferrati, M., E. Hoffman, M., Settimi, A., Caldwell, D. G., Bicchi, A., and Tsagarakis, N. G., Manipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task, in IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 18 - 20

A. Ajoudani, Tsagarakis, N. G., Lee, J., Gabiccini, M., and Bicchi, A., Natural Redundancy Resolution in Dual-Arm Manipulation using ConīŦguration Dependent Stiffness (CDS) Control, in 2014 IEEE International Conference on Robotics and Automation, Hong Kong, June 2014 ,
pp. 1480 - 1486

E. Battaglia, Grioli, G., Catalano, M. G., Santello, M., and Bicchi, A., ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies, in IEEE International Conference on Robotics and Automation - ICRA 2014, Hong Kong, May 31 - June 7, 2014, 2014, pp. 2728 - 2735

M. Bianchi, Valenza, G., Serio, A., Lanatà, A., Greco, L., Nardelli, M., Scilingo, E. P., and Bicchi, A., Design and preliminary affective characterization of a novel fabric-based tactile display, in Haptics Symposium (HAPTICS), 2014 IEEE, Houston, TX, 2014, pp. 591 - 596.

M. Bianchi, Carbonaro, N., Battaglia, E., Lorussi, F., Bicchi, A., De Rossi, D., and Tognetti, A., Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition, in 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies" , November 3–5, 2014 Athens, Greece, 2014

M. Bonilla, Farnioli, E., Piazza, C., Catalano, M. G., Grioli, G., Garabini, M., Gabiccini, M., and Bicchi, A., Grasping with Soft Hands , in International Conference on Humanoid Robots IEEE-RAS 2014, Madrid, Spain, November 18 - 20

J. Lee, Ajoudani, A., E. Hoffman, M., Rocchi, A., Settimi, A., Ferrati, M., Bicchi, A., Tsagarakis, N. G., and Caldwell, D. G., Upper-body Impedance Control with an Intuitive Stiffness Emulation for a Door Opening Task, in IEEE-RAS International Conference on Humanoid Robots, Madrid, Spain, November 18 - 20

A. Moscatelli, Bianchi, M., Serio, A., O. Atassi, A., Fani, S., Terekhov, A., Hayward, V., Ernst, M., and Bicchi, A., A change in the fingertip contact area induces an illusory displacement of the finger, in Eurohaptics, Versailles, France, June 2014, pp. 72 - 79, Best Poster Award

C. Rosales, Ajoudani, A., Gabiccini, M., and Bicchi, A.,
Active gathering of frictional properties from objects, in IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, pp.  3982 - 3987

A. Serio, Riccomini, E., Tartaglia, V., Sarakoglou, I., Gabiccini, M., Tsagarakis, N. G., and Bicchi, A., The Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps, in IEEE/RSJ Intl Conf. on Intelligent Robots and Systems (IROS 2014), Chicago, USA, pp.
1261 - 1268

E. Mingo, Traversaro, S., Rocchi, A., Ferrati, M., Settimi, A., Romano, F., Natale, L., Bicchi, A., Nori, F., Tsagarakis, N. G., Greco, G., Guiggiani, M., and Tonietti, G., Yarp Based Plugins for Gazebo Simulator, in 2014 Modelling and Simulation for Autonomous Systems Workshop (MESAS), Roma, Italy, 5 -6 May 2014, 2014

Book Chapters

M. Bianchi, Serio, A., Scilingo, E. P., and Bicchi, A., A Fabric-based Approach for Softness Rendering, in Multisensory Softness: Perceived Compliance from Multiple Sources of Information, vol. Springer Series on Touch and Haptic Systems, Springer-Verlag, 2014, pp. 219 – 240

A. Moscatelli, Bianchi, M., Serio, A., O. Atassi, A., Fani, S., Terekhov, A., Hayward, V., Ernst, M., and Bicchi, A., A change in the fingertip contact area induces an illusory displacement of the finger, in Eurohaptics, Versailles, France), June 2014, 2014, vol. LNCS 8619, pp. 72 - 79.

[2013]

Journal papers

Bianchi M, Salaris P, Bicchi A. Synergy-Based Hand Pose Sensing: Optimal Glove Design. International Journal of Robotics Research. 2013;32(4):396-406.

Bianchi M, Salaris P, Bicchi A. Synergy-based Hand Pose Sensing: Reconstruction Enhancement. International Journal of Robotics Research. 2013;32(4): 407-424.


M. Gabiccini, Farnioli, E., and Bicchi, A., Grasp Analysis Tools for Synergistic Underactuated Robotic Hands, International Journal of Robotic Reasearch, vol. 32, no. 13, pp. 1553 - 1576, 2013

Gwilliam, JC, Bianchi, M, Su, LK, Okamura, AM, Characterization and Psychophysical Studies of an Air-Jet Lump Display, Transactions on Haptics, pp. 156 - 166

N. Karavas, Ajoudani, A., Tsagarakis, N. G., Saglia, J., Bicchi, A., and Caldwell, D., Tele-Impedance based Assistive Control for a Compliant Knee Exoskeleton: Stiffness Augmentation and Motion Assistance, Robotics and Autonomous Systems, In Press.

Conference papers

A. Velasco, Gasparri, G. M., Garabini, M., Malagia, L., Salaris, P., and Bicchi, A., “Soft-Actuators in Cyclic Motion: Analytical Optimization of Stiffness and Pre-Load”, in IEEE-RAS International Conference on Humanoid Robots, Atlanta, Georgia, USA, 2013

Ajoudani A, Gabiccini M, Tsagarakis NG, Bicchi A. Development of a Human Inspired Tele-Impedance and Motion Efficiency Controller for Improved Manipulation Performance. IEEE International Conference on Robotics and Automation (ICRA2013) ; pp. 4499 - 4505

Ajoudani A, Godfrey SB, Catalano MG, Grioli G, Tsagarakis NG, Bicchi A. Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan, pp. 1985 - 1991

Farnioli E, Gabiccini M, Bonilla M, Bicchi A. Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan, pp. 3015 -3022

Godfrey SB, Ajoudani A, Catalano MG, Grioli G, Bicchi A. A synergy-driven approach to a myoelectric hand, 13TH International Conference on Rehabilitation Robotics, June 24-26, 2013, Seattle, WA.; pp. 1-6

Karavas N, Ajoudani A, Tsagarakis NG, Saglia J, Bicchi A, Caldwell DG. Tele-Impedance based Stiffness and Motion Augmentation for a Knee Exoskeleton Device. IEEE International Conference on Robotics and Automation (ICRA2013) , pp. 2194 - 2200

Serio A, Bianchi M, Bicchi A. A Device for Mimicking the Contact Force/Contact Area Relationship of Different Materials with Applications to Softness Rendering. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan, pp. 4484 - 4490

Tincani V, Grioli G, Catalano MG, Bonilla M, Garabini M, Fantoni G, Bicchi A. Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers, IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan;  pp. 5494 – 5499

Tincani V, Grioli G, Catalano MG, Garabini M, Grechi S, Fantoni G, Bicchi A. Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active SurfacesIEEE International Conference on Robotics and Automation (ICRA2013),pp. 2744 – 2750

 

[2012]

Ajoudani A, Gabiccini M, Tsagarakis NG, Albu-Schaeffer A, Bicchi A. Tele-Impedance: Exploring the Role of Common-Mode and Configuration-Dependant Stiffness IEEE-RAS International Conference on Humanoid Robots. pp. 363 - 369

Balletti L, Rocchi A, Belo FAW, Catalano MG, Garabini M, Grioli G, Bicchi A. Towards variable impedance assembly: the VSA peg-in-hole. IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan;

Bianchi M, Salaris P, Bicchi A. Synergy-based Optimal Desing of Hand Pose Sensing. International Conference of Intelligent Robots and Systems - IROS 2012 - JTCF Award. Vilamoura, Algarve, Portugal; 2012. p. 3929 - 3935

Catalano MG, Grioli G, Serio A, Farnioli E, Piazza C, Bicchi A. Adaptive Synergies for a Humanoid Robot Hand. IEEE-RAS International Conference on Humanoid Robots, Osaka, Japan; pp. 7 - 14, Best Paper Award

Grioli G, Catalano MG, Silvestro E, Tono S, Bicchi A. Adaptive Synergies: an approach to the design of under-actuated robotic hands. International Conference of Intelligent Robots and Systems - IROS 2012.  Vilamoura, Algarve, Portugal; 2012. p. 1251 - 1256

Tincani V, Catalano MG, Farnioli E, Garabini M, Grioli G, Fantoni G, Bicchi A. Velvet Fingers: A Smart Gripper with Controlled Contact Surfaces. International Conference of Intelligent Robots and Systems - IROS 2012. Vilamoura, Algarve, Portugal; 2012. p. 1257 - 1263

Catalano MG, Grioli G, Farnioli E, Serio A, Piazza C, Bicchi A. Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand. International Journal of robotics Research. Submitted.
Ajoudani A, Godfrey SB, Catalano MG, Bianchi M, Grioli G, Tsagarakis NG, Bicchi A. Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand . IEEE Transactions on Haptics. Submitted.
Tincani V, Grioli G, Catalano MG, Bonilla M, Garabini M, Fantoni G, Bicchi A. Controlling the active surfaces of the Velvet Fingers: sticky to slippy fingers. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan; In Press. p. .
Serio A, Bianchi M, Bicchi A. A Device for Mimicking the Contact Force/Contact Area Relationship of Different Materials with Applications to Softness Rendering. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan; In Press. p. .
Farnioli E, Gabiccini M, Bonilla M, Bicchi A. Grasp Compliance Regulation in Synergistically Controlled Robotic Hands with VSA. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013. Tokyo, Japan; In Press. p. .
SAjoudani A, Gabiccini M, Tsagarakis NG, Bicchi A. Human-Like Impedance and Minimum Effort Control for Natural and Efficient Manipulation. In: IEEE International Conference on Robotics and Automation (ICRA2013). IEEE International Conference on Robotics and Automation (ICRA2013). ; In Press. p.

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