88 citations · 460 across the 30 of their papers we have counts for
32 papers
Safety-Constrained Model Predictive Control for an Omnidirectional Walking Assistive Robot Using Control Barrier Function
Andrea Fortuna, Marta Lorenzini, Elisa Motta +3
Providing safe and effective mobility assistance plays a crucial role in restoring independence and enhancing the quality of life for individuals with motor impairments. In this co…
Evidence-Based Text-Conditioned 3D CT Synthesis for Ovarian Cancer
Francesca Pia Panaccione, Eugenio Lomurno, Francesca Fati +11
Ovarian cancer is frequently diagnosed at an advanced stage, making preoperative contrast-enhanced computed tomography (CT) central to staging and surgical planning; yet the scarci…
A Lightweight Fiducial-Based Pipeline for 3D Hyperspectral Mapping of ex-vivo Lumpectomy Specimens
Anna Bicchi, Alberto Rota, Leonardo Passoni +5
Hyperspectral Imaging (HSI) is a promising modality for intraoperative assessment of resection margins in Breast-Conserving Surgery (BCS), but its clinical translation requires ali…
Predicting Response to Neoadjuvant Chemotherapy in Ovarian Cancer from CT Baseline Using Multi-Loss Deep Learning
Francesco Pastori, Francesca Fati, Marina Rosanu +8
Ovarian cancer is the most lethal gynecologic malignancy: around 60% of patients are diagnosed at an advanced stage, with an associated 5-year survival rate of about 30%. Early ide…
Off-Axis Compliant RCM Joint with Near-Isotropic Stiffness and Minimal Parasitic Error
Federico Mariano, Elena De Momi, Giovanni Berselli +3
This paper presents an off-axis, monolithic compliant Remote Center of Motion (RCM) joint for neuroendoscopic manipulation, combining near-isotropic stiffness with minimal parasiti…
Impact of a Lower Limb Exosuit Anchor Points on Energetics and Biomechanics
Chiara Lambranzi, Giulia Oberti, Christian Di Natali +4
Anchor point placement is a crucial yet often overlooked aspect of exosuit design since it determines how forces interact with the human body. This work analyzes the impact of diff…
A Multipurpose Interface for Close- and Far-Proximity Control of Mobile Collaborative Robots
Hamidreza Raei, Juan M. Gandarias, Elena De Momi +2
This letter introduces an innovative visuo-haptic interface to control Mobile Collaborative Robots (MCR). Thanks to a passive detachable mechanism, the interface can be attached/de…
A Combined Learning and Optimization Framework to Transfer Human Whole-body Loco-manipulation Skills to Mobile Manipulators
Jianzhuang Zhao, Francesco Tassi, Yanlong Huang +2
Humans' ability to smoothly switch between locomotion and manipulation is a remarkable feature of sensorimotor coordination. Leaning and replication of such human-like strategies c…
Robust Path Planning via Learning from Demonstrations for Robotic Catheters in Deformable Environments
Zhen Li, Chiara Lambranzi, Di Wu +5
Objective: Navigation through tortuous and deformable vessels using catheters with limited steering capability underscores the need for reliable path planning. State-of-the-art pat…
Augmented Reality and Human-Robot Collaboration Framework for Percutaneous Nephrolithotomy: System Design, Implementation, and Performance Metrics
Junling Fu, Matteo Pecorella, Elisa Iovene +5
During Percutaneous Nephrolithotomy (PCNL) operations, the surgeon is required to define the incision point on the patient's back, align the needle to a pre-planned path, and perfo…
Towards Safer Robot-Assisted Surgery: A Markerless Augmented Reality Framework
Ziyang Chen, Laura Cruciani, Ke Fan +6
Robot-assisted surgery is rapidly developing in the medical field, and the integration of augmented reality shows the potential of improving the surgeons' operation performance by…
SAF-IS: a Spatial Annotation Free Framework for Instance Segmentation of Surgical Tools
Luca Sestini, Benoit Rosa, Elena De Momi +2
Instance segmentation of surgical instruments is a long-standing research problem, crucial for the development of many applications for computer-assisted surgery. This problem is c…
Maximising Coefficiency of Human-Robot Handovers through Reinforcement Learning
Marta Lagomarsino, Marta Lorenzini, Merryn Dale Constable +3
Handing objects to humans is an essential capability for collaborative robots. Previous research works on human-robot handovers focus on facilitating the performance of the human p…
Autonomous Navigation for Robot-assisted Intraluminal and Endovascular Procedures: A Systematic Review
Ameya Pore, Zhen Li, Diego Dall'Alba +7
Increased demand for less invasive procedures has accelerated the adoption of Intraluminal Procedures (IP) and Endovascular Interventions (EI) performed through body lumens and ves…
Uncertainty-aware Self-supervised Learning for Cross-domain Technical Skill Assessment in Robot-assisted Surgery
Ziheng Wang, Andrea Mariani, Arianna Menciassi +2
Objective technical skill assessment is crucial for effective training of new surgeons in robot-assisted surgery. With advancements in surgical training programs in both physical a…
Markerless 3D human pose tracking through multiple cameras and AI: Enabling high accuracy, robustness, and real-time performance
Luca Fortini, Mattia Leonori, Juan M. Gandarias +2
Tracking 3D human motion in real-time is crucial for numerous applications across many fields. Traditional approaches involve attaching artificial fiducial objects or sensors to th…
A Unified Architecture for Dynamic Role Allocation and Collaborative Task Planning in Mixed Human-Robot Teams
Edoardo Lamon, Fabio Fusaro, Elena De Momi +1
The growing deployment of human-robot collaborative processes in several industrial applications, such as handling, welding, and assembly, unfolds the pursuit of systems which are…
Semi-supervised Bladder Tissue Classification in Multi-Domain Endoscopic Images
Jorge F. Lazo, Benoit Rosa, Michele Catellani +6
Objective: Accurate visual classification of bladder tissue during Trans-Urethral Resection of Bladder Tumor (TURBT) procedures is essential to improve early cancer diagnosis and t…
Impact-Friendly Object Catching at Non-Zero Velocity Based on Combined Optimization and Learning
Jianzhuang Zhao, Gustavo J. G. Lahr, Francesco Tassi +3
This paper proposes a combined optimization and learning method for impact-friendly, non-prehensile catching of objects at non-zero velocity. Through a constrained Quadratic Progra…
Learning-Based Keypoint Registration for Fetoscopic Mosaicking
Alessandro Casella, Sophia Bano, Francisco Vasconcelos +7
In Twin-to-Twin Transfusion Syndrome (TTTS), abnormal vascular anastomoses in the monochorionic placenta can produce uneven blood flow between the two fetuses. In the current pract…
Autonomous Intraluminal Navigation of a Soft Robot using Deep-Learning-based Visual Servoing
Jorge F. Lazo, Chun-Feng Lai, Sara Moccia +7
Navigation inside luminal organs is an arduous task that requires non-intuitive coordination between the movement of the operator's hand and the information obtained from the endos…
Pick the Right Co-Worker: Online Assessment of Cognitive Ergonomics in Human-Robot Collaborative Assembly
Marta Lagomarsino, Marta Lorenzini, Pietro Balatti +2
Human-robot collaborative assembly systems enhance the efficiency and productivity of the workplace but may increase the workers' cognitive demand. This paper proposes an online an…
Robot Trajectory Adaptation to Optimise the Trade-off between Human Cognitive Ergonomics and Workplace Productivity in Collaborative Tasks
Marta Lagomarsino, Marta Lorenzini, Elena De Momi +1
In hybrid industrial environments, workers' comfort and positive perception of safety are essential requirements for successful acceptance and usage of collaborative robots. This p…
Sociable and Ergonomic Human-Robot Collaboration through Action Recognition and Augmented Hierarchical Quadratic Programming
Francesco Tassi, Francesco Iodice, Elena De Momi +1
The recognition of actions performed by humans and the anticipation of their intentions are important enablers to yield sociable and successful collaboration in human-robot teams.…