13 citations · 67 across the 18 of their papers we have counts for
16 papers · 1 filter
Alter-Art: Exploring Embodied Artistic Creation through a Robot Avatar
Do Won Park, Samuele Bordini, Giorgio Grioli +2
As with every emerging technology, new tools in the hands of artists reshape the nature of artwork creation. Current frameworks for robotics in arts deploy the robot as an autonomo…
Introducing V-Soft Pro: a Modular Platform for a Transhumeral Prosthesis with Controllable Stiffness
Giuseppe Milazzo, Giorgio Grioli, Antonio Bicchi +1
Current upper limb prostheses aim to enhance user independence in daily activities by incorporating basic motor functions. However, they fall short of replicating the natural movem…
Preliminary Analysis and Simulation of a Compact Variable Stiffness Wrist
Giuseppe Milazzo, Manuel G. Catalano, Antonio Bicchi +1
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, the…
A General Control Method for Human-Robot Integration
Maddalena Feder, Giorgio Grioli, Manuel G. Catalano +1
This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The…
Soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation
Matteo Crotti, Luca Rossini, Balint K. Hodossy +4
In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of t…
Design, Characterization, and Validation of a Variable Stiffness Prosthetic Elbow
Giuseppe Milazzo, Simon Lemerle, Giorgio Grioli +2
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task ad…
Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)
Alessia S. Ivani, Federica Barontini, Manuel G. Catalano +3
This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socke…
Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, Human Experiments, and Computational Findings
Alessia Silvia Ivani, Manuel G. Catalano, Giorgio Grioli +3
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based pros…
Investigating the Performance of Soft Robotic Adaptive Feet with Longitudinal and Transverse Arches
Anna Pace, Giorgio Grioli, Alice Ghezzi +2
Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing sta…
Analytical Model and Experimental Testing of the SoftFoot: an Adaptive Robot Foot for Walking over Obstacles and Irregular Terrains
Cristina Piazza, Cosimo Della Santina, Giorgio Grioli +2
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as fl…
VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket
Alessia Silvia Ivani, Federica Barontini, Manuel G. Catalano +3
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency co…
EMG-based Control Strategies of a Supernumerary Robotic Hand for the Rehabilitation of Sub-Acute Stroke Patients: Proof of Concept
Marina Gnocco, Manuel G. Catalano, Giorgio Grioli +2
One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the pa…
An Experimental Setup to Test Obstacle-dealing Capabilities of Prosthetic Feet
Anna Pace, Lukas Proksch, Giorgio Grioli +3
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for insta…
On The Evaluation of Collision Probability along a Path
Lorenzo Paiola, Giorgio Grioli, Antonio Bicchi
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions ar…
A Suspended Aerial Manipulation Avatar for Physical Interaction in Unstructured Environments
Fanyi Kong, Grazia Zambella, Simone Monteleone +3
This paper presents an aerial platform capable of performing physically interactive tasks in unstructured environments with human-like dexterity under human supervision. This aeria…
Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist
Giuseppe Milazzo, Manuel Giuseppe Catalano, Antonio Bicchi +1
This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modu…