13 citations · 57 across the 16 of their papers we have counts for
16 papers
Agonist-Antagonist Neural Coordination without Mechanical Coupling after Targeted Muscle Reinnervation
Laura Ferrante, Anna Boesendorfer, Benedikt Baumgartner +4
Following limb amputation and targeted muscle reinnervation (TMR), nerves that originally innervated agonist and antagonist muscles are rerouted into one or more residual target mu…
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…
Shear-based Grasp Control for Multi-fingered Underactuated Tactile Robotic Hands
Christopher J. Ford, Haoran Li, Manuel G. Catalano +3
This paper presents a shear-based control scheme for grasping and manipulating delicate objects with a Pisa/IIT anthropomorphic SoftHand equipped with soft biomimetic tactile senso…
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…
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 SoftHand-A: 3D-Printed, Tactile, Highly-underactuated, Anthropomorphic Robot Hand with an Antagonistic Tendon Mechanism
Haoran Li, Christopher J. Ford, Chenghua Lu +5
A challenging and important problem for tendon-driven multi-fingered robotic hands is to ensure grasping adaptivity while minimizing the number of actuators needed to provide human…
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…
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…
The CUFF, Clenching Upper-limb Force Feedback wearable device: design, characterization and validation
F. Barontini, M. G. Catalano, S. Fani +3
This paper presents the design, characterization and validation of a wearable haptic device able to convey skin stretch, force feedback, and a combination of both, to the user's ar…
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…
Tactile-Driven Gentle Grasping for Human-Robot Collaborative Tasks
Christopher J. Ford, Haoran Li, John Lloyd +4
This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic SoftHand equipped with a miniaturised version of the TacTip optical tactil…