Risultati di ricerca
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J. P. Clark, E. Battaglia, M. Bianchi, M. G. Catalano, A. Bicchi, M. K. O'Malley (2017, June). “Aperture feedback for the Pisa/IIT SoftHand with The Rice Haptic Rocker.”. In World Haptics Conference (WHC), 2017 IEEE
This demonstration allows attendees to experience skin stretch as haptic feedback in conjunction with a prosthetic hand to handle and complete tasks with everyday objects. The closure position of the Pisa/IIT SoftHand is indicated to the user through...
https://phd.dii.unipi.it/pubblicazioni/item/1720-j-p-clark,-e-battaglia,-m-bianchi,-m-g-catalano,-a-bicchi,-m-k-o-malley-2017,-june-“aperture-feedback-for-the-pisa-iit-softhand-with-the-rice-haptic-rocker-”-in-world-haptics-conference-whc-,-2017-ieee.html -
E. Battaglia, M. G. Catalano, G. Grioli, M. Bianchi, A. Bicchi. “ExoSense: measuring manipulation in a wearable manner”. Submitted to 2017 IEEE International Conference on Robotics and Automation (ICRA)
Grasp and manipulation is a complex task, deceivingly simple to accomplish for humans in everyday life, yet challenging when it has to be implemented in a robotic hand. There is a trend in literature to use information obtained from studies on human...
https://phd.dii.unipi.it/pubblicazioni/item/1719-e-battaglia,-m-g-catalano,-g-grioli,-m-bianchi,-a-bicchi-“exosense-measuring-manipulation-in-a-wearable-manner”-submitted-to-2017-ieee-international-conference-on-robotics-and-automation-icra.html -
G. Averta, C. Della Santina, E. Battaglia, S. Ciotti, V. Arapi, S. Fani, M. Bianchi, "From humans to robots: the role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands", 2017 9th Internationa
Human hands are capable of a variety of movements, thanks to their extraordinary biomechanical structure and relying on the richness of human tactile information. Recently, soft robotic hands have opened exciting possibilities and, at the same time, new...
https://phd.dii.unipi.it/pubblicazioni/item/1718-g-averta,-c-della-santina,-e-battaglia,-s-ciotti,-v-arapi,-s-fani,-m-bianchi,-from-humans-to-robots-the-role-of-cutaneous-impairment-in-human-environmental-constraint-exploitation-to-inform-the-design-of-robotic-hands-,-2017-9th-internationa.html -
E. Battaglia, J. P. Clark, M. Bianchi, M. G. Catalano, A. Bicchi, M. K. O'Malley (2017, June). “The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand”. In World Haptics Conference (WHC), 2017 IEEE (pp. 7-12), Best Paper and
Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which...
https://phd.dii.unipi.it/pubblicazioni/item/1717-e-battaglia,-j-p-clark,-m-bianchi,-m-g-catalano,-a-bicchi,-m-k-o-malley-2017,-june-“the-rice-haptic-rocker-skin-stretch-haptic-feedback-with-the-pisa-iit-softhand”-in-world-haptics-conference-whc-,-2017-ieee-pp-7-12-,-best-paper-and.html -
S. Casini, V. Tincani, G. Averta, M. Poggiani, C. Della Santina, E. Battaglia, M. G. Catalano, M. Bianchi, G. Grioli, A. Bicchi (2017, May). “Design of an under-actuated wrist based on adaptive synergies”, 2017 IEEE International Conference on Robot
An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes....
https://phd.dii.unipi.it/pubblicazioni/item/1716-s-casini,-v-tincani,-g-averta,-m-poggiani,-c-della-santina,-e-battaglia,-m-g-catalano,-m-bianchi,-g-grioli,-a-bicchi-2017,-may-“design-of-an-under-actuated-wrist-based-on-adaptive-synergies”,-2017-ieee-international-conference-on-robot.html -
D. P. Losey, C. G. McDonald, E. Battaglia, M. K. O’Malley. “A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction”, special joint issue of the ASME Applied Mechanics Reviews and AS
As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of...
https://phd.dii.unipi.it/pubblicazioni/item/1714-d-p-losey,-c-g-mcdonald,-e-battaglia,-m-k-o’malley-“a-review-of-intent-detection,-arbitration,-and-communication-aspects-of-shared-control-for-physical-human-robot-interaction”,-special-joint-issue-of-the-asme-applied-mechanics-reviews-and-as.html -
D. P. Losey, C. G. McDonald, E. Battaglia, M. K. O’Malley. “A Review of Intent Detection, Arbitration, and Communication Aspects of Shared Control for Physical Human-Robot Interaction”, special joint issue of the ASME Applied Mechanics Reviews and AS
As robotic devices are applied to problems beyond traditional manufacturing and industrial settings, we find that interaction between robots and humans, especially physical interaction, has become a fast developing field. Consider the application of...
https://phd.dii.unipi.it/pubblicazioni/item/1715-d-p-losey,-c-g-mcdonald,-e-battaglia,-m-k-o’malley-“a-review-of-intent-detection,-arbitration,-and-communication-aspects-of-shared-control-for-physical-human-robot-interaction”,-special-joint-issue-of-the-asme-applied-mechanics-reviews-and-as.html -
G. Averta, C. Della Santina, E. Battaglia, F. Felici, M. Bianchi, A. Bicchi (2017). “Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis.” Frontiers in Robotics and AI, 4, 37
The rich variety of human upper limb movements requires an extraordinary coordination of different joints according to specific spatio-temporal patterns. However, unvealing these motor schemes is a challenging task. Principal components have been often...
https://phd.dii.unipi.it/pubblicazioni/item/1713-g-averta,-c-della-santina,-e-battaglia,-f-felici,-m-bianchi,-a-bicchi-2017-“unvealing-the-principal-modes-of-human-upper-limb-movements-through-functional-analysis-”-frontiers-in-robotics-and-ai,-4,-37.html -
S. Fani, S. Ciotti, E. Battaglia, A. Moscatelli, M. Bianchi. “W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality”. IEEE Transactions on Haptics, August 2017
Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn...
https://phd.dii.unipi.it/pubblicazioni/item/1712-s-fani,-s-ciotti,-e-battaglia,-a-moscatelli,-m-bianchi-“w-fyd-a-wearable-fabric-based-display-for-haptic-multi-cue-delivery-and-tactile-augmented-reality”-ieee-transactions-on-haptics,-august-2017.html -
C. Della Santina, M. Bianchi, G. Averta, S. Ciotti, V. Arapi, S. Fani, E. Battaglia, M. G. Catalano, M. Santello, A. Bicchi: “Postural Hand Synergies during Environmental Constraint Exploitation”, Frontiers in Neurorobotics, 11,41, August 2017
Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we...
https://phd.dii.unipi.it/pubblicazioni/item/1711-c-della-santina,-m-bianchi,-g-averta,-s-ciotti,-v-arapi,-s-fani,-e-battaglia,-m-g-catalano,-m-santello,-a-bicchi-“postural-hand-synergies-during-environmental-constraint-exploitation”,-frontiers-in-neurorobotics,-11,41,-august-2017.html -
S. Ciotti, E. Battaglia, I. Oikonomidis, A. Makris, A. Tsoli, A. Bicchi, A. A. Argyros, M. Bianchi: “Synergy-driven Performance Enhancement of Vision-based 3D Hand Pose Reconstruction”, MOBIHEALTH 2016, accepted
In this work we propose, for the rst time, to improve the performance of a hand pose reconstruction (HPR) technique from RGBD camera data, which is a ected by self-occlusions, leveraging upon postural synergy information, i.e., a priori information on...
https://phd.dii.unipi.it/pubblicazioni/item/1142-s-ciotti,-e-battaglia,-i-oikonomidis,-a-makris,-a-tsoli,-a-bicchi,-a-a-argyros,-m-bianchi-“syn-ergy-driven-performance-enhancement-of-vision-based-3d-hand-pose-reconstruction”,-mobihealth-2016,-accepted.html -
M. Bianchi, G. Valenza, A. Greco, M. Nardelli, E. Battaglia, A. Bicchi, E.P. Scilingo: " Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating Affective Physiology in Human-Robot Interaction”, RO-MAN 2016, August 2016
Haptic interfaces are special robots that interact with people to convey touch-related information. In addition to such a discriminative aspect, touch is also a highly emotionrelated sense. However, while a lot of effort has been spent to investigate...
https://phd.dii.unipi.it/pubblicazioni/item/1141-m-bianchi,-g-valenza,-a-greco,-m-nardelli,-e-battaglia,-a-bicchi,-e-p-scilingo-towards-a-novel-generation-of-haptic-and-robotic-interfaces-integrating-affective-physiology-in-human-robot-interaction”,-ro-man-2016,-august-2016.html -
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), April 2016, Best Paper Award
Softness represents one of the most informative haptic properties, which plays a fundamental role in both everyday tasks and more complex procedures. Thus, it is not surprising that a lot of effort has been devoted to designing haptic systems able to...
https://phd.dii.unipi.it/pubblicazioni/item/1140-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-,-april-2016,-best-paper-award.html -
A. Ajoudani, E. Hocaoglu, A. Altobelli, M. Rossi, E. Battaglia, N. Tsagarakis, A. Bicchi: " Reflex control of the Pisa/IIT SoftHand during object slippage", 2016 IEEE International Conference on Robotics and Automation (ICRA), May 2016
In this work, to guarantee the Pisa/IIT SoftHand's grasp robustness against slippage, three reflex control modes, namely Current, Pose and Impedance, are implemented and experimentally evaluated. Towards this objective, ThimbleSense fingertip sensors...
https://phd.dii.unipi.it/pubblicazioni/item/1139-a-ajoudani,-e-hocaoglu,-a-altobelli,-m-rossi,-e-battaglia,-n-tsagarakis,-a-bicchi-reflex-con-trol-of-the-pisa-iit-softhand-during-object-slippage-,-2016-ieee-international-conference-on-robot-ics-and-automation-icra-,-may-2016.html -
M. L. D’Angelo, F. Cannella, M. Bianchi, M. D’Imperio, E. Battaglia at al.: " An Integrated Approach to Characterize the Behavior of a Human Finger-tip in Contact with a Silica Window ", IEEE Transactions on Haptics, in press
Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behaviour of human fingertip....
https://phd.dii.unipi.it/pubblicazioni/item/1138-m-l-d’angelo,-f-cannella,-m-bianchi,-m-d’imperio,-e-battaglia-at-al-an-integrated-approach-to-characterize-the-behavior-of-a-human-finger-tip-in-contact-with-a-silica-window-,-ieee-transactions-on-haptics,-in-press.html -
S. Ciotti, E. Battaglia, N. Carbonaro, A. Bicchi, A. Tognetti, M. Bianchi (2016): “A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition”, Sensors, 16(6), 811, June 2016
Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure....
https://phd.dii.unipi.it/pubblicazioni/item/1137-s-ciotti,-e-battaglia,-n-carbonaro,-a-bicchi,-a-tognetti,-m-bianchi-2016-“a-synergy-based-optimally-designed-sensing-glove-for-functional-grasp-recognition”,-sensors,-16-6-,-811,-june-2016.html -
E. Battaglia, M. Bianchi, A. Altobelli, G. Grioli, M. G. Catalano, A. Serio, M. Santello and A. Bicchi: "ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis", IEEE Transactions on Haptics, Jan.-March 1 2016
Accurate measurement of contact forces between hand and grasped objects is crucial to study sensorimotor control during grasp and manipulation. In this work we introduce ThimbleSense, a prototype of individual-digit wearable force/torque sensor based on...
https://phd.dii.unipi.it/pubblicazioni/item/639-e-battaglia,-m-bianchi,-a-altobelli,-g-grioli,-m-g-catalano,-a-serio,-m-santello-and-a-bicchi-thimblesense-a-fingertip-wearable-tactile-sensor-for-grasp-analysis-,-ieee-transactions-on-haptics,-in-press.html -
E. Battaglia, M. Bianchi, M. L. D'Angelo, M. D'Imperio, F. Cannella, E. P. Scilingo, A. Bicchi: "A Finite Element Model of Tactile Flow for Softness Perception", EMBC 2015
Touch is an extremely dynamic sense. To take into account this aspect, it has been hypothesized that there are mechanisms in the brain that specialize in processing dynamic tactile stimuli, in a way not too dissimilar from what happens for optical flow...
https://phd.dii.unipi.it/pubblicazioni/item/638-e-battaglia,-m-bianchi,-m-l-d-angelo,-m-d-imperio,-f-cannella,-e-p-scilingo,-a-bicchi-a-finite-element-model-of-tactile-flow-for-softness-perception-,-embc-2015.html -
M. Bianchi, N. Carbonaro, E. Battaglia, F. Lorussi, A. Bicchi, D. De Rossi, A. Tognetti: "Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition," Mobihealth 2014, pp.168-171
Wearable sensing represents an effective manner to correctly recognize hand functional grasps. The need of wearability is strictly related to the minimization of the number of sensors, in order to avoid cumbersome and hence obtrusive systems. In this...
https://phd.dii.unipi.it/pubblicazioni/item/637-m-bianchi,-n-carbonaro,-e-battaglia,-f-lorussi,-a-bicchi,-d-de-rossi,-a-tognetti-exploiting-hand-kinematic-synergies-and-wearable-under-sensing-for-hand-functional-grasp-recognition,-mobihealth-2014,-pp-168-171.html
