AI-Powered Manipulation System for Advanced Robotic Service, Manufacturing and Prosthetics

CORDIS provides links to public deliverables and publications of HORIZON projects.

Links to deliverables and publications from FP7 projects, as well as links to some specific result types such as dataset and software, are dynamically retrieved from OpenAIRE .

Deliverables

Multiresolution shape encoding with GPIS representation

A document reporting the use of GPIS to model the object shape and surrounding environment.

Preliminary exploitation plan

Preliminary plan on management procedures and channels for exploitation and protection of the project results.

Low dimensional manifolds with tensor factorization

A report on how to exploit tensor factorization to encode various manipulation tasks and object properties.

Project Handbook

The Project Handbook brings together a wide range of generaloperational information including contact details, roles and responsibilities of the partners according to the governance structure, operational and reporting processes, templates, procedures for the preparation of deliverables.

Fusion of control and sensing data as a PoE

Documentation about how to treat the fusion of diverse sources of information as a Product of Experts (PoE).

Project website

The IntelliMan website will be set up. The structure and the contents will be tailored to inform the public as well as to reach an expert (scientific / industrial) target group.

Dissemination and communication plan, second version

Update plan on the dissemination and communication activities [M24].

Dissemination and communication plan, first version

Initial plan on the dissemination and communication activities [M6].

DMP

The DMP will provide the identification elements and the descriptions of the data sets and will include details regarding how the research data will be handled during the project and how they will be preserved after it is completed. It will specify which methodologies and standards will be used in the data creation and management and how and when the data will be shared and made open for re-use.

Use Cases Intermediate Validation

Intermediate demonstrators for the validation of the four use cases considered in IntelliMan.

Publications

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Author(s): Pasquali A.; Alunni M. M.; Chiaravalli D.; Palli G.
Published in: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637048

BE-AWARE: an ontology-based adaptive robotic manipulation framework

Author(s): Ruiz Celada, Oriol; Dalmases, Albert; Suárez Feijóo, Raúl; Rosell Gratacòs, Jan
Published in: 2023 IEEE 28th International Conference on Emerging Technologies and Factory Automation (ETFA), 2023, ISSN 1946-0740
Publisher: IEEE
DOI: 10.1109/ETFA54631.2023.10275440

Deformable Objects Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

Author(s): Caporali, Alessio; Galassi, Kevin; Pantano, Matteo; Palli, Gianluca
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802495

Assessment of Recurrent Spiking Neural Networks on Neuromorphic Accelerators for Naturalistic Texture Classification

Author(s): Al Haj Ali, Haydar; Dabbous, Ali; Ibrahim, Ali; Valle, Maurizio
Published in: 2023 18th Conference on Ph.D Research in Microelectronics and Electronics (PRIME), 2023, ISBN 979-8-3503-0320-9
Publisher: IEEE
DOI: 10.1109/PRIME58259.2023.10161772

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

Author(s): Fazal, Tanzeel Ahmad; Laudante, Gianluca; Mirto, Michele; Pennacchio, Olga; Pirozzi, Salvatore
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2159-6492
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704824

Leveraging Time-Frequency Features for Contact Classification and Regression with a Piezoelectric Tactile Skin for Robotic Fingertips

Author(s): Alati, N.; Bargellini, D.; Pasquali, A.; Abbass, Y.; Valle, M.; Palli, G.; Meattini, R.
Published in: 2025 55th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), Issue 71-78, 2025, ISSN 2998-4096
Publisher: IEEE
DOI: 10.1109/DSN-W64495.2025.00024

A Compact 3-Segment 15-bit Capacitive DAC with Digital Calibration for Improved Linearity

Author(s): Emmanuel Nti Darko, Isaac Bruce, Ekaniyere Oko-Odion, Saeid Karimpour, Kushagra Bhatheja, Degang Chen
Published in: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025, ISSN 2158-1522
Publisher: IEEE
DOI: 10.1109/ISCAS56072.2025.11043602

Enhanced 6D Pose Estimation for Robotic Fruit Picking*

Author(s): Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale, Salvatore Pirozzi
Published in: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023
Publisher: IEEE
DOI: 10.48550/arXiv.2305.15856

Contact and Slippage Detection Algorithm using a Soft PVDF-based Sensing System

Author(s): Razan Khalifeh; Mohamad Yaacoub; Chiara Micheli; Maurizio Valle; Yahya Abbass
Published in: 32nd IEEE International Conference on Electronics, Circuits and Systems (ICECS), 2025, ISSN 2158-8683
Publisher: IEEE

Comparison Of Weakly Supervised Regression Of sEMG Signals With State-Of-the-Art Unsupervised Methods For Robot Hand Control: A Pilot Study

Author(s): Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio
Published in: IFAC-PapersOnLine, 2025, ISSN 2405-8963
Publisher: Elsevier
DOI: 10.1016/J.IFACOL.2025.10.197

A 51.2 fps Real-Time 3DGS-SLAM Accelerator using Diagonal Feeding with Symmetric Alpha Reuse and Voxel-based 3D Gaussian Cache Management

Author(s): Hyungnam Joo, Seryeong Kim, Jongjun Park, Junha Ryu, Hoi-Jun Yoo
Published in: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025, ISSN 2158-1522
Publisher: IEEE
DOI: 10.5281/ZENODO.18244995

Deformable Object Perception is Just a Few Clicks Away – Dense Annotations from Sparse Inputs

Author(s): Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Published in: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024, ISSN 2153-0866
Publisher: IEEE
DOI: 10.1109/IROS58592.2024.10802495

Multiphysics Simulation for the Optimization of an Optoelectronic-Based Tactile Sensor

Author(s): Gianluca Laudante, Olga Pennacchio, Salvatore Pirozzi
Published in: Proceedings of the 20th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, 2023, ISSN 2184-2809
Publisher: SciTePress
DOI: 10.5220/0012166900003543

Immersive control of a quadruped robot with Virtual Reality Eye-wear

Author(s): Ali Yousefi, Zoe Betta, Giovanni Mottola, Carmine Tommaso Recchiuto, Antonio Sgorbissa
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), 2024, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731469

IEEE International Conference on Rehabilitation Robotics : [proceedings]

Author(s): Egle, Fabio; Di Domenico, Dario; marinelli, andrea; Boccardo, Nicolo; Canepa, Michele; Laffranchi, Matteo; De Michieli, Lorenzo; Castellini, Claudio
Published in: 2023 International Conference on Rehabilitation Robotics (ICORR), 2023, ISSN 1945-7901
Publisher: IEEE
DOI: 10.5281/ZENODO.18744503

Understanding Slippage in Soft Fingertips Through Finite Elements Analysis

Author(s): Chiara Micheli, Lucia Seminara, Giovanni Berselli
Published in: Volume 5: 21st IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA); 49th Mechanisms and Robotics Conference (MR), 2025, ISSN 2153-6977
Publisher: American Society of Mechanical Engineers
DOI: 10.1115/DETC2025-168595

Pilot Study: Response of a Piezoelectric Polymer based Sensing system to Indentation

Author(s): Mohamad Yaacoub, Yahya Abbass, Christian Gianoglio, Lucia Seminara, Maurizio Valle
Published in: 2023 IEEE Sensors, 2023, ISSN 2168-9229
Publisher: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

Using Ontologies for Adaptive Planning and Robust Execution in Robotic Manipulation

Author(s): Oriol Ruiz-Celada; Víctor Molina; Raúl Suárez; Muhayy Ud Din; Isiah Zaplana; Jan Rosell
Published in: Proceedings of the Joint Ontology Workshops 2025 (JOWO 2025), Issue paper8, 2026, ISSN 1613-0073
Publisher: CEUR-WS.org

A Systematic Investigation of Cognitive Processes and Stress Response of Humans in the Presence of Robots

Author(s): Marta Rinaldi; Gianluca Saetta; Marco De Simone; Sara Federico; David Crevillen Hernandez; Ciro Natale
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2024, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731484

Online Unsupervised Arm Posture Adaptation for sEMG-based Gesture Recognition on a Parallel Ultra-Low-Power Microcontroller

Author(s): Zanghieri, Marcello; Orlandi, Mattia; Donati, Elisa; Gruppioni, Emanuele; Benini, Luca; Benatti, Simone
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2576-7569
Publisher: IEEE
DOI: 10.1109/BIOCAS58349.2023.10388902

Non-prehensile Manipulation Actions and Visual 6D Pose Estimation For Fruit Grasping Based on Tactile Sensing

Author(s): Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Published in: 9th Int. Conf. on Control, Decision and Information Technologies (CODIT 2023), 2023, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics12040092

Dual-Arm Robotic Manipulation Using Visual Guidance

Author(s): Pol Ramon-Canyameres, Leopold Palomo-Avellaneda, Isiah Zaplana, Jan Rosell
Published in: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), 2024, ISSN 1946-0740
Publisher: IEEE
DOI: 10.1109/ETFA61755.2024.10710687

Sparse to Dense: Robotic Perception of Deformable Objects via Foundation Models

Author(s): Alessio Caporali; Kevin Galassi; Matteo Pantano; Gianluca Palli
Published in: 4th Workshop on Representing and Manipulating Deformable Objects at ICRA 2024, 2024
Publisher: IEEE Robotics and Automation Society / ICRA Workshop

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance

Author(s): Yifei Dong; Yan Zhang; Sylvain Calinon; Florin T. Pokorny
Published in: 2026 IEEE International Conference on Robotics and Automation (ICRA), 2026, ISSN 2577-087X
Publisher: IEEE
DOI: 10.48550/ARXIV.2502.18473

Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

Author(s): Caporali A.; Galassi K.; Berselli G.; Palli G.
Published in: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637081

Online Unsupervised Arm Posture Adaptation for sEMG-based Gesture Recognition on a Parallel Ultra-Low-Power Microcontroller

Author(s): Marcello Zanghieri, Mattia Orlandi, Elisa Donati, Emanuele Gruppioni, Luca Benini, Simone Benatti
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Publisher: IEEE
DOI: 10.1109/BioCAS58349.2023.10388902

Attention-Based Cloth Manipulation from Model-free Topological Representation

Author(s): Galassi K.; Wu B.; Perez J.; Palli G.; Renders J. -M.
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, ISSN 2577-087X
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

Stiffness-Aware Genetic Algorithm for Robotic Path Finding Optimization

Author(s): Alex Pasquali, Miriam Massini Alunni, Davide Chiaravalli, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637048

Neural Strategies for Upper Limb Movements: Motor Unit Control during Dynamic Contractions at Increasing Speeds

Author(s): Mattia Orlandi, Pierangelo Maria Rapa, Farah Baracat, Luca Benini, Elisa Donati, Simone Benatti
Published in: 2025 47th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2025, ISSN 2694-0604
Publisher: IEEE
DOI: 10.1109/EMBC58623.2025.11253409

Design and Virtual Prototyping of a Constant Force Gripper for Food Handling and Harvesting

Author(s): Mario Baggetta, Guangbo Hao, Giovanni Berselli
Published in: Volume 2: 43rd Computers and Information in Engineering Conference (CIE), 2023, ISSN 2153-6977
Publisher: American Society of Mechanical Engineers
DOI: 10.1115/DETC2023-116587

Interface Electronics for PVDF Based Tactile Sensor

Author(s): Mohamad Yaacoub, Riccardo Testa, Ali Ibrahim, Daniele D. Caviglia, Maurizio Valle
Published in: 2025 International Workshop on Biomedical Applications, Technologies and Sensors (BATS), 2025, ISSN 2835-9038
Publisher: IEEE
DOI: 10.5281/ZENODO.18783906

Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

Author(s): Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637054

Programming Robot Interaction Behavior During Kinesthetic Teaching Exploiting sEMG-Based Interfacing and Vibrotactile Feedback

Author(s): Meattini, Roberto; Govoni, Andrea; Galassi, Kevin; Chiaravalli, Davide; Palli, Gianluca; Melchiorri, Claudio
Published in: 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Issue 1853-1859, 2024, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN60168.2024.10731403

Visual and Haptic Cues for Human-Robot Handover<sup>*</sup>

Author(s): Marco Costanzo, Ciro Natale, Mario Selvaggio
Published in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2023, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

Experimental Evaluation of a User-Centered Unilateral Telemanipulation System for Training and Control in Robotic Industrial Scenarios

Author(s): Mattia Tafuri, Davide Chiaravalli, Mona Saber Gharamaleki, Claudio Melchiorri, Gianluca Palli, Roberto Meattini
Published in: 2025 55th Annual IEEE/IFIP International Conference on Dependable Systems and Networks Workshops (DSN-W), 2025, ISSN 2998-4096
Publisher: IEEE
DOI: 10.1109/DSN-W65791.2025.00046

Monocular Estimation of Connector Orientation: Combining Deformable Linear Object Priors and Smooth Angle Classification

Author(s): Alessio Caporali, Kevin Galassi, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637081

An Adaptive Dynamic Mixing Model for sEMG Real-Time ICA on an Ultra-Low Power Processor

Author(s): Mattia Orlandi, Pierangelo Maria Rapa, Marcello Zanghieri, Sebastian Frey, Victor Kartsch, Luca Benini, Simone Benatti
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2766-4465
Publisher: IEEE
DOI: 10.1109/BioCAS58349.2023.10388538

Conceptual Design of a Compliant, Low-Cost Prosthetic Hand

Author(s): Mario Baggetta, Marghterita Vazzoler, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Published in: 2022 I-RIM Conference, 2022, ISBN 978-88-945805-3-2
Publisher: Zenodo
DOI: 10.5281/zenodo.7531286

An Adaptive Dynamic Mixing Model for sEMG Real-Time ICA on an Ultra-Low Power Processor

Author(s): Orlandi, Mattia; Rapa, Pierangelo Maria; Zanghieri, Marcello; Frey, Sebastian; Kartsch, Victor; Benini, Luca; Benatti, Simone
Published in: 2023 IEEE Biomedical Circuits and Systems Conference (BioCAS), 2023, ISSN 2576-7569
Publisher: IEEE
DOI: 10.1109/BIOCAS58349.2023.10388538

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Author(s): Löw, Tobias; CALINON, Sylvain
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024, ISSN 2577-087X
Publisher: IEEE
DOI: 10.48550/ARXIV.2310.19093

Attention-Based Cloth Manipulation from Model-free Topological Representation

Author(s): Kevin Galassi, Bingbing Wu, Julien Perez, Gianluca Palli, Jean-Michel Renders
Published in: 2024 IEEE International Conference on Robotics and Automation (ICRA), 2024
Publisher: IEEE
DOI: 10.1109/ICRA57147.2024.10610241

Enabling World Information Exchange in a Heterogeneous Team of Robots for Mobile Manipulation

Author(s): Ryo Sakagami, Martin J. Schuster, Riccardo Giubilato, Alin Albu-Schäffer, Freek Stulp, Andreas Dömel
Published in: 2025 International Conference on Space Robotics (iSpaRo), 2025
Publisher: IEEE
DOI: 10.1109/ISPARO66239.2025.11436782

Biomimetic Tactile Sensing for Hannes Anthropomorphic Prosthetic Hand

Author(s): Hussein Bassal; Nicolò Boccardo; Yahya Abbass; Matteo Laffranchi; Maurizio Valle
Published in: 2024, ISSN 2158-8683
Publisher: IEEE
DOI: 10.1109/ICECS61496.2024.10848863

Machine Learning Based Contact Force Estimation Using a PVDF Tactile Sensing System

Author(s): Mohamad Yaacoub, Razan Khalifeh, Christian Gianoglio, Ali Ibrahim, Lucia Seminara
Published in: 2025 23rd IEEE Interregional NEWCAS Conference (NEWCAS), 2025, ISSN 2576-7828
Publisher: IEEE
DOI: 10.1109/NEWCAS64648.2025.11107072

Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

Author(s): Edoardo Fratarcangeli, Andrea Govoni, Giuliano A. Giacoppo, Leonhard Heinrich, Roberto Meattini, Peter P. Pott, Gianluca Palli
Published in: 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637078

Scalable Shared Encoding Architecture for Learning-Based Error Detection in Robotic Wiring Harness Assembly

Author(s): Kevin Galassi, Alessio Caporali, Gianluca Laudante, Gianluca Palli
Published in: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637054

Singularity Avoidance for 6-DOF Robots Using Holonomic Base Through Task-Priority Approach

Author(s): Andrea Govoni, Emanuele Pedivellano, Michela Cavuoto, Gianluca Palli
Published in: 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM64088.2025.11175634

Towards Automated Connector Assembly: Wire Insertion Combining Tactile and Vision Sensors

Author(s): Michele Mirto, Alessio Caporali, Gianluca Laudante, Salvatore Pirozzi, Gianluca Palli
Published in: 2025 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2025, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM64088.2025.11175819

BE-AWARE: an ontology-based adaptive robotic manipulation framework

Author(s): Oriol ruiz-Celada, Albert Dalmases, Raúl Suárez, Jan Rosell
Published in: Proceedings ot the IEEE Int. Conf. on Emerging Technologies and Factory Automation (ETFA), 2023, ISSN 1946-0759
Publisher: IEEE
DOI: 10.1109/ETFA54631.2023.10275440

Endoscopic Stereo Vision for Robotic 3D Detection of Thin Wire Features

Author(s): Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
Published in: 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), 2024, ISSN 2161-8089
Publisher: IEEE
DOI: 10.1109/CASE59546.2024.10711442

Additively Manufactured Flexible Endoscope Driven By Guided Antagonistic Twisted String Actuation: A Pilot Experimental Evaluation

Author(s): Fratarcangeli, Edoardo; Govoni, Andrea; Giacoppo, Giuliano A.; Heinrich, Leonhard; Meattini, Roberto; Pott, Peter P.; Palli, Gianluca
Published in: 2024 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2024, ISSN 2159-6255
Publisher: IEEE
DOI: 10.1109/AIM55361.2024.10637078

C-Arm Unleashed: Intuitive Inter-Operative Positioning of C-Arms Using Wearable Gesture Detection

Author(s): Ouyang, Jingyu; Egle, Fabio; Igney, Claudia; Mutzke, Thomas; Dahmani, Chiheb; Castellini, Claudio; Thuerauf, Sabine
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, ISSN 2155-1790
Publisher: IEEE
DOI: 10.1109/BIOROB60516.2024.10719972

Visual and Haptic Cues for Human-Robot Handover*

Author(s): Marco Costanzo, Ciro Natale, Mario Selvaggio
Published in: 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN) , 2023, ISSN 1944-9437
Publisher: IEEE
DOI: 10.1109/RO-MAN57019.2023.10309480

Tactile-Driven Cable Grasping in Parallel Grippers via Hertzian Contact Modeling

Author(s): Andrea Govoni; Michela Cavuoto; Loris Roveda; Gianluca Palli
Published in: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), 2024, ISSN 1946-0740
Publisher: IEEE
DOI: 10.1109/ETFA61755.2024.10710663

Multisensory Wearable Glove for Object Recognition Based Embedded Machine Learning

Author(s): Mohamad Yaacoub; Haydar Al Haj Ali; Christian Gianoglio; Maurizio Valle; Ali Ibrahim
Published in: 2024, ISSN 2158-8683
Publisher: IEEE
DOI: 10.1109/ICECS61496.2024.10848876

Contact and Slippage Detection Algorithm using a Soft PVDF-based Sensing System

Author(s): Razan Khalifeh; Mohamad Yaacoub; Chiara Micheli; Maurizio Valle; Yahya Abbass
Published in: 2025 IEEE International Conference on Electronics, Circuits and Systems (ICECS), 2025, ISSN 2158-8683
Publisher: IEEE
DOI: 10.1109/ICECS65401.2025.10984652

Preliminary Assessment of Two Simultaneous and Proportional Myocontrol Methods for 3-DoFs Prostheses using Incremental Learning

Author(s): Fabio Egle, Dario Di Domenico, Andrea Marinelli, Nicolò Boccardo, Michele Canepa, Matteo Laffranchi, Lorenzo De Michieli, Claudio Castellini
Published in: ICORR 2023, 2023, ISSN 1945-7901
Publisher: IEEE
DOI: 10.1109/ICORR58425.2023.10304813

Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

Author(s): Romeo Orsolino, Mykhaylo Marfeychuk, Mario Baggetta, Mariana de Paula Assis Fonseca, Wesley Wimshurst, Francesco Porta, Morgan Clarke, Giovanni Berselli, Jelizaveta Konstantinova
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704863

Human-inspired Grasping Strategies of Fresh Fruits and Vegetables Applied to Robotic Manipulation

Author(s): Romeo Orsolino; Mykhaylo Marfeychuk; Mario Baggetta; Mariana de Paula Assis Fonseca; Wesley Wimshurst; Francesco Porta; Morgan Clarke; Giovanni Berselli; and Jelizaveta Konstantinova
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2159-2055
Publisher: IEEE
DOI: 10.48550/ARXIV.2410.22893

Hardness and Texture Recognition based on PVDF Sensors and Embedded Machine Learning: A case study on Hannes prosthetic hand

Author(s): Razan Khalifeh, Yahya Abbass, Mohamad Yaacoub, Cosimo Gentile, Emanuele Gruppioni, Maurizio Valle
Published in: 2025 IEEE International Symposium on Circuits and Systems (ISCAS), 2025
Publisher: IEEE
DOI: 10.1109/ISCAS56072.2025.11043586

Towards Unsupervised Incremental and Proportional Myocontrol Based on Higher-Density Surface Electromyography

Author(s): Alisa Schulz, Fabio Egle, Marius Osswald, Alessandro Del Vecchio, Claudio Castellini
Published in: 2025 International Conference On Rehabilitation Robotics (ICORR), 2025, ISSN 1945-7898
Publisher: IEEE
DOI: 10.1109/ICORR66766.2025.11063080

Virtual Prototyping of a Cable-Driven Compliant Robotic Wrist

Author(s): Mario Baggetta, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2158-9879
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704878

Traditional vs Generative Design Optimization for Novel Wrist Exoskeleton

Author(s): Federico Mariano, Roberto Francesco Pitzalis, Luigi Monica, Jesus Ortiz, Giovanni Berselli
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704907

Pilot Study: Response of a Piezoelectric Polymer based Sensing system to Indentation

Author(s): Yaacoub, Mohamad; Abbass, Yahya; Gianoglio, Christian; Seminara, Lucia; Valle, Maurizio
Published in: 2023 IEEE SENSORS, 2023, ISSN 1930-0395
Publisher: IEEE
DOI: 10.1109/SENSORS56945.2023.10325161

User-Tailored Fuzzy-Based Grasp Strength Regulation in Myocontrolled Robotic Hands

Author(s): M. Sheikhsamad; R. Meattini; D. Chiaravalli; R. Suárez; J. Rosell; G. Palli
Published in: 2025, ISSN 1946-0740
Publisher: IEEE
DOI: 10.1109/ETFA65495.2025.10946555

Multi-Modal Sensor for Fingertips of Anthropomorphic Grippers

Author(s): Tanzeel Ahmad Fazal, Gianluca Laudante, Michele Mirto, Olga Pennacchio, Salvatore Pirozzi
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704824

Exploiting Foundation Models for Efficient Labeling of Deformable Linear Objects

Author(s): Alessio Caporali, Kevin Galassi, Matteo Pantano, Gianluca Palli
Published in: Springer Proceedings in Advanced Robotics, Issue Vol. 32, 2025, ISSN 2511-1264
Publisher: Springer, Cham
DOI: 10.1007/978-3-031-76424-0_57

Combined Task and Motion Planning Via Sketch Decompositions

Author(s): Magí Dalmau-Moreno, Néstor Garcıa, Vicenç Gómez, Héctor Geffner
Published in: PlanRob workshop of the 33rd International Conference on Automated Planning and Scheduling (ICAPS), 2023
Publisher: ICAPS

C-arm unleashed: Intuitive inter-operative positioning of C-arms using wearable gesture detection

Author(s): Jingyu Ouyang, Fabio Egle, Claudia Igney, Thomas Mutzke, Chiheb Dahmani, Claudio Castellini, Sabine Thuerauf
Published in: 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), 2024, ISSN 2155-1782
Publisher: IEEE
DOI: 10.1109/BioRob60516.2024.10719972

Dual-Arm Robotic Manipulation Using Visual Guidance

Author(s): Ramon Canyameres, Pol; Palomo Avellaneda, Leopold; Zaplana Agut, Isiah; Rosell Gratacòs, Jan
Published in: 2024 IEEE 29th International Conference on Emerging Technologies and Factory Automation (ETFA), 2024, ISSN 1946-0740
Publisher: IEEE
DOI: 10.1109/ETFA61755.2024.10710687

Robotics and Autonomous Systems

Author(s): Muhayy Ud Din; Jan Rosell; Waseem Akram; Isiah Zaplana; Maximo A. Roa; Irfan Hussain
Published in: Robotics and Autonomous Systems, 2025, ISSN 0921-8890
Publisher: Elsevier
DOI: 10.2139/SSRN.5654741

Knowledge-based Execution Configuration for Adaptive Behavior Trees

Author(s): Oriol Ruiz-Celada, Jan Rosell, Raúl Suárez
Published in: Journal of Intelligent & Robotic Systems, Issue 112, 2026, ISSN 1573-0409
Publisher: Springer Science and Business Media LLC
DOI: 10.1007/S10846-026-02373-1

Smart perception for situation awareness in robotic manipulation tasks

Author(s): Albert Dalmasses, Oriol Ruiz-Celada, Isiah Zaplana, Jan Rosell
Published in: Robotics and Autonomous Systems, Issue 00, 2023, ISSN 0921-8890
Publisher: Elsevier BV
DOI: 10.2139/ssrn.4545174

Self-Supervised Regression Of sEMG Signals Combining Non-Negative Matrix Factorization With Deep Neural Networks For Robot Hand Multi-Grasp Control

Author(s): Roberto Meattini, Alessio Caporali, Alessandra Bernardini, Gianluca Palli, Claudio Melchiorri
Published in: IEEE Robotics and Automation Letters, Issue Vol. 7 Issue 4, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2022.3193247

The Cluttered Environment Picking Benchmark (CEPB) for Advanced Warehouse Automation: Evaluating the Perception, Planning, Control, and Grasping of Manipulation Systems

Author(s): Salvatore D'Avella; Matteo Bianchi; Ashok M. Sundaram; Carlo Alberto Avizzano; Máximo A. Roa; Paolo Tripicchio
Published in: IEEE Robotics and Automation Magazine, 2025, ISSN 1558-223X
Publisher: IEEE
DOI: 10.1109/MRA.2025.3531787

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Author(s): Mario Baggetta, Gianluca Palli, Claudio Melchiorr, Giovanni Berselli
Published in: IEEE/ASME Transactions on Mechatronics, Issue Vol. 29 Issue 2, 2024, ISSN 1941-014X
Publisher: IEEE
DOI: 10.1109/TMECH.2023.3345215

A multi-modal sensing system for human-robot interaction through tactile and proximity data

Author(s): Gianluca Laudante; Michele Mirto; Olga Pennacchio; Salvatore Pirozzi
Published in: Frontiers in Robotics and AI, 2025, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/FROBT.2025.1581154

Neuromorphic Tactile Sensing System for Textural Features Classification

Author(s): Haydar Al Haj Ali; Yahya Abbass; Christian Gianoglio; Ali Ibrahim; Changjae Oh; Maurizio Valle
Published in: IEEE Sensors Journal, Issue Vol. 24 Issue 10, 2024, ISSN 1558-1748
Publisher: IEEE
DOI: 10.1109/JSEN.2024.3382369

sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Author(s): Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio; Meattini, Roberto
Published in: IEEE Robotics and Automation Letters, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2022.3193247

IEEE Transactions on Robotics

Author(s): Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Published in: IEEE Transactions on Robotics, Issue 41, 2025, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2025.3532513

Flexible Piezoelectric Tactile Sensing System for Intelligent Object Recognition

Author(s): Razan Khalifeh, Mohamad Yaacoub, Christian Gianoglio, Moustafa Saleh, Maurizio Valle, Yahya Abbass
Published in: IEEE Sensors Journal, Issue 26, 2026, ISSN 1558-1748
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/JSEN.2026.3669666

World Model for Autonomous Intelligent Mobile Manipulation

Author(s): Ryo Sakagami, Andreas Dömel, Peter Lehner, Sebastian Riedel,Sebastian G. Brunner, Alin Albu-Schäffer, Freek Stulp
Published in: IEEE Robotics and Automation Letters, Issue Vol. 9 Issue 7, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3410156

Robotic perception and manipulation of deformable linear objects: A survey

Author(s): Alessio Caporali, Ignacio Cuiral-Zueco, Gonzalo López-Nicolás, Gianluca Palli
Published in: The International Journal of Robotics Research, 2026, ISSN 1741-3176
Publisher: SAGE Publications
DOI: 10.1177/02783649261432253

Bayesian Optimization for Robust Robotic Grasping Using a Sensorized Compliant Hand

Author(s): Lechuz-Sierra, Juan G.; Huezo Martin, Ana Elvira; Sundaram, Ashok M.; Martinez-Cantin, Ruben; Roa Garzon, Máximo Alejandro
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/ARXIV.2410.18237

Journal of Psychosomatic Research

Author(s): Saetta, Gianluca; Peter, Yannik; Ruddy, Kathy; Ho, Jasmine T.; Luechinger, Roger; Michels, Lars; Lenggenhager, Bigna
Published in: Journal of Psychosomatic Research, Issue Volume 192, Article 112138, 2025, ISSN 0022-3999
Publisher: Elsevier Ltd
DOI: 10.1016/J.JPSYCHORES.2025.112138

Trade-off between Accuracy and Computational Cost with Neural Architecture Search: a Novel Smart Tactile Sensing Systems Design

Author(s): Christian Gianoglio, Edoardo Ragusa, Paolo Gastaldo, Maurizio Valle
Published in: IEEE Sensors Letters, Issue Vol. 7 Issue 5, 2023, ISSN 2475-1472
Publisher: IEEE
DOI: 10.1109/LSENS.2023.3273733

Multimodal Grasp Planner for Hybrid Grippers in Cluttered Scenes

Author(s): D'Avella, Salvatore; Sundaram, Ashok; Friedl, Werner; Tripicchio, Paolo; Roa, Maximo; Avizzano, Carlo
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.5281/ZENODO.10722627

Model-based approach for indentation on soft electronic skin

Author(s): Chiara Micheli, Giovanni Berselli, Lucia Seminara
Published in: Mechatronics, Issue Vol. 102, 2024, ISSN 0957-4158
Publisher: Elsevier
DOI: 10.1016/j.mechatronics.2024.103225

IEEE Access

Author(s): Oriol Ruiz-Celada; Albert Dalmases; Isiah Zaplana; Jan Rosell
Published in: IEEE Access, 2024, ISSN 2169-3536
Publisher: IEEE
DOI: 10.2139/SSRN.4545174

Soft pads for robotic limbs: achieving human finger compliance via finite element optimization

Author(s): Seyyed Masoud Kargar; Giovanni Berselli
Published in: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Publisher: Springer-Verlag London Ltd
DOI: 10.1007/s00170-024-14086-6

Soft Pads for Robotic Limbs: Achieving Human Finger Compliance via Finite Element Optimization

A Monolithic Cable-Driven Compliant Wrist for Prosthetic Arms

Author(s): Mario Baggetta; Gianluca Palli; Claudio Melchiorri; Giovanni Berselli
Published in: IEEE/ASME Transactions on Mechatronics, 2024, ISSN 1941-014X
Publisher: IEEE
DOI: 10.1109/TMECH.2023.3345215

Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects With Generic Shape

Author(s): Federico, Sara; Costanzo, Marco; De Simone, Marco; Natale, Ciro; Costanzo, Marco
Published in: IEEE Robotics and Automation Letters, 2025, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2025.3539092

sEMG-Based Minimally Supervised Regression Using Soft-DTW Neural Networks for Robot Hand Grasping Control

Author(s): Roberto Meattini; Alessandra Bernardini; Gianluca Palli; Claudio Melchiorri
Published in: IEEE Robotics and Automation Letters, Issue 4, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2022.3196116

Whole-Body Ergodic Exploration With a Manipulator Using Diffusion

Author(s): Cem Bilaloglu; Tobias Löw; Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue Vol. 8 Issue 12, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/arxiv.2306.16898

Comparison of pose estimation methods for robotic fruit picking

Author(s): Alessio Benito Alterani, Marco Costanzo, Marco De Simone, Sara Federico, Ciro Natale
Published in: Sensors and Control in Robotics, 2024, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/robotics13090127

Configuration Space Distance Fields for Manipulation Planning

Author(s): Li, Yiming; Chi, Xuemin; Razmjoo Fard, Amirreza; CALINON, Sylvain
Published in: Robotics: Science and Systems XX, 2024, ISSN 2330-1384
Publisher: Robotics: Science and Systems Foundation
DOI: 10.48550/ARXIV.2406.01137

A Case Study: FMG-based Gesture Recognition using High-Density Piezoelectric Electronic Skin and Machine Learning

Author(s): Yahya Abbass; Silvana Miranda Montenegro; Fabio Egle; Moustafa Saleh; Maurizio Valle; Claudio Castellini
Published in: IEEE Sensors Letters, 2025, ISSN 2475-1472
Publisher: IEEE
DOI: 10.1109/LSENS.2025.3624027

Comparison of Soft-DTW-Based Regression of sEMG Signals with State-of-the-Art Unsupervised Methods for Robot Hand Control: A Pilot Study

Author(s): Meattini, Roberto; Bernardini, Alessandra; Palli, Gianluca; Melchiorri, Claudio
Published in: IFAC-PapersOnLine, Issue Volume 58, Issue 29, pp. 1125–1130, 2025, ISSN 2405-8963
Publisher: IFAC / Elsevier
DOI: 10.1016/J.IFACOL.2025.11.188

Condition-based Design of Variable Impedance Controllers from User Demonstrations

Author(s): Alberto San-Miguel, Guillem Alenya, Vicenc Puig
Published in: Control Engineering Practice, Issue Vol. 140, 2023, ISSN 0967-0661
Publisher: Elsevier Ltd.
DOI: 10.1016/j.conengprac.2023.105658

GNN Topology Representation Learning for Deformable Multi-Linear Objects Dual-Arm Robotic Manipulation

Author(s): Alessio Caporali; Kevin Galassi; Riccardo Zanella; Gianluca Palli
Published in: IEEE Transactions on Automation Science and Engineering, 2025, ISSN 1558-3783
Publisher: IEEE
DOI: 10.1109/TASE.2025.3562231

Embedded real-time objects’ hardness classification for robotic grippers

Author(s): Youssef Amin, Christian Gianoglio, Maurizio Valle
Published in: Future Generation Computer Systems, 2023, ISSN 0167-739X
Publisher: Elsevier Ltd.
DOI: 10.1016/j.future.2023.06.002

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Author(s): Fabio Egle; Constantin Kleinbeck; Liv Herzer; Philipp Beckerle; Daniel Roth; Claudio Castellini
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2026, ISSN 1534-4320
Publisher: IEEE
DOI: 10.1109/TNSRE.2026.3676703

Geometric Algebra for Optimal Control With Applications in Manipulation Tasks

Author(s): Tobias Löw, Sylvain Calinon
Published in: IEEE: Transactions on Robotics, Issue Vol. 39 Issue 5, 2023, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2023.3277282

A Recipe for Unsupervised Myocontrol - Co-Adaptive Training and Assessment in Physics-Based VR

Author(s): Lisa Robra; Fabio Egle; Hannah Braun; Alex Pasquali; Davide Bargellini; Roberto Meattini; Claudio Castellini
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2025, ISSN 1558-0210
Publisher: IEEE
DOI: 10.48550/ARXIV.2503.12384

Learning Problem Decomposition for Efficient Sequential Multi-Object Manipulation Planning

Author(s): Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3630032

IEEE/ASME Transactions on Mechatronics

Author(s): Mario Baggetta; Olga Pennacchio; Salvatore Pirozzi; Giovanni Berselli
Published in: IEEE/ASME Transactions on Mechatronics, 2025, ISSN 1083-4435
Publisher: IEEE / ASME
DOI: 10.1109/TMECH.2025.3567123

On the Modeling of Tendon-Driven Systems: a Literature Review

Author(s): Mario Baggetta; Alberto Rittore; Giovanni Berselli
Published in: 2024 20th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2024, ISSN 2835-902X
Publisher: IEEE
DOI: 10.1109/MESA61532.2024.10704873

IEEE Robotics and Automation Magazine

Author(s): Salvatore D’Avella, Matteo Bianchi, Ashok M. Sundaram, Carlo Alberto Avizzano, Máximo A. Roa, Paolo Tripicchio
Published in: IEEE Robotics & Automation Magazine, Issue 31, 2024, ISSN 1070-9932
Publisher: IEEE
DOI: 10.1109/MRA.2023.3310861

Evaluation of different hardware solutions for multiple objects grasping

Author(s): Werner Friedl
Published in: Frontiers in Robotics and AI, Issue Vol.11 - 2024, 2024, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2024.1351932

IEEE/ASME Transactions on Mechatronics

Author(s): Mario Baggetta; Gianluca Palli; Claudio Melchiorri; Giovanni Berselli
Published in: IEEE/ASME Transactions on Mechatronics, 2025, ISSN 1083-4435
Publisher: IEEE / ASME
DOI: 10.1109/TMECH.2025.3593293

IEEE Transactions on Neural Systems and Rehabilitation Engineering

Author(s): Evan Campbell; Fabio Egle; Marius OßWald; Ulysse Côté-Allard; Patrick M. Pilarski; Nicolò Boccardo; Roberto Meattini; Ivan Vujaklija; Levi Hargrove; Michele Canepa; Ethan Eddy; Alessandro Del Vecchio; Claudio Castellini; Erik Scheme
Published in: IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2025, ISSN 1534-4320
Publisher: IEEE
DOI: 10.1109/TNSRE.2025.3602397

Experimental Comparison of Two 6D Pose Estimation Algorithms in Robotic Fruit-Picking Tasks

Author(s): Alterani, Alessio Benito; Costanzo, Marco; De Simone, Marco; Federico, Sara; Natale, Ciro
Published in: Robotics, ISSN 2218-6581
Publisher: MDPI
DOI: 10.3390/ROBOTICS13090127

Optimization of a tetrahedron compliant spherical joint via computer-aided engineering tools

Author(s): Seyyed Masoud Kargar; Alberto Parmiggiani; Mario Baggetta; Emilio Ottonello; Guangbo Hao; Giovanni Berselli
Published in: The International Journal of Advanced Manufacturing Technology, 2024, ISSN 1433-3015
Publisher: Springer
DOI: 10.1007/s00170-024-13314-3

DLO Perceiver: Grounding Large Language Model for Deformable Linear Objects Perception

Author(s): Caporali, Alessio; Galassi, Kevin; Palli, Gianluca
Published in: IEEE Robotics and Automation Letters, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3491428

IEEE Transactions on Robotics

Author(s): Leonard Klüpfel, Lukas Burkhard, Anne Elisabeth Reichert, Maximilian Durner, Rudolph Triebel
Published in: IEEE Transactions on Robotics, Issue 41, 2025, ISSN 1552-3098
Publisher: IEEE Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2025.3577030

Deformable Linear Objects Manipulation With Online Model Parameters Estimation

Author(s): Alessio Caporali, Piotr Kicki, Kevin Galassi, Riccardo Zanella, Krzysztof Walas, Gianluca Palli
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2024.3357310

A Perspective on Prosthetic Hands Control: From the Brain to the Hand

Author(s): Cosimo Gentile, Emanuele Gruppioni
Published in: Innovations in the Control and Assessment of Prosthetic Arms, 2023, ISSN 2673-1592
Publisher: MDPI
DOI: 10.3390/prosthesis5040083

Learning passive policies with virtual energy tanks in robotics

Author(s): Riccardo Zanella, Stefano Stramigioli, Federico Califano, Gianluca Palli
Published in: IET Control Theory & Applications, 2023, ISSN 1751-8644
Publisher: Institution of Engineering and Technology
DOI: 10.1049/cth2.12558

Hardness Discrimination Using Piezoelectric-Based Biomimetic Tactile Sensor and Machine Learning

Author(s): Hussein Bassal; Yahya Abbass; Christian Gianoglio; Maurizio Valle
Published in: IEEE Sensors Letters, 2024, ISSN 2475-1472
Publisher: IEEE
DOI: 10.1109/LSENS.2024.3431430

Logic Learning From Demonstrations for Multi-Step Manipulation Tasks in Dynamic Environments

Author(s): Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 9, 2024, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.48550/ARXIV.2404.16138

Nonlinear Model Predictive Control for Robotic Pushing of Planar Objects With Generic Shape

Author(s): Sara Federico, Marco Costanzo, Marco De Simone, Ciro Natale
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/LRA.2025.3539092

Multimodal grasp planner for hybrid grippers in cluttered scenes

Author(s): Salvatore D’Avella, Ashok M. Sundaram, Werner Friedl, Paolo Tripicchio, and Maximo A. Roa
Published in: IEEE Robotics and Automation Letters, Issue Vol. 8 Issue 4, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2023.3247221

Evaluation of mental stress in Human-Robot interaction: an explorative study

Author(s): Marta Rinaldi, Ciro Natale, Marcello Fera, Roberto Macchiaroli, Maria Grazia, Lourdes Monaco, Eric Grosse
Published in: Procedia Computer Science, Issue Vol. 232, 2024, ISSN 1877-0509
Publisher: Elsevier
DOI: 10.1016/j.procs.2024.01.072

From Movement Primitives to Distance Fields to Dynamical Systems

Author(s): Yiming Li, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue 10, 2025, ISSN 2377-3766
Publisher: IEEE Institute of Electrical and Electronics Engineers
DOI: 10.1109/LRA.2025.3595073

Online Learning of Piecewise Polynomial Signed Distance Fields for Manipulation Tasks

Author(s): Ante Maric, Yiming Li, and Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, Issue Vol. 9 Issue 6, 2024, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2024.3397085

The Sense of Body Adherence in Body Integrity Dysphoria: A Neuroscientific Account

Author(s): Gianluca Saetta
Published in: Reti Saperi Linguaggi, Issue 1, 2024, ISSN 2279-7777
Publisher: Società editrice Il Mulino
DOI: 10.1400/297845

IEEE Transactions on Biomedical Circuits and Systems

Author(s): Mattia Orlandi, Pierangelo Maria Rapa, Marcello Zanghieri, Sebastian Frey, Victor Kartsch, Luca Benini, Simone Benatti
Published in: IEEE Transactions on Biomedical Circuits and Systems, Issue 18, 2025, ISSN 1940-9990
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TBCAS.2024.3410840

Knowledge-based Execution Configuration for Adaptive Behavior Trees

GNN Topology Representation Learning for Deformable Multi-Linear Objects Dual-Arm Robotic Manipulation

Projection-based first-order constrained optimization solver for robotics

Author(s): Hakan Girgin, Tobias Löw, Teng Xue, Sylvain Calinon
Published in: IEEE Robotics and Automation Letters, 2023, ISSN 2377-3766
Publisher: IEEE
DOI: 10.48550/ARXIV.2306.17611

Evaluation of mental stress in human-robot interaction: an explorative study

Author(s): Rinaldi M.; Natale C.; Fera M.; Macchiaroli R.; Monaco M. G. L.; Grosse E. H.
Published in: Procedia Computer Science, 2024, ISSN 1877-0509
Publisher: Science direct
DOI: 10.1016/J.PROCS.2024.01.072

AiRLIHockey: Highly Reactive Contact Control and Stochastic Optimal Shooting

Author(s): Jankowski, Julius; Marić, Ante; Calinon, Sylvain
Published in: 2024, ISSN 2331-8422
Publisher: -
DOI: 10.48550/arxiv.2401.14964

Tactile Ergodic Control Using Diffusion and Geometric Algebra

Author(s): Cem Bilaloglu, Tobias Löw, Sylvain Calinon
Published in: 2024
Publisher: Idiap Research Institute & EPFL
DOI: 10.48550/ARXIV.2402.04862

gafro: Geometric Algebra for Robotics

Author(s): Tobias Löw, Philip Abbet, Sylvain Calinon
Published in: 2023
Publisher: -
DOI: 10.48550/ARXIV.2310.19090

Towards Bioinspired Co-Adaptive Control of a 3-DoFs Upper-Limb Prosthesis via Incremental Learning

Author(s): Di Domenico, Dario; Egle, Fabio
Published in: 2025
Publisher: Zenodo
DOI: 10.5281/ZENODO.15094349

DMP — Data Management Plan

Author(s): Palli, Gianluca; Del Monte, Rachele; Meattini, Roberto
Published in: 2023
Publisher: Alma Mater Studiorum - Università di Bologna
DOI: 10.6092/UNIBO/AMSACTA/7301

A touch of humanity for human-in-the-loop artificial hands / A hierarchical sensorimotor control framework for human-in-the-loop robotic hands

Author(s): Lucia Seminara, Strahinja Dosen, Fulvio Mastrogiovanni, Matteo Bianchi, Simon Watt, Philipp Beckerle, Thrishantha Nanayakkara, Knut Drewing, Alessandro Moscatelli, Roberta L. Klatzky, Gerald E. Loeb
Published in: Science Robotics, Issue Vol. 8 No. 78, 2023, ISSN 2470-9476
Publisher: Science Robotics
DOI: 10.1126/scirobotics.add5434

Learning Robot Geometry as Distance Fields: Applications to Whole-body Manipulation

Author(s): Yiming Li, Yan Zhang, Amirreza Razmjoo Fard, Sylvain Calinon
Published in: 2023
Publisher: Idiap Research Institute & EPFL
DOI: 10.48550/arXiv.2307.00533

Development of a flexible, modular, and wearable 3D-printed sensor system

Author(s): Enes Bektürk, Marc-Anton Scheidl, Fabio Egle, Claudio Castellini
Published in: 2023
Publisher: Zenodo
DOI: 10.5281/zenodo.8289286

Extending the Cooperative Dual-Task Space in Conformal Geometric Algebra

Author(s): Tobias Löw, Sylvain Calinon
Published in: 2023
Publisher: -
DOI: 10.48550/ARXIV.2310.19093

Logic Dynamic Movement Primitives for Long-horizon Manipulation Tasks in Dynamic Environments

Author(s): Yan Zhang, Teng Xue, Amirreza Razmjoo, Sylvain Calinon
Published in: ISSN 2331-8422
Publisher: -
DOI: 10.48550/ARXIV.2404.16138

Co-Adaptive Velocity and Position Control of 3-DoFs Prosthesis via Incremental Learning

Author(s): Di Domenico, Dario; Egle, Fabio
Published in: 2025
Publisher: Zenodo
DOI: 10.5281/ZENODO.16761602

Communications in Computer and Information Science

Author(s): Chiara Micheli, Giovanni Berselli, Lucia Seminara
Published in: Lecture Notes in Electrical Engineering, Proceedings of SIE 2024, 2025, ISSN 1865-0929
Publisher: Springer Verlag
DOI: 10.5281/ZENODO.18789503

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