Soft-bodied intelligence for Manipulation

Deliverables

Revised methods for measuring grip stiffness

Strategy description and final results.

Information package for European Robotics companies

Package containing information for potential industrial customers about relevant project achievements.

Document specifying safe human-robot interaction scenarios and requirements, together with realism recommendations, will serve as input to WP1.

Evaluation of sensory feedback

Estimation of relative contributions of sensory feedback, a particular endeffector (hand) and a priori information to manipulation/grasping and manipulation/grasping planning.

Revised HRI Use Cases

Document reporting the evaluation results and resulting revision in requirements.

Revised Requirements Analysis

Document with revised requirements, based on deliverable D5.1.

Experience Report

A report summarising the experience with the robot trials on the SOMA grippers using SOMA manipulation plans.

HRI Evaluation report

Final report on safety standards, safety evaluations, and human’s emotional response to SOMA hands.

Role of force feedback with teleimpedance in a telepresence scenario

Quantitative results about the role of tactile force feedback in tele-impedence scenarios will be presented. It will be shown how the presence of force feedback affects the performances of a human operator who tele-operates the impedance of a robot during the execution of soft-manipulation tasks.

Strategy descriptions

Strategy descriptions at verbal and algorithmic level.

Requirements Analysis

A document detailing the results of the requirements analysis.

Haptically guided grasping motion and stiffness regulation strategies

Haptically-guided exploration and grasping strategies will be provided within this deliverable. These strategies will be defined along with correspondent stiffness regulation procedures which allow to properly perform them.

Report on organized events

Report listing the organized events during the project period

Mapping ECE primitives from human to robotic hands

A set of suitable ECE primitives for the robotic hands involved in the project will be provided. This outcome will be the result of a mapping procedure applied to the set of ECE primitives defined for the human hand in WP1.

Strategy descriptions revised

Revised and extended strategy descriptions at verbal and algorithmic level.

Enhanced Hand Prototypes exploiting ECE

Each partner involved in T2.3 (UNIPI, DLR, TUB, IIT) will present one or more prototypes of hands (developed in T2.2) provided with sensors and/or interfaces under analysis in T2.3.

Soft hands for Intermediate Integration and Testing

Each partner involved in T2.2 (UNIPI, DLR, TUB, IIT) will present one or more prototypes of robotic hands and grippers under analysis in T2.2. Moreover the partners UNIPI and TUB will deliver four prototypes each (2 to OCADO WP5 and 2 to Disney WP6) for the intermediate integration. This Deliverable will be strictly connected with the Milestone MS2, Intermediate Integration.

Data Management Plan

First Version of a Data Management Plan.

Internet presence online

Project website and Youtube channel set up and online

Planner for sequencing ECE primitives

We will provide a planning algorithm that outputs sequences of ECE primitive to achieve robust and reliable grasping.

Reactive planner for sequencing ECE primitives

We will provide a planning algorithm that outputs reactive trees of ECE primitive whose decisions are made during plan execution based on haptic feedback.

Methods for measuring grip stiffness

Methods for continuously measuring grip stiffness at a certain force level are ready. Strategy description and first results.

Computational Design Tool - Unified simulation

We will provide a software tool to simulate the behavior of soft robotic hands and grippers under development in T2.2 according to the model philosophies pursued in T2.1 (hands composed of rigid bodied and lumped elasticities or continuum soft deformable hands).

Publications

The 2017 IEEE RAS Technical Education Program Activites: A Snapshot [Education]

Author(s): Paul Oh, Hannes Hoeppner, M. Ani Hsieh
Published in: IEEE Robotics & Automation Magazine, Issue 24/4, 2017, Page(s) 112-113, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2761158

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Author(s): Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 2/4, 2017, Page(s) 2008-2015, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2017.2718099

Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2

Author(s): Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Published in: IEEE Transactions on Robotics, 2018, Page(s) 1-16, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2830407

The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots

Author(s): Cosimo Della Santina, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Published in: IEEE Robotics & Automation Magazine, Issue 24/1, 2017, Page(s) 48-56, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2636366

Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation

Author(s): Simone Fani, Simone Ciotti, Manuel G. Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi
Published in: IEEE Robotics & Automation Magazine, Issue 25/1, 2018, Page(s) 77-88, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2017.2741579

Controlling Soft Robots: Balancing Feedback and Feedforward Elements

Author(s): Cosimo Della Santina, Matteo Bianchi, Giorgio Grioli, Franco Angelini, Manuel Catalano, Manolo Garabini, Antonio Bicchi
Published in: IEEE Robotics & Automation Magazine, Issue 24/3, 2017, Page(s) 75-83, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2016.2636360

Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment

Author(s): Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Published in: IEEE Transactions on Robotics, 2018, Page(s) 1-12, ISSN 1552-3098
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TRO.2018.2830351

The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands

Author(s): Maria Pozzi, Gionata Salvietti, Joao Bimbo, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2206-2213, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2810946

Metasilicone

Author(s): Jonas Zehnder, Espen Knoop, Moritz Bächer, Bernhard Thomaszewski
Published in: ACM Transactions on Graphics, Issue 36/6, 2017, Page(s) 1-13, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3130800.3130881

Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies

Author(s): Gionata Salvietti
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00027

Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography

Author(s): Hannes Höppner, Maximilian Große-Dunker, Georg Stillfried, Justin Bayer, Patrick van der Smagt
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00017

Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning

Author(s): Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi
Published in: IEEE Robotics and Automation Letters, Issue 3/3, 2018, Page(s) 2686-2693, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2018.2829027

Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis

Author(s): Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Federica Felici, Matteo Bianchi, Antonio Bicchi
Published in: Frontiers in Robotics and AI, Issue 4, 2017, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2017.00037

Postural Hand Synergies during Environmental Constraint Exploitation

Author(s): Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi
Published in: Frontiers in Neurorobotics, Issue 11, 2017, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2017.00041

CurveUps

Author(s): Ruslan Guseinov, Eder Miguel, Bernd Bickel
Published in: ACM Transactions on Graphics, Issue 36/4, 2017, Page(s) 1-12, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3072959.3073709

The Change in Fingertip Contact Area as a Novel Proprioceptive Cue

Author(s): Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexander Terekhov, Vincent Hayward, Marc O. Ernst, Antonio Bicchi
Published in: Current Biology, Issue 26/9, 2016, Page(s) 1159-1163, ISSN 0960-9822
Publisher: Cell Press
DOI: 10.1016/j.cub.2016.02.052

Exploitation of environmental constraints in human and robotic grasping

Author(s): C. Eppner, R. Deimel, J. Alvarez-Ruiz, M. Maertens, O. Brock
Published in: The International Journal of Robotics Research, Issue 34/7, 2015, Page(s) 1021-1038, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364914559753

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

Author(s): Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 2/1, 2017, Page(s) 329-336, ISSN 2377-3766
Publisher: IEEE Robotics and Automation Letters
DOI: 10.1109/LRA.2016.2612304

Multi–Contact Bilateral Telemanipulation with Kinematic Asymmetries

Author(s): Gionata Salvietti, Leonardo Meli, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo
Published in: IEEE/ASME Transactions on Mechatronics, 2016, Page(s) 1-1, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TMECH.2016.2606895

A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition

Author(s): Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi
Published in: Sensors, Issue 16/6, 2016, Page(s) 811, ISSN 1424-8220
Publisher: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s16060811

A Multi-Modal Sensing Glove for Human Manual-Interaction Studies

Author(s): Matteo Bianchi, Robert Haschke, Gereon Büscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti
Published in: Electronics, Issue 5/3, 2016, Page(s) 42, ISSN 2079-9292
Publisher: Electronics
DOI: 10.3390/electronics5030042

Computational design of stable planar-rod structures

Author(s): Eder Miguel, Mathias Lepoutre, Bernd Bickel
Published in: ACM Transactions on Graphics, Issue 35/4, 2016, Page(s) 1-11, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/2897824.2925978

Bend-it

Author(s): Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Published in: ACM Transactions on Graphics, Issue 37/6, 2019, Page(s) 1-15, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3272127.3275089

The Role of Closed-Loop Hand Control in Handshaking Interactions

Author(s): Francesco Vigni, Espen Knoop, Domenico Prattichizzo, Monica Malvezzi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 878-885, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2893402

Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots

Author(s): Matteo Bianchi, Gionata Salvietti
Published in: Frontiers in Neurorobotics, Issue 13, 2019, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2019.00001

Vibration-Minimizing Motion Retargeting for Robotic Characters

Author(s): Shayan Hoshyari, Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Published in: ACM Transactions on Graphics (Proceedings of SIGGRAPH 2019), 2019, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.

Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands

Author(s): Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel G. Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi
Published in: IEEE Robotics and Automation Letters, Issue 4/2, 2019, Page(s) 1533-1540, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2019.2896485

Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

Author(s): Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 3952-3959, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2858271

Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity

Author(s): Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo
Published in: IEEE Robotics and Automation Letters, Issue 3/4, 2018, Page(s) 2854-2861, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2018.2845906

A Bio-inspired Grasp Stiffness Control for Robotic Hands

Author(s): Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
Published in: Frontiers in Robotics and AI, Issue 5, 2018, ISSN 2296-9144
Publisher: Frontiers Media SA
DOI: 10.3389/frobt.2018.00089

DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information

Author(s): Visar Arapi, Cosimo Della Santina, Davide Bacciu, Matteo Bianchi, Antonio Bicchi
Published in: Frontiers in Neurorobotics, Issue 12, 2018, ISSN 1662-5218
Publisher: Frontiers Research Foundation
DOI: 10.3389/fnbot.2018.00086

Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015

Author(s): Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Published in: Autonomous Robots, Issue 42/7, 2018, Page(s) 1459-1475, ISSN 0929-5593
Publisher: Kluwer Academic Publishers
DOI: 10.1007/s10514-018-9761-2

Benchmarking of Compliant Underactuated Soft End Effectors in an Industrial Context

Author(s): H. Mnyusiwalla, P. Triantafyllou, P. Sotiropoulos, G. Deacon, M.A. Roa, W. Friedl and A.M. Sundaram
Published in: International Journal of Humanoid Robotics, 2019, ISSN 1793-6942
Publisher: World Scientific

Benchmarking Artificial Hands in Dynamic Tasks: Hand and Grasp Resilience

Author(s): F. Negrello, W. Friedl, M. Roa, G. Grioli, O. Brock, M.Garabini, A.Bicchi and M.G.Catalano.
Published in: IEEE Robotics and Automation Letters, Special issue, 2019, ISSN 2377-3766
Publisher: IEEE

On the role of Stiffness and Synchronization in Human-Robot Handshaking

Author(s): Mura Domenico, Manuel Catalano, Knoop Espen, G. Grioli, M. Bächer and A. Bicchi
Published in: International Journal of Robotics Research. Special issue on Soft Manipulation, 2019, ISSN 0278-3649
Publisher: SAGE Publications

Touch Based Adaptive Grasping for Soft Robotic Hands

Author(s): G. J. Pollayil, M. J. Pollayil, G. Grioli and A. Bicchi
Published in: International Journal of Robotics Research. Special issue on Soft Manipulation, 2019, ISSN 0278-3649
Publisher: SAGE Publications

A compact soft articulated parallel wrist for grasping in narrow spaces

Author(s): Francesca Negrello, Sariah Mghames, Giorgio Grioli, Manolo Garabini, Manuel Giuseppe Catalano
Published in: IEEE Robotics and Automation Letters, Issue 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1-1, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2019.2925304

FlexMaps

Author(s): Luigi Malomo, Jesús Pérez, Emmanuel Iarussi, Nico Pietroni, Eder Miguel, Paolo Cignoni, Bernd Bickel
Published in: ACM Transactions on Graphics, Issue 37/6, 2019, Page(s) 1-14, ISSN 0730-0301
Publisher: Association for Computing Machinary, Inc.
DOI: 10.1145/3272127.3275076

ThimbleSense: A Fingertip-Wearable Tactile Sensor for Grasp Analysis

Author(s): Edoardo Battaglia, Matteo Bianchi, Alessandro Altobelli, Giorgio Grioli, Manuel G. Catalano, Alessandro Serio, Marco Santello, Antonio Bicchi
Published in: IEEE Transactions on Haptics, Issue 9/1, 2016, Page(s) 121-133, ISSN 1939-1412
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/TOH.2015.2482478

On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach

Author(s): Hamal Marino, Mirko Ferrati, Alessandro Settimi, Carlos Rosales, Marco Gabiccini
Published in: IEEE Robotics and Automation Letters, Issue 1/1, 2016, Page(s) 469-476, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/LRA.2016.2519149

A novel type of compliant and underactuated robotic hand for dexterous grasping

Author(s): R. Deimel, O. Brock
Published in: The International Journal of Robotics Research, Issue 35/1-3, 2016, Page(s) 161-185, ISSN 0278-3649
Publisher: SAGE Publications
DOI: 10.1177/0278364915592961

SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands

Author(s): Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo
Published in: IEEE Robotics & Automation Magazine, Issue 22/4, 2015, Page(s) 52-68, ISSN 1070-9932
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/MRA.2015.2408772

Interleaving motion in contact and in free space for planning under uncertainty

Author(s): Arne Sieverling, Clemens Eppner, Felix Wolff, Oliver Brock
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4011-4073, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206255

Dynamic Control of Soft Robots Interacting with the Environment

Author(s): Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Published in: 2018
Publisher: RoboSoft 2018- IEEE RAS International Conference on Soft Robotics

Estimating contact forces from postural measures in a class of under-actuated robotic hands

Author(s): Cosimo Della Santina, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, Antonio Bicchi
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 2456-2463, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206062

Morphological computation: The good, the bad, and the ugly

Author(s): Keyan Ghazi-Zahedi, Raphael Deimel, Guido Montufar, Vincent Wall, Oliver Brock
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 464-469, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202194

Cerebellar-inspired learning rule for gain adaptation of feedback controllers

Author(s): Ivan Herreros, Xerxes D. Arsiwalla, Cosimo Della Santina, Jordi-Ysard Puigbo, Antonio Bicchi, Paul Verschure
Published in: 2017 25th Mediterranean Conference on Control and Automation (MED), 2017, Page(s) 565-570, ISBN 978-1-5090-4533-4
Publisher: IEEE
DOI: 10.1109/MED.2017.7984177

Visual detection of opportunities to exploit contact in grasping using contextual multi-armed bandits

Author(s): Clemens Eppner, Oliver Brock
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 273-278, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202168

Automated co-design of soft hand morphology and control strategy for grasping

Author(s): Raphael Deimel, Patrick Irmisch, Vincent Wall, Oliver Brock
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 1213-1218, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8202294

Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains

Author(s): Maria Pozzi, Eder Miguel, Raphael Deimel, Monica Malvezzi, Bernd Bickel, Oliver Brock, Domenico Prattichizzo
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 1-8, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8461106

A method for sensorizing soft actuators and its application to the RBO hand 2

Author(s): Vincent Wall, Gabriel Zoller, Oliver Brock
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 4965-4970, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/icra.2017.7989577

Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception

Author(s): Roberto Martín-Martín and Oliver Brock
Published in: AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, 2017
Publisher: AAAI

Handshakiness: Benchmarking for human-robot hand interactions

Author(s): Espen Knoop, Moritz Bacher, Vincent Wall, Raphael Deimel, Oliver Brock, Paul Beardsley
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 4982-4989, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206381

Cross-modal interpretation of multi-modal sensor streams in interactive perception based on coupled recursion

Author(s): Roberto Martin-Martin, Oliver Brock
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 3289-3295, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/IROS.2017.8206165

On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

Author(s): Irfan Hussain, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 3096-3101, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989354

Designing cable-driven actuation networks for kinematic chains and trees

Author(s): Vittorio Megaro, Espen Knoop, Andrew Spielberg, David I. W. Levin, Wojciech Matusik, Markus Gross, Bernhard Thomaszewski, Moritz Bächer
Published in: Proceedings of the ACM SIGGRAPH / Eurographics Symposium on Computer Animation - SCA '17, 2017, Page(s) 1-10, ISBN 9781-450350914
Publisher: ACM Press
DOI: 10.1145/3099564.3099576

From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands

Author(s): Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Simone Ciotti, Visar Arapi, Simone Fani, Matteo Bianchi
Published in: 2017 9th International Congress on Ultra Modern Telecommunications and Control Systems and Workshops (ICUMT), 2017, Page(s) 179-184, ISBN 978-1-5386-3435-6
Publisher: IEEE
DOI: 10.1109/ICUMT.2017.8255117

Design of an under-actuated wrist based on adaptive synergies

Author(s): Simona Casini, Vinicio Tincani, Giuseppe Averta, Mattia Poggiani, Cosimo Della Santina, Edoardo Battaglia, Manuel G. Catalano, Matteo Bianchi, Giorgio Grioli, Antonio Bicchi
Published in: 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, Page(s) 6679-6686, ISBN 978-1-5090-4633-1
Publisher: IEEE
DOI: 10.1109/ICRA.2017.7989789

On the common-mode and configuration-dependent stiffness control of multiple degrees of freedom hands

Author(s): Virginia Ruiz Garate, Nikos Tsagarakis, Antonio Bicchi, Arash Ajoudani
Published in: 2017 IEEE-RAS 17th International Conference on Humanoid Robotics (Humanoids), 2017, Page(s) 113-120, ISBN 978-1-5386-4678-6
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2017.8239545

Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems

Author(s): Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Published in: Robotics: Science and Systems XII, 2016, ISBN 9780-992374723
Publisher: Robotics: Science and Systems Foundation
DOI: 10.15607/RSS.2016.XII.036

Grasp Quality Evaluation in Underactuated Robotic Hands

Author(s): Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Maximo A. Roa
Published in: 2016, ISSN 2153-0866
Publisher: IEEE

Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+

Author(s): Cosimo Della Santina, Giorgio Grioli, Manuel Giuseppe Catalano, Alberto Brando,Antonio Bicchi
Published in: 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), 2015, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015

Planning grasp strategies That Exploit Environmental Constraints

Author(s): Clemens Eppner, Oliver Brock
Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 4947-4952, ISBN 978-1-4799-6923-4
Publisher: IEEE
DOI: 10.1109/ICRA.2015.7139886

Probabilistic multi-class segmentation for the Amazon Picking Challenge

Author(s): Rico Jonschkowski, Clemens Eppner, Sebastian Hofer, Roberto Martin-Martin, Oliver Brock
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1-7, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7758087

Reflex control of the Pisa/IIT SoftHand during object slippage

Author(s): Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos Tsagarakis, Antonio Bicchi
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 1972-1979, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487344

Learning dexterous manipulation for a soft robotic hand from human demonstrations

Author(s): Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 3786-3793, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759557

Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components

Author(s): Raphael Deimel, Marcel Radke, Oliver Brock
Published in: 2016, Page(s) IEEE, ISSN 2153-0866
Publisher: IEEE

A taxonomy of human grasping behavior suitable for transfer to robotic hands

Author(s): Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock
Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 4286-4291, ISBN 978-1-4799-6923-4
Publisher: IEEE
DOI: 10.1109/ICRA.2015.7139790

A compact representation of human single-object grasping

Author(s): Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens
Published in: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, Page(s) 1954-1959, ISBN 978-1-5090-3762-9
Publisher: IEEE
DOI: 10.1109/iros.2016.7759308

SoftHand Pro-D: Matching dynamic content of natural user commands with hand embodiment for enhanced prosthesis control

Author(s): Cristina Piazza, Cosimo Della Santina, Manuel Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
Published in: 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016, Page(s) 3516-3523, ISBN 978-1-4673-8026-3
Publisher: IEEE
DOI: 10.1109/ICRA.2016.7487532

Feeling Fireworks - An Inclusive Tactile Firework Display

Author(s): Dorothea Reusser, Espen Knoop, Roland Siegwart, Paul Beardsley
Published in: Proceedings of the 2019 CHI Conference on Human Factors in Computing Systems - CHI '19, 2019, Page(s) 1-11, ISBN 9781-450359702
Publisher: ACM Press
DOI: 10.1145/3290605.3300659

A Benchmarking Framework for Systematic Evaluation of Compliant Under-Actuated Soft End Effectors in an Industrial Context

Author(s): Panagiotis Sotiropoulos, Maximo A. Roa, Murilo F. Martins, Werner Fried, Hussein Mnyusiwalla, Pavlos Triantafyllou, Graham Deacon
Published in: 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, Page(s) 280-283, ISBN 978-1-5386-7283-9
Publisher: IEEE
DOI: 10.1109/humanoids.2018.8624924

A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting

Author(s): P. Triantafyllou, H. Mnyusiwalla, P. Sotiropoulos, M.A. Roa, D. Russell, and G. Deacon
Published in: IEEE Int. Conf. Robotics and Automation, (ICRA), 2019, Page(s) 6692-6698, ISBN 978-1-5386-6026-3
Publisher: IEEE

CLASH: Compliant Low Cost Antagonistic Servo Hands

Author(s): Werner Friedl, Hannes Hoppner, Florian Schmidt, Maximo A. Roa, Markus Grebenstein
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6469-6476, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8593903

Contingent Contact-Based Motion Planning

Author(s): Elod Pall, Arne Sieverling, Oliver Brock
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6615-6621, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594365

Acoustic Sensing for Soft Pneumatic Actuators

Author(s): Gabriel Zoller, Vincent Wall, Oliver Brock
Published in: 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, Page(s) 6986-6991, ISBN 978-1-5386-8094-0
Publisher: IEEE
DOI: 10.1109/iros.2018.8594396

Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond

Author(s): Matteo Bianchi, Giuseppe Averta, Edoardo Battaglia, Carlos Rosales, Manuel Bonilla, Alessandro Tondo, Mattia Poggiani, Gaspare Santaera, Simone Ciotti, Manuel G. Catalano, Antonio Bicchi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 7794-7801, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8463212

ExoSense: Measuring Manipulation in a Wearable Manner

Author(s): Edoardo Battaglia, Manuel G. Catalano, Giorgio Grioli, Matteo Bianchi, Antonio Bicchi
Published in: 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, Page(s) 2774-2781, ISBN 978-1-5386-3081-5
Publisher: IEEE
DOI: 10.1109/icra.2018.8460498

A Synergistic Behavior Underpins Human Hand Grasping Force Control During Environmental Constraint Exploitation

Author(s): Giuseppe Averta, Edoardo Battaglia, Cosimo Della Santina, Manuel G. Catalano, Matteo Bianchi
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 67-71, ISBN 978-3-030-01844-3
Publisher: Springer, Cham
DOI: 10.1007/978-3-030-01845-0_13

System-level evaluation of a Robotic System for a Pick-and-Place Task

Author(s): Panagiotis Sotiropoulos, Pavlos Triantafylou, Hussein Mnyusiwalla, Maximo A. Roa, Duncan Russell, Graham Deacon
Published in: Conference Workshop: IROS 2018 - Experimental Robotic Grasping and Manipulation, Benchmarks, Datasets, and Competitions, 2018
Publisher: IEEE

Physics-Based Selection of Informative Actions for Interactive Perception

Author(s): Clemens Eppner and Roberto Martin-Martin and Oliver Brock
Published in: IEEE Transactions on Automation Science and Engineering, 2018
Publisher: IEEE

Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping

Author(s): Can Erdogan and Armin Schröder and Oliver Brock
Published in: ICRA 2018, 2018
Publisher: IEEE

Multi-Task Sensorization of Soft Actuators Using Prior Knowledge

Author(s): Vincent Wall and Oliver Brock
Published in: IEEE International Conference on Robotics and Automation (ICRA), 2019, Page(s) 9416-9421
Publisher: IEEE

Force, torque and contact point information from deformable surfaces

Author(s): Ciotti S., Sun T., Battaglia E., Bicchi A., Liu H., Bianchi M.
Published in: ICRA 2019, 2019
Publisher: IEEE

Benchmarking Resilience of Artificial Hands

Author(s): F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi and M. G. Catalano
Published in: ICRA 2019, 2019
Publisher: IEEE

Teleoperation in cluttered environments using wearable haptic feedback

Author(s): Joao Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos Tsagarakis, Domenico Prattichizzo
Published in: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017, Page(s) 3401-3408, ISBN 978-1-5386-2682-5
Publisher: IEEE
DOI: 10.1109/iros.2017.8206180

Dexterity augmentation on a synergistic hand: The Pisa/IIT SoftHand+

Author(s): Cosimo Della Santina, Giorgio Grioli, Manuel Catalano, Alberto Brando, Antonio Bicchi
Published in: 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), Issue 3-5 Nov. 2015, 2015, Page(s) 497-503, ISBN 978-1-4799-6885-5
Publisher: IEEE
DOI: 10.1109/HUMANOIDS.2015.7363595

Modeling compliant grasps exploiting environmental constraints

Author(s): Gionata Salvietti, Monica Malvezzi, Guido Gioioso, Domenico Prattichizzo
Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 4941-4946, ISBN 978-1-4799-6923-4
Publisher: IEEE
DOI: 10.1109/ICRA.2015.7139885

Selective stiffening of soft actuators based on jamming

Author(s): Vincent Wall, Raphael Deimel, Oliver Brock
Published in: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015, Page(s) 252-257, ISBN 978-1-4799-6923-4
Publisher: IEEE
DOI: 10.1109/ICRA.2015.7139008

Soft robotic hands for compliant grasping

Author(s): Deimel, Raphael
Published in: 2017
Publisher: Technische Universität Berlin
DOI: 10.14279/depositonce-6063

Touch on the go: wearable haptics for sensing and augmented perception

Author(s): E. Battaglia
Published in: 2018
Publisher: University of Pisa

From Soft to Adaptive Synergies: The Pisa/IIT SoftHand

Author(s): Manuel G. Catalano, Giorgio Grioli, Edoardo Farnioli, Alessandro Serio, Manuel Bonilla, Manolo Garabini, Cristina Piazza, Marco Gabiccini, Antonio Bicchi
Published in: Human and Robot Hands, 2016, Page(s) 101-125, ISBN 978-3-319-26706-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-26706-7_8

On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control

Author(s): Giuseppe Averta, Franco Angelini, Antonio Bicchi, Gaetano Valenza, Matteo Bianchi
Published in: Converging Clinical and Engineering Research on Neurorehabilitation III - Proceedings of the 4th International Conference on NeuroRehabilitation (ICNR2018), October 16-20, 2018, Pisa, Italy, Issue 21, 2019, Page(s) 344-348, ISBN 978-3-030-01844-3
Publisher: Springer International Publishing
DOI: 10.1007/978-3-030-01845-0_69

Soft Hands for Reliable Grasping Strategies

Author(s): Raphael Deimel, Oliver Brock
Published in: Soft Robotics, 2015, Page(s) 211-221
Publisher: Springer

Human and Robot Hands

Author(s): Matteo Bianchi, Alessandro Moscatelli
Published in: Springer Series on Touch and Haptic Systems, 2016, ISBN 978-3-319-26706-7
Publisher: Springer International Publishing
DOI: 10.1007/978-3-319-26706-7