Proboscidean sensitive soft robot for versatile gripping

Livrables

Definition of functional materials for 2D and 3D sensing

The choices of functional materials for developing the tip and of the outer skin are explained in view of the utilization of the 3D printing methods are presented

Definition of functional materials for actuators

The choices of functional materials that will be used for developing for fabrication of durable integrated actuators are presented

Communication, dissemination and exploitation plan (CoDE plan) – first release

The first report of the COmmunication, Dissemination and Exploitation plan is released

Analysis of solutions for 2D and 3D multimodal sensing

The analysis of the State of the Art on planar and 3D structures for multimodal mechanical sensing is performed.

Project website and dissemination materials

Project website and dissemination materials are delivered

Full 3D high-resolution anatomical model with associated material properties

The final results on 3D high-resolution anatomical model with associated material properties are reported.

Development of multimodal sensing components

Sensing components, exploiting also 3D micro and nanostructures, able to detect multiple mechanical cues (i.e. pressure, tangential forces, air/fluid flow, etc) are designed, fabricated and tested.

Data Management Plan I (DMP)

The first Data Management Plan is released

Publications

Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Auteurs: Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Publié dans: Frontiers in Robotics and AI, Numéro 22969144, 2021, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2021.742885

Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning

Auteurs: Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 23773766, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3146903

Editorial: Machine Learning Techniques for Soft Robots

Auteurs: Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Publié dans: Frontiers in Robotics and AI, Numéro 22969144, 2021, ISSN 2296-9144
Éditeur: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Auteurs: Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Publié dans: Science Robotics, Numéro 24709476, 2022, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Auteurs: Simone Lantean; Matteo Lo Preti; Lucia Beccai
Publié dans: Soft Matter, 2022, ISSN 1744-6848
Éditeur: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Auteurs: Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Publié dans: Advanced Science, 2023, ISSN 2198-3844
Éditeur: Wiley
DOI: 10.1002/advs.202302080

Sensorized Objects Used to Quantitatively Study Distal Grasping in the African Elephant

Auteurs: Matteo Lo Preti; Lucia Beccai
Publié dans: iScience, 2023, ISSN 2589-0042
Éditeur: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Auteurs: Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 23773766, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Auteurs: Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Publié dans: IEEE/ASME Transactions on Mechatronics, Numéro 10834435, 2022, ISSN 1083-4435
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3158979

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Auteurs: Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Publié dans: MDPI Mathematics, Numéro 22277390, 2021, ISSN 2227-7390
Éditeur: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Auteurs: Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Publié dans: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Éditeur: Wiley
DOI: 10.1002/aisy.202200373

Open-loop Model-free Dynamic Control of a Soft Manipulator for Tracking Tasks

Auteurs: Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Publié dans: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Éditeur: IEEE
DOI: 10.1109/icar53236.2021.9659370

Open-loop Control of a Soft Arm in Throwing Tasks

Auteurs: Diego Bianchi, Michele Antonelli, Cecilia Laschi, Egidio Falotico
Publié dans: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 2022, ISBN 978-989-758-585-2
Éditeur: ScitePress
DOI: 10.5220/0011267100003271

Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

Auteurs: Savas Dilibal, Emre Tugberk Gulnergiz, Niccolò Pagliarani, Enrico Donato, Francesco Iori, Elisa Setti, Egidio Falotico, Matteo Cianchett
Publié dans: 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2022
Éditeur: IEEE
DOI: 10.1109/hora55278.2022.9799902

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Auteurs: Seonggun Joe, Federico Bernabei, Lucia Beccai
Publié dans: Rehabilitation of the Human Bone-Muscle System, 2022
Éditeur: IntechOpen
DOI: 10.5772/intechopen.104373

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