@conference {3106, title = {Design of an Under-Actuated Wrist Based on Adaptive Synergies}, booktitle = {IEEE International Conference of Robotics and Automation, ICRA2017}, year = {2017}, publisher = {IEEE}, organization = {IEEE}, address = {Singapore, 29 May-3 June 2017}, abstract = {

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. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2017.7989789}, url = {http://ieeexplore.ieee.org/document/7989789/}, author = {S. Casini and V. Tincani and G. Averta and M. Poggiani and C. Della Santina and E. Battaglia and M. G. Catalano and M. Bianchi and G. Grioli and A. Bicchi} } @article {3258, title = {The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working }, journal = {IEEE Robotics and Automation Magazine}, year = {2017}, note = {

This work was supported by the European Commission project (Horizon 2020 research program) SOFTPRO 688857, the European Research Council under the Advanced Grant SoftHands {\textquotedblleft}A Theory of Soft Synergies for a New Generation of Artificial Hands,{\textquotedblright} ERC-291166, and the Proof of Concept Project SoftHand Pro-H, ERC-2016-PoC 727536.\ 

}, month = {11/2017}, keywords = {Haptics, Robotics}, issn = {1070-9932}, doi = {10.1109/MRA.2017.2751662}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8110634}, author = {C. Piazza and M. G. Catalano and S. B. Godfrey and M. Rossi and G. Grioli and M. Bianchi and K. Zhao and A. Bicchi} } @article {2844, title = {Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications}, journal = {Frontiers in Neurorobotics}, volume = {10}, year = {2016}, month = {10/2016}, abstract = {

Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step towards a more effective and intuitive control of myoelectric hand prostheses.

}, keywords = {Haptics, Robotics}, doi = {10.3389/fnbot.2016.00011}, url = {https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/}, author = {S. Fani and M. Bianchi and S. Jain and J. Pimenta Neto and S. Boege and G. Grioli and A. Bicchi and M. Santello} } @inbook {2865, title = {The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype}, booktitle = {Converging Clinical and Engineering Research on Neurorehabilitation II}, volume = {15}, number = {Biosystems \& Biorobotics }, year = {2016}, note = {

Proceedings of the 3rd International Conference on NeuroRehabilitation (ICNR2016), October 18-21, 2016, Segovia, Spain

}, pages = {469-473}, publisher = {Springer International Publishing}, organization = {Springer International Publishing}, abstract = {

This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.

}, keywords = {Haptics, Robotics}, issn = {978-3-319-46668-2}, doi = {10.1007/978-3-319-46669-9_78}, url = {http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78}, author = {S. B. Godfrey and M. Bianchi and K. Zhao and M. G. Catalano and R. Breighner and A. Theuer and K. Andrews and G. Grioli and M. Santello and A. Bicchi} } @conference {2725, title = {SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control}, booktitle = {IEEE International Conference of Robotics and Automation (ICRA2016)}, year = {2016}, note = {

softpro soma softhands

}, pages = {3516 - 3523}, publisher = {IEEE}, organization = {IEEE}, address = {Stockholm, Sweden, May 16-21}, abstract = {

State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions of the patient using the dynamic frequency content of the control signals in a natural way. We move a step further showing how this idea can be embedded in the mechanics of an underactuated soft hand by using only passive damping components.

In particular we devise a method to design the hand hardware to obtain a given desired motion. This method, that we call of the dynamic synergies, builds on the theory of linear descriptor systems, and is based on the division of the hand movement in a slow and a fast components. We use this method to evolve the design of the Pisa/IIT SoftHand in a prototype prosthesis which, while still having 19 degrees of freedom and just one motor, can move along two different synergistic directions of motion (and combinations of the two), to perform either a pinch or a power grasp. Preliminary experimental results are presented, demonstrating the effectiveness of the proposed design

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2016.7487532}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7487532}, author = {C. Piazza and C. Della Santina and M. G. Catalano and G. Grioli and M. Garabini and A. Bicchi} } @article {2544, title = {ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis}, journal = {IEEE Transactions on Haptics}, volume = {9}, year = {2016}, note = {
This work was partially supported by the European Community funded projects WEARHAP, PACMAN and SOMA (contracts 601165, 600918 and 645599 respectively), by the ERC Advanced Grant no. 291166 SoftHands
}, month = {03/2016}, pages = {121-133}, abstract = {

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 the principle of intrinsic tactile sensing. By exploiting the integration of this approach with an active marker-based motion capture system, the proposed device simultaneously measures absolute position and orientation of the fingertip, which in turn yields measurements of contacts and force components expressed in a global reference frame. The main advantage of this approach with respect to more conventional solutions is its versatility. Specifically, ThimbleSense can be used to study grasping and manipulation of a wide variety of objects, while still retaining complete force/torque measurements. Nevertheless, validation of the proposed device is a necessary step before it can be used for experimental purposes. In this work we present the results of a series of experiments designed to validate the accuracy of ThimbleSense measurements and evaluate the effects of distortion of tactile afferent inputs caused by the device{\textquoteright}s rigid shells on grasp forces.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2015.2482478}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7294702}, author = {E. Battaglia and M. Bianchi and Altobelli, A and G. Grioli and M. G. Catalano and A. Serio and M. Santello and A. Bicchi} } @conference {2537, title = {Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+}, booktitle = {15th IEEE RAS Humanoids Conference (HUMANOIDS2015)}, year = {2015}, note = {

Softhands, SOMA

Best Interactive Paper Award

}, pages = {497 - 503}, publisher = {IEEE}, organization = {IEEE}, address = {Seoul, Korea, November 3 - 5, 2015}, abstract = {
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2015.7363595}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7363595}, author = {C. Della Santina and G. Grioli and M. G. Catalano and Brando, A. and A. Bicchi} } @article {1665, title = {Adaptive Synergies for the Design and Control of the Pisa/IIT SoftHand}, journal = {International Journal of Robotics Research}, volume = {33}, year = {2014}, pages = {768{\textendash}782}, keywords = {Haptics, Robotics}, doi = {10.1177/0278364913518998}, author = {M. G. Catalano and G. Grioli and E. Farnioli and A. Serio and C. Piazza and A. Bicchi} } @conference {2081, title = {Exploring haptic feedback for the Pisa/IIT SoftHand}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775572}, author = {S. B. Godfrey and A. Ajoudani and M. Bianchi and M. G. Catalano and G. Grioli and A. Bicchi} } @article {1668, title = {Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand}, journal = { IEEE Transactions on Haptics}, volume = {7}, year = {2014}, pages = {203 - 215}, keywords = {Haptics, Robotics}, doi = {10.1109/TOH.2014.2309142 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6755554}, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and M. Bianchi and G. Grioli and N G Tsagarakis and A. Bicchi} } @conference {2232, title = {Grasping with Soft Hands}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {581 - 587}, address = {Madrid, Spain, November 18 - 20}, abstract = {

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple {\textemdash} in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) {\textemdash} but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041421}, url = {http://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=\&arnumber=7041421\&queryText\%3DGrasping+with+Soft+Hands}, author = {M. Bonilla and E. Farnioli and C. Piazza and M. G. Catalano and G. Grioli and M. Garabini and M Gabiccini and A. Bicchi} } @conference {2083, title = {ThimbleSense: A new wearable tactile device for human and robotic fingers }, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775571}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Bianchi and A. Serio and M. Santello and A. Bicchi} } @conference {2130, title = {ThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies}, booktitle = {IEEE International Conference on Robotics and Automation - ICRA 2014}, year = {2014}, pages = {2728 - 2735 }, publisher = {IEEE}, organization = {IEEE}, address = { Hong Kong, May 31 - June 7, 2014}, abstract = {

Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.

}, keywords = {Haptics, Robotics}, doi = {10.1109/ICRA.2014.6907250 }, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=6907250}, author = {E. Battaglia and G. Grioli and M. G. Catalano and M. Santello and A. Bicchi} } @conference {1438, title = {Implementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces}, booktitle = {IEEE International Conference on Robotics and Automation (ICRA2013)}, year = {2013}, pages = {2744 - 2750}, keywords = {Haptics, Robotics}, url = {10.1109/ICRA.2013.6630955 }, author = {V. Tincani and G. Grioli and M. G. Catalano and M. Garabini and S. Grechi and G Fantoni and A. Bicchi} } @conference {1664, title = {A synergy-driven approach to a myoelectric hand}, booktitle = {13TH International Conference on Rehabilitation Robotics}, year = {2013}, pages = {1 - 6}, address = {June 24-26, 2013, Seattle, WA.}, keywords = {Haptics, Robotics}, url = {10.1109/ICORR.2013.6650377 }, author = {S. B. Godfrey and A. Ajoudani and M. G. Catalano and G. Grioli and A. Bicchi} } @conference {1666, title = {Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand}, booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013}, year = {2013}, month = {November 3-7}, pages = {1985 - 1991}, address = {Tokyo, Japan}, keywords = {Haptics, Robotics}, doi = {10.1109/IROS.2013.6696620 }, author = {A. Ajoudani and S. B. Godfrey and M. G. Catalano and G. Grioli and N G Tsagarakis and A. Bicchi} } @conference {SCGGB11, title = {The Hand Embodied}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {A. Serio and M. G. Catalano and G. Grioli and M Gabiccini and A. Bicchi} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @conference {BGSSB, title = {Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position}, booktitle = {Eurohaptics 2010}, series = {Lecture Notes in Computer Science}, volume = {6192/2010}, year = {2010}, month = {July, 8 - 10}, pages = {136 - 143}, address = {Amsterdam (The Netherlands)}, keywords = {Haptics, Robotics}, author = {M. Bianchi and G. Grioli and E. P. Scilingo and M. Santello and A. Bicchi} }