@conference {AMC08,
	title = {Physical Human-Robot Interaction: Dependability, Safety, and Performance},
	booktitle = {Proc. 10th Intl. Workshop Advanced Motion Control},
	year = {2008},
	pages = {9-14},
	abstract = {<p>In this paper we discuss the problem of achieving good performance in accuracy and promptness by a robot manipulator under the condition that safety is guaranteed throughout task execution. Intuitively, while a rigid and powerful structure of the arm would favor its performance, lightweight compliant structures are more suitable for safe operation. The quantitative analysis of the resulting design trade-off between safety and performance has a strong impact on how robot mechanisms and controllers should be designed for human-interactive applications. We discuss few different possible concepts for safely actuating joints, and focus on aspects related to the implementation of the mechanics and control of this new class of robots.</p>
},
	keywords = {Embedded Control, Physical Human-Robot Interaction (pHRI), Robotics},
	author = {A. Bicchi and M. Bavaro and G. Boccadamo and D. De Carli and R. Filippini and G. Grioli and M. Piccigallo and A. Rosi and R. Schiavi and S. Sen and G. Tonietti}
}
@article {FSB08,
	title = {Toward Soft Robot you can Depend on},
	journal = {IEEE Robotics and Automation Magazine},
	volume = {15},
	number = {3},
	year = {2008},
	pages = {31 - 41},
	keywords = {Embedded Control, Robotics},
	author = {R. Filippini and S. Sen and A. Bicchi}
}
@conference {filippini2007cda,
	title = {A Comparative Dependability Analysis of Antagonistic Actuation Arrangements for Enhanced Robotic Safety},
	booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation},
	year = {2007},
	pages = {4349{\textendash}4354},
	abstract = {In this paper we introduce an analysis of dependability of an elementary yet critical component of robotic systems designed to operate in environments shared with humans, i.e. the joint-level actuation system. We consider robot joints that implement the Variable Impedance Actuation (VIA) paradigm. The VIA has been demonstrated to be an effective mean to achieve high performance while constantly keeping injury risks to humans by accidental impacts below a given threshold. The paper describe possible implementations of the VIA concept which use the Antagonistic Actuation (AA) in three different arrangements. This study follows a previously reported paper dealing with safety. Here a detailed comparative dependability and performability analysis in front of possible specific failure modes is conducted, whose results provide additional and useful guidelines for design of safe and dependable actuation systems for physical human-robot interaction.
},
	keywords = {Robotics},
	author = {R. Filippini and S. Sen and G. Tonietti and A. Bicchi}
}
@conference {FSB07,
	title = {Variable Impedance Actuations for Physical Human Cooperating Robots: a Comparative Analysis of Performance, Safety and Dependability},
	booktitle = {Proc. IARP-IEEE/RAS-EURON Workshop on Technical Challenges for Dependable Robots in Human Environments.},
	year = {2007},
	month = {April},
	abstract = {<p>An antagonistic actuation with variable stiffness is proposed for ensuring safety and performance in human friendly robotic applications. Various arrangements are analysed with respect to performance, safety and dependability. The results are expected to provide useful guidelines for choosing an actuation mechanism and its implementation for human-robot interactive applications.</p>
},
	keywords = {Robotics},
	author = {R. Filippini and S. Sen and A. Bicchi}
}
