01991nas a2200265 4500008004100000022001400041245010900055210006900164260001200233300001200245490000700257520121600264653001201480653001301492100002101505700001701526700001601543700001801559700001801577700001701595700001401612700001501626700002001641856006401661 2017 eng d a1939-141200aAn Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window0 aIntegrated Approach to Characterize the Behavior of a Human Fing c01/2017 a123-1290 v103 a

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant's fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

10aHaptics10aRobotics1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aD'Imperio, M.1 aBattaglia, E.1 aPoggiani, M.1 aRossi, G.1 aBicchi, A.1 aCaldwell, D. G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=757958204167nas a2200229 4500008004500000245007700045210006900122260003400191300001000225520347300235653001203708653001303720100001503733700002103748700001703769700001603786700001303802700001503815700002003830700001903850856006803869 2015 engldsh 00aCharacterization of Nonlinear Finger Pad Mechanics for Tactile Rendering0 aCharacterization of Nonlinear Finger Pad Mechanics for Tactile R aChicago, USA, 22-25 June 2015 a63-683 a

The computation of skin forces and deformations for tactile rendering requires an accurate model of the extremely nonlinear behavior of the skin. In this work, we investigate the characterization of fingermechanics with the goal of designing accurate nonlinear models for tactile rendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled finger indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches nonlinear models that match the measured data with high accuracy.

10aHaptics10aRobotics1 aMiguel, E.1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aMemeo, M1 aBicchi, A.1 aCaldwell, D. G.1 aOtaduy, M., A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=717769201905nas a2200265 4500008004100000245008800041210006900129300001200198490000700210520109000217653001201307653001301319100001701332700001501349700001601364700002001380700001401400700001601414700001701430700001501447700001801462700002001480700002001500856011901520 2014 eng d00aHANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS0 aHANDSDVI A DeViceIndependent programming and control framework f a197-2150 v943 a

The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.

10aHaptics10aRobotics1 aSalvietti, G1 aGioioso, G1 aMalvezzi, M1 aPrattichizzo, D1 aSerio, A.1 aFarnioli, E1 aGabiccini, M1 aBicchi, A.1 aSarakoglou, I1 aTsagarakis, N G1 aCaldwell, D. G. uhttp://95.110.227.47/publications/handsdvi-device-independent-programming-and-control-framework-robotic-hands.html00533nas a2200169 4500008003900000245006400039210006400103260002600167300001600193653001200209653001300221100002100234700001800255700001500273700002000288856005500308 2014 d00aHaptic Exploration of Unknown Surfaces with Discontinuities0 aHaptic Exploration of Unknown Surfaces with Discontinuities aChicago, USAc09/2014 a1255 - 126010aHaptics10aRobotics1 aJamisola, R., S.1 aKormushev, P.1 aBicchi, A.1 aCaldwell, D. G. uhttp://kormushev.com/papers/Jamisola_IROS-2014.pdf02577nas a2200241 4500008003900000245009300039210006900132260004200201300001400243520183800257653001202095653001302107100001702120700001102137700001402148700001602162700001902178700001502197700002002212700001502232700002002247856006802267 2014 d00aManipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task0 aManipulation Framework for Compliant Humanoid COMAN Application  aMadrid, Spain, November 18 - 20bIEEE a664 - 6703 a

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve's friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

10aHaptics10aRobotics1 aAjoudani, A.1 aLee, J1 aRocchi, A1 aFerrati, M.1 aHoffman, Mingo1 aSettimi, A1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N G uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7041434