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1,065 results on '"Prattichizzo, Domenico"'

1. Educational Resources for Robotics: Accessible Lectures and Toolboxes

Author

Pozzi, Maria, Prattichizzo, Domenico, Malvezzi, Monica, Ceccarelli, Marco, Series Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Agrawal, Sunil K., Advisory Editor, Quaglia, Giuseppe, editor, Boschetti, Giovanni, editor, and Carbone, Giuseppe, editor

Published
2024
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2. Development of the Modular Finger Elements of an Actuated Glove for Hand Rehabilitation

Author

Dragusanu, Mihai, Saeed, Anjum, Guinet, Nicolas, Troisi, Danilo, Prattichizzo, Domenico, Malvezzi, Monica, Ceccarelli, Marco, Series Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Agrawal, Sunil K., Advisory Editor, Quaglia, Giuseppe, editor, Boschetti, Giovanni, editor, and Carbone, Giuseppe, editor

Published
2024
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3. Evaluation of Tactile Feedback for Teleoperated Glove-Based Interaction Tasks

Author

Dural, Ömer Erencan, Shahid, Asad Ali, Gioioso, Guido, Prattichizzo, Domenico, Braghin, Francesco, Roveda, Loris, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Piazza, Cristina, editor, Capsi-Morales, Patricia, editor, Figueredo, Luis, editor, Keppler, Manuel, editor, and Schütze, Hinrich, editor

Published
2024
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4. Avatarm: an Avatar With Manipulation Capabilities for the Physical Metaverse

Author

Villani, Alberto, Cortigiani, Giovanni, Brogi, Bernardo, D'Aurizio, Nicole, Baldi, Tommaso Lisini, and Prattichizzo, Domenico

Subjects
Computer Science - Robotics
Abstract

Metaverse is an immersive shared space that remote users can access through virtual and augmented reality interfaces, enabling their avatars to interact with each other and the surrounding. Although digital objects can be manipulated, physical objects cannot be touched, grasped, or moved within the metaverse due to the lack of a suitable interface. This work proposes a solution to overcome this limitation by introducing the concept of a Physical Metaverse enabled by a new interface named "Avatarm". The Avatarm consists in an avatar enhanced with a robotic arm that performs physical manipulation tasks while remaining entirely hidden in the metaverse. The users have the illusion that the avatar is directly manipulating objects without the mediation by a robot. The Avatarm is the first step towards a new metaverse, the "Physical Metaverse", where users can physically interact each other and with the environment.

Published
2023

5. Learning Skills from Demonstrations: A Trend from Motion Primitives to Experience Abstraction

Author

Tavassoli, Mehrdad, Katyara, Sunny, Pozzi, Maria, Deshpande, Nikhil, Caldwell, Darwin G., and Prattichizzo, Domenico

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

The uses of robots are changing from static environments in factories to encompass novel concepts such as Human-Robot Collaboration in unstructured settings. Pre-programming all the functionalities for robots becomes impractical, and hence, robots need to learn how to react to new events autonomously, just like humans. However, humans, unlike machines, are naturally skilled in responding to unexpected circumstances based on either experiences or observations. Hence, embedding such anthropoid behaviours into robots entails the development of neuro-cognitive models that emulate motor skills under a robot learning paradigm. Effective encoding of these skills is bound to the proper choice of tools and techniques. This paper studies different motion and behaviour learning methods ranging from Movement Primitives (MP) to Experience Abstraction (EA), applied to different robotic tasks. These methods are scrutinized and then experimentally benchmarked by reconstructing a standard pick-n-place task. Apart from providing a standard guideline for the selection of strategies and algorithms, this paper aims to draw a perspectives on their possible extensions and improvements, Comment: Under Review at IEEE TCDS for future Publication

Published
2022

8. Joint Stiffness Analysis and Regulation for Underactuated Soft Grippers Based on Monolithic Structure

Author

Dragusanu, Mihai, Troisi, Danilo, Prattichizzo, Domenico, Malvezzi, Monica, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Petuya, Victor, editor, Quaglia, Giuseppe, editor, Parikyan, Tigran, editor, and Carbone, Giuseppe, editor

Published
2023
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9. Enhancing human bodies with extra robotic arms and fingers: The Neural Resource Allocation Problem

Author

Dominijanni, Giulia, Shokur, Solaiman, Salvietti, Gionata, Buehler, Sarah, Palmerini, Erica, Rossi, Simone, De Vignemont, Frederique, D'Avella, Andrea, Makin, Tamar R., Prattichizzo, Domenico, and Micera, Silvestro

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

The emergence of robot-based body augmentation promises exciting innovations that will inform robotics, human-machine interaction, and wearable electronics. Even though augmentative devices like extra robotic arms and fingers in many ways build on restorative technologies, they introduce unique challenges for bidirectional human-machine collaboration. Can humans adapt and learn to operate a new limb collaboratively with their biological limbs without sacrificing their physical abilities? To successfully achieve robotic body augmentation, we need to ensure that by giving a person an additional (artificial) limb, we are not in fact trading off an existing (biological) one. In this manuscript, we introduce the "Neural Resource Allocation" problem, which distinguishes body augmentation from existing robotics paradigms such as teleoperation and prosthetics. We discuss how to allow the effective and effortless voluntary control of augmentative devices without compromising the voluntary control of the biological body. In reviewing the relevant literature on extra robotic fingers and limbs we critically assess the range of potential solutions available for the "Neural Resource Allocation" problem. For this purpose, we combine multiple perspectives from engineering and neuroscience with considerations from human-machine interaction, sensory-motor integration, ethics and law. Altogether we aim to define common foundations and operating principles for the successful implementation of motor augmentation.

Published
2021

10. Exploiting Intrinsic Kinematic Null Space for Supernumerary Robotic Limbs Control

Author

Baldi, Tommaso Lisini, D'Aurizio, Nicole, Gurgone, Sergio, Borzelli, Daniele, D'Avella, Andrea, and Prattichizzo, Domenico

Subjects
Computer Science - Robotics
Abstract

Supernumerary robotic limbs (SRLs) gained increasing interest in the last years for their applicability as healthcare and assistive technologies. These devices can either support or augment human sensorimotor capabilities, allowing users to complete tasks that are more complex than those feasible for their natural limbs. However, for a successful coordination between natural and artificial limbs, intuitiveness of interaction and perception of autonomy are key enabling features, especially for people suffering from motor disorders and impairments. The development of suitable human-robot interfaces is thus fundamental to foster the adoption of SRLs. With this work, we describe how to control an extra degree of freedom by taking advantage of what we defined the Intrinsic Kinematic Null Space, i.e. the redundancy of the human kinematic chain involved in the ongoing task. Obtained results demonstrated that the proposed control strategy is effective for performing complex tasks with a supernumerary robotic finger, and that practice improves users' control ability., Comment: This work has been submitted to the IEEE for possible publication. Copyright may be transferred without notice, after which this version may no longer be accessible

Published
2020

11. Wearable Haptics for Remote Social Walking

Author

Baldi, Tommaso Lisini, Paolocci, Gianluca, Barcelli, Davide, and Prattichizzo, Domenico

Subjects
Computer Science - Human-Computer Interaction
Abstract

Walking is an essential activity for a healthy life, which becomes less tiring and more enjoyable if done together. Common difficulties we have in performing sufficient physical exercise, for instance the lack of motivation, can be overcome by exploiting its social aspect. However, our lifestyle sometimes makes it very difficult to find time together with others who live far away from us to go for a walk. In this paper we propose a novel system enabling people to have a 'remote social walk' by streaming the gait cadence between two persons walking in different places, increasing the sense of mutual presence. Vibrations provided at the users' ankles display the partner's sensation perceived during the heel-strike. In order to achieve the aforementioned goal in a two users experiment, we envisaged a four-step incremental validation process: i) a single walker has to adapt the cadence with a virtual reference generated by a software; ii) a single user is tasked to follow a predefined time varying gait cadence; iii) a leader-follower scenario in which the haptic actuation is mono-directional; iv) a peer-to-peer case with bi-directional haptic communication. Careful experimental validation was conducted involving a total of 50 people, which confirmed the efficacy of our system in perceiving the partners' gait cadence in each of the proposed scenarios.

Published
2020
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14. Upper Body Pose Estimation Using Wearable Inertial Sensors and Multiplicative Kalman Filter

Author

Baldi, Tommaso Lisini, Farina, Francesco, Garulli, Andrea, Giannitrapani, Antonio, and Prattichizzo, Domenico

Subjects
Computer Science - Robotics
Abstract

Estimating the limbs pose in a wearable way may benefit multiple areas such as rehabilitation, teleoperation, human-robot interaction, gaming, and many more. Several solutions are commercially available, but they are usually expensive or not wearable/portable. We present a wearable pose estimation system (WePosE), based on inertial measurements units (IMUs), for motion analysis and body tracking. Differently from camera-based approaches, the proposed system does not suffer from occlusion problems and lighting conditions, it is cost effective and it can be used in indoor and outdoor environments. Moreover, since only accelerometers and gyroscopes are used to estimate the orientation, the system can be used also in the presence of iron and magnetic disturbances. An experimental validation using a high precision optical tracker has been performed. Results confirmed the effectiveness of the proposed approach., Comment: 8 pages, 8 figures

Published
2019
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15. Quasi-static Analysis of Planar Sliding Using Friction Patches

Author

Ardakani, M. Mahdi Ghazaei, Bimbo, Joao, and Prattichizzo, Domenico

Subjects
Computer Science - Robotics
Abstract

Planar sliding of objects is modeled and analyzed. The model can be used for non-prehensile manipulation of objects lying on a surface. We study possible motions generated by frictional contacts, such as those arising between a soft finger and a flat object on a table. Specifically, using a quasi-static analysis we are able to derive a hybrid dynamical system to predict the motion of the object. The model can be used to find fixed-points of the system and the path taken by the object to reach such configurations. Important information for planning, such as the conditions in which the object sticks to the friction patch, pivots, or completely slides against it are obtained. Experimental results confirm the validity of the model for a wide range of applications., Comment: 18 pages, 16 figures

Published
2019

16. HapticPalm: A Wearable Robotic Device for Haptics and Rehabilitative Hand Treatments

Author

Troisi, Danilo, Dragusanu, Mihai, Villani, Alberto, Prattichizzo, Domenico, Malvezzi, Monica, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Cavallo, Filippo, editor, Cabibihan, John-John, editor, Fiorini, Laura, editor, Sorrentino, Alessandra, editor, He, Hongsheng, editor, Liu, Xiaorui, editor, Matsumoto, Yoshio, editor, and Ge, Shuzhi Sam, editor

Published
2022
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17. A Perspective on Intervention Approaches for Children with Autism Spectrum Disorder

Author

Balaji, Saishashank, Sanfilippo, Filippo, Gerdes, Martin W., Prattichizzo, Domenico, Filipe, Joaquim, Editorial Board Member, Ghosh, Ashish, Editorial Board Member, Prates, Raquel Oliveira, Editorial Board Member, Zhou, Lizhu, Editorial Board Member, Sanfilippo, Filippo, editor, Granmo, Ole-Christoffer, editor, Yayilgan, Sule Yildirim, editor, and Bajwa, Imran Sarwar, editor

Published
2022
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18. Underactuated Soft Gripper for Helping Humans in Harmful Works

Author

Achilli, Gabriele Maria, Logozzo, Silvia, Valigi, Maria Cristina, Salvietti, Gionata, Prattichizzo, Domenico, Malvezzi, Monica, Ceccarelli, Marco, Series Editor, Agrawal, Sunil K., Advisory Editor, Corves, Burkhard, Advisory Editor, Glazunov, Victor, Advisory Editor, Hernández, Alfonso, Advisory Editor, Huang, Tian, Advisory Editor, Jauregui Correa, Juan Carlos, Advisory Editor, Takeda, Yukio, Advisory Editor, Quaglia, Giuseppe, editor, Gasparetto, Alessandro, editor, Petuya, Victor, editor, and Carbone, Giuseppe, editor

Published
2022
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29. Introduction

Author

Hussain, Irfan, Prattichizzo, Domenico, Guglielmelli, Eugenio, Series Editor, Hussain, Irfan, and Prattichizzo, Domenico

Published
2020
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34. Modeling a Sensorized Soft Layer for Adding Compliance to the Environment in Robotic Manipulation

Author

Pozzi, Maria, Gaudeni, Chiara, Iqbal, Zubair, Prattichizzo, Domenico, Malvezzi, Monica, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Agrawal, Sunil, Editorial Board Member, Niola, Vincenzo, editor, and Gasparetto, Alessandro, editor

Published
2021
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38. How to 3D-Print Compliant Joints with a Selected Stiffness for Cooperative Underactuated Soft Grippers

Author

Hussain, Irfan, Iqbal, Zubair, Malvezzi, Monica, Prattichizzo, Domenico, Salvietti, Gionata, Siciliano, Bruno, Series Editor, Khatib, Oussama, Series Editor, Antonelli, Gianluca, Advisory Editor, Fox, Dieter, Advisory Editor, Harada, Kensuke, Advisory Editor, Hsieh, M. Ani, Advisory Editor, Kröger, Torsten, Advisory Editor, Kulic, Dana, Advisory Editor, Park, Jaeheung, Advisory Editor, Ferraguti, Federica, editor, Villani, Valeria, editor, Sabattini, Lorenzo, editor, and Bonfè, Marcello, editor

Published
2020
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41. Shared Haptic Perception for Human-Robot Collaboration

Author

Katayama, Kazuki, Pozzi, Maria, Tanaka, Yoshihiro, Minamizawa, Kouta, Prattichizzo, Domenico, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Nisky, Ilana, editor, Hartcher-O’Brien, Jess, editor, Wiertlewski, Michaël, editor, and Smeets, Jeroen, editor

Published
2020
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42. Instrumenting Hand-Held Surgical Drills with a Pneumatic Sensing Cover for Haptic Feedback

Author

Gaudeni, Chiara, Lisini Baldi, Tommaso, Achilli, Gabriele M., Mandalà, Marco, Prattichizzo, Domenico, Goos, Gerhard, Founding Editor, Hartmanis, Juris, Founding Editor, Bertino, Elisa, Editorial Board Member, Gao, Wen, Editorial Board Member, Steffen, Bernhard, Editorial Board Member, Woeginger, Gerhard, Editorial Board Member, Yung, Moti, Editorial Board Member, Nisky, Ilana, editor, Hartcher-O’Brien, Jess, editor, Wiertlewski, Michaël, editor, and Smeets, Jeroen, editor

Published
2020
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43. Follow, listen, feel and go: alternative guidance systems for a walking assistance device

Author

Moro, Federico, Fontanelli, Daniele, Passerone, Roberto, Prattichizzo, Domenico, Rizzon, Luca, Scheggi, Stefano, Targher, Stefano, De Angeli, Antonella, and Palopoli, Luigi

Subjects
Computer Science - Robotics
Abstract

In this paper, we propose several solutions to guide an older adult along a safe path using a robotic walking assistant (the c-Walker). We consider four different possibilities to execute the task. One of them is mechanical, with the c-Walker playing an active role in setting the course. The other ones are based on tactile or acoustic stimuli, and suggest a direction of motion that the user is supposed to take on her own will. We describe the technological basis for the hardware components implementing the different solutions, and show specialized path following algorithms for each of them. The paper reports an extensive user validation activity with a quantitative and qualitative analysis of the different solutions. In this work, we test our system just with young participants to establish a safer methodology that will be used in future studies with older adults., Comment: 14 pages

Published
2016

47. A Novel Pneumatic Force Sensor for Robot-Assisted Surgery

Author

Gaudeni, Chiara, Meli, Leonardo, Prattichizzo, Domenico, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Prattichizzo, Domenico, editor, Shinoda, Hiroyuki, editor, Tan, Hong Z., editor, Ruffaldi, Emanuele, editor, and Frisoli, Antonio, editor

Published
2018
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48. Human Guidance: Suggesting Walking Pace Under Manual and Cognitive Load

Author

Lisini Baldi, Tommaso, Paolocci, Gianluca, Prattichizzo, Domenico, Hutchison, David, Series Editor, Kanade, Takeo, Series Editor, Kittler, Josef, Series Editor, Kleinberg, Jon M., Series Editor, Mattern, Friedemann, Series Editor, Mitchell, John C., Series Editor, Naor, Moni, Series Editor, Pandu Rangan, C., Series Editor, Steffen, Bernhard, Series Editor, Terzopoulos, Demetri, Series Editor, Tygar, Doug, Series Editor, Weikum, Gerhard, Series Editor, Prattichizzo, Domenico, editor, Shinoda, Hiroyuki, editor, Tan, Hong Z., editor, Ruffaldi, Emanuele, editor, and Frisoli, Antonio, editor

Published
2018
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49. Design Criteria for Wearable Robotic Extra–Fingers with Underactuated Modular Structure

Author

Malvezzi, Monica, Valigi, Maria Cristina, Salvietti, Gionata, Iqbal, Zubair, Hussain, Irfan, Prattichizzo, Domenico, Ceccarelli, Marco, Series Editor, Hernandez, Alfonso, Editorial Board Member, Huang, Tian, Editorial Board Member, Velinsky, Steven A., Editorial Board Member, Takeda, Yukio, Editorial Board Member, Corves, Burkhard, Editorial Board Member, Carbone, Giuseppe, editor, and Gasparetto, Alessandro, editor

Published
2019
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50. Human Rendezvous via Haptic Suggestion

Author

Paolocci, Gianluca, Lisini Baldi, Tommaso, Prattichizzo, Domenico, Angrisani, Leopoldo, Series Editor, Arteaga, Marco, Series Editor, Panigrahi, Bijaya Ketan, Series Editor, Chakraborty, Samarjit, Series Editor, Chen, Jiming, Series Editor, Chen, Shanben, Series Editor, Chen, Tan Kay, Series Editor, Dillmann, Rüdiger, Series Editor, Duan, Haibin, Series Editor, Ferrari, Gianluigi, Series Editor, Ferre, Manuel, Series Editor, Hirche, Sandra, Series Editor, Jabbari, Faryar, Series Editor, Jia, Limin, Series Editor, Kacprzyk, Janusz, Series Editor, Khamis, Alaa, Series Editor, Kroeger, Torsten, Series Editor, Liang, Qilian, Series Editor, Martin, Ferran, Series Editor, Ming, Tan Cher, Series Editor, Minker, Wolfgang, Series Editor, Misra, Pradeep, Series Editor, Möller, Sebastian, Series Editor, Mukhopadhyay, Subhas, Series Editor, Ning, Cun-Zheng, Series Editor, Nishida, Toyoaki, Series Editor, Pascucci, Federica, Series Editor, Qin, Yong, Series Editor, Seng, Gan Woon, Series Editor, Speidel, Joachim, Series Editor, Veiga, Germano, Series Editor, Wu, Haitao, Series Editor, Zhang, Junjie James, Series Editor, Kajimoto, Hiroyuki, editor, Lee, Dongjun, editor, Kim, Sang-Youn, editor, Konyo, Masashi, editor, and Kyung, Ki-Uk, editor

Published
2019
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