Publications

Articles in Journals

2020. A Compact McKibben Muscle Based Bending Actuator for Close-to-Body Application in Assistive Wearable Robots. Authors: M. Tschiersky, E. E. G. Hekman, D. M. Brouwer, J. L. Herder and K. Suzumori. DOI: 10.1109/LRA.2020.2975732
2020. Benchmarking Hand and Grasp Resilience to Dynamic Loads. Authors: F. Negrello et a. DOI: 10.1109/LRA.2020.2969180
2020. Design and Validation of the Readable Device: a single-cell Electromagnetic Refreshable Braille Display. Authors: Bettelani G.C, Averta G.B, Catalano M.G., Leporini B., Bianchi M.. DOI: 10.1109/TOH.2020.2970929
2020. Hands in the Real World. Authors: Negrello, Francesca, Hannah S. Stuart, and Manuel G. Catalano.. DOI: 10.3389/frobt.2019.00147
2020. On the Role of Lateral Force in Texture-Induced Motion Bias During Reaching Tasks. Authors: Bettelani G.C, Moscatelli A., Bianchi M.. DOI: 10.1109/TOH.2020.2970927
2020. Upper Body Pose Estimation Using Wearable Inertial Sensors and Multiplicative Kalman Filter. Authors: T. Lisini Baldi, F. Farina, A. Garulli, A, Giannitrapani, D. Prattichizzo. DOI: 10.1109/JSEN.2019.2940612
2019. A data-driven framework for the selection and validation of digital health metrics: use-case in neurological sensorimotor impairments. Authors: Kanzler, C. M., Rinderknecht, M. D., Schwarz, A., Lamers, I., Gagnon, C., Held, J., Feys, P., Luft, A. R., Gassert, R., Lambercy, O.. DOI: DOI: 10.1101/544601
2019. A Novel Skin-Stretch Haptic Device for Intuitive Control of Robotic Prostheses and Avatars. Authors: Nicoletta Colella, Matteo Bianchi ,Giorgio Grioli ,Antonio Bicchi,Manuel Giuseppe Catalano. DOI: 10.1109/LRA.2019.2896484
2019. A Spherical Active Joint for Humanoids and Humans. Authors: Sariah Mghames,Manuel Giuseppe Catalano ,Antonio Bicchi,Giorgio Grioli. DOI: 10.1109/LRA.2019.2893423
2019. An Objective Technology-based Assessment of Arm and Hand Sensorimotor Disability in Neurological Disorders. Authors: Kanzler, C. M., Rinderknecht, M. D., Schwarz, A., Lamers, I., Gagnon, C., Held, J., Feys, P., Luft, A. R., Gassert, R., Lambercy, O.. DOI: DOI: 10.1101/544601
2019. Assessment of muscle fatigue during isometric contraction using autonomic nervous system correlates. Authors: Alberto Greco, Gaetano Valenza, Antonio Bicchi, Matteo Bianchi, Enzo PasqualeScilingo. DOI: https://doi.org/10.1016/j.bspc.2019.02.007
2019. Can wearable haptic devices foster the embodiment of virtual limbs?. Authors: J. Frohner, G. Salvietti, P. Beckerle, D. Prattichizzo. DOI: 10.1109/TOH.2018.2889497
2019. Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs. Authors: Maimeri M., Della Santina C., Piazza C., Rossi M., Catalano M.G., Grioli G.. DOI: https://doi.org/10.3389/fnbot.2019.00026
2019. Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots. Authors: Matteo Bianchi, Gionata Salvietti. DOI: 10.3389/fnbot.2019.00001
2019. Gravity Balancing Flexure Springs for an Assistive Elbow Orthosis . Authors: M. Tschiersky, E. E. G. Hekman, D. M. Brouwer and J. L. Herder. DOI: 10.1109/TMRB.2019.2930341
2019. Human–Robot Team Interaction Through Wearable Haptics for Cooperative Manipulation. Authors: S. Music, G. Salvietti, P. Budde genannt Dohmann, F. Chinello, D. Prattichizzo, S. Hirche. DOI: 10.1109/TOH.2019.2921565
2019. Kinematics and Dynamics Model via Explicit Direct and Trigonometric Elimination of Kinematic Constraints. Authors: Moritz Schappler, Torsten Lilge, and Sami Haddadin. DOI: 10.1007/978 3 030 20131 9_311
2019. Learning from humans how to grasp: a data-driven architecture for autonomous grasping with anthropomorphic soft hands. Authors: Cosimo Della Santina, Visar Arapi , Giuseppe Averta, Francesca Damiani,; Gaia Fiore,Alessandro Settimi,Manuel G. Catalano,Davide Bacciu,Antonio Bicchi,Matteo Bianchi. DOI: 10.1109/LRA.2019.2896485
2019. On the Time-Invariance Properties of Upper Limb Synergies. Authors: Giuseppe Averta, Gaetano Valenza, Vincenzo Catrambone, Federica Barontini, Enzo Pasquale Scilingo, Antonio Bicchi, Matteo Bianchi. DOI: 10.1109/TNSRE.2019.2918311
2019. Predicting object-mediated gestures from brain activity: an EEG study on gender differences. Authors: Catrambone V, Greco A, Averta G, Bianchi M, Valenza G, Scilingo EP.. DOI: 10.1109/TNSRE.2019.2898469
2019. Presenting Surface Features Using a Haptic Ring: A Psychophysical Study on Relocating Vibrotactile Feedback. Authors: C. Gaudeni, L. Meli, L. Jones, D. Prattichizzo. DOI: 10.1109/TOH.2019.2938945
2019. Relaying the High Frequency Contents of Tactile Feedback to Robotic Prosthesis Users: Design, Filtering, Implementation and Validation. Authors: Simone Fani,Katia Di Blasio,Matteo Bianchi,Manuel Giuseppe Catalano,Giorgio Grioli,Antonio Bicchi. DOI: 10.1109/LRA.2019.2894380
2019. Robotic manipulation and the role of the task in the metric of success. Nat Mach Intell 1, 340–346 (2019).. Authors: V. Ortenzi, M. Controzzi, F. Cini, J. Leitner, M. Bianchi, M. A. Roa & P. Corke. DOI: 10.1038/s42256-019-0078-4
2019. Skin Stretch Haptic Feedback to Convey Closure Information in Anthropomorphic, Under-Actuated Upper Limb Soft Prostheses. Authors: Edoardo Battaglia; Janelle P. Clark ; Matteo Bianchi ; Manuel G. Catalano; Antonio Bicch; Marcia K. O'Malley . DOI: https://doi.org/10.1109/TOH.2019.2915075
2019. Spatially Separating Haptic Guidance from Task Dynamics Through Wearable Devices. Authors: Pezent E, Fani S, Clark J, Bianchi M, O'Malley MK.. DOI: https://doi.org/10.1109/TOH.2019.2919281
2019. Systematic Review on Kinematic Assessments of Upper Limb Movements After Stroke. Authors: Schwarz, A., Kanzler, C. M., Lambercy, O., Luft, Andreas R., Veerbeek, J.M.. DOI: doi/10.1161/STROKEAHA.118.023531
2019. Touch as an auxiliary proprioceptive cue for movement control. Authors: A. Moscatelli, M. Bianchi, S. Ciotti, G. C. Bettelani, C. V. Parise, F. Lacquaniti, and A. Bicchi. DOI: 10.1126/sciadv.aaw3121
2018. A Bio-inspired Grasp Stiffness Control for Robotic Hands. Authors: V. R. Garate, M. Pozzi, D. Prattichizzo, A. Ajoudani . DOI: 10.3389/frobt.2018.00089
2018. A General Approach to Achieving Stability and Safe Behavior in Distributed Robotic Architectures. Authors: Groothuis, S.S., Folkertsma, G.A., Stramigioli, S.. DOI: 10.3389/frobt.2018.00108
2018. Combining Wearable Finger Haptics and Augmented Reality: User Evaluation Using an External Camera and the Microsoft HoloLens. Authors: L. Meli, C. Pacchierotti, G. Salvietti, F. Chinello, M. Maisto, A. De Luca, D. Prattichizzo. DOI: 10.1109/LRA.2018.2864354
2018. Decentralized Trajectory Tracking Control for Soft Robots Interacting with the Environment. Authors: AR *Angelini F., *Santina C.D., *Garabini M., *Bianchi M., *Gasparri G.M., *Grioli G.IIT, Catalano M.G.IIT, *Bicchi A. DOI: DOI: 10.1109/TRO.2018.2830351
2018. Deep Dynamic Hand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information. Authors: Arapi, Visar; Della Santina, Cosimo; Bacciu, Davide; Bianchi, Matteo; Bicchi, Antonio. DOI: https://doi.org/10.3389/fnbot.2018.00086
2018. Development of a Safety-and Energy-Aware Impedance Controller for Collaborative Robots. Authors: Gennaro Raiola , Carlos Alberto Cardenas, Tadele Shiferaw Tadele , Theo de Vries , Stefano Stramigioli. DOI: 10.1109/LRA.2018.2795639
2018. Embedded sensing: integrating sensors in 3-D printed structures. Journal of Sensors and Sensor Systems. Authors: Alexander Dijkshoorn, Patrick Werkman, Marcel Welleweerd, Gerjan Wolterink, Bram Eijking, John Delamare, Remco Sanders, and Gijs J. M. Krijnen. DOI: 10.5194/jsss-7-169-2018
2018. Exploiting Elastic Energy Storage for ``Blind'' Cyclic Manipulation: Modeling, Stability Analysis, Control, and Experiments for Dribbling. Authors: Haddadin, S.; Krieger, K.; Albu-Schäffer, A. & Lilge, T. DOI: 10.1109/TRO.2017.2765684
2018. Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness. Authors: V. R. Garate , M. Pozzi , D. Prattichizzo, N. Tsagarakis, A. Ajoudani. DOI: 10.1109/LRA.2018.2858271
2018. Hap-Pro: a wearable haptic device for proprioceptive feedback. Authors: Matteo Rossi ; Matteo Bianchi ; Edoardo Battaglia ; Manuel Giuseppe Catalano ; Antonio Bicchi. DOI: 10.1109/TBME.2018.2836672
2018. Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning. Authors: Averta, G, Angelini, F, Bonilla, M, Bianchi, M, Bicchi, A. DOI: 10.1109/LRA.2018.2829027
2018. Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study. Authors: P. Beckerle, M. Bianchi, C. Castellini, G. Salvietti. DOI: 10.1080/01691864.2018.1489737
2018. One Century of Robotics Hands: a Review. Authors: C. Piazza, G. Grioli, M. G. Catalano and A. Bicchi. DOI: https://doi.org/10.1146/annurev-control-060117-105003
2018. Operator Awareness in Human–Robot Collaboration Through Wearable Vibrotactile Feedback. Authors: A. Casalino , C. Messeri , M. Pozzi , A. M. Zanchettin , P. Rocco , D. Prattichizzo. DOI: 10.1109/LRA.2018.2865034
2018. Replicating Human Hand Synergies onto Robotic Hands: a Review on Software and Hardware Strategies. Authors: G. Salvietti. DOI: 10.3389/fnbot.2018.00027
2018. Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation. Authors: Simone Fani, Simone Ciotti, Manuel G Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi. DOI: 10.1109/MRA.2017.2741579
2018. Sub-Millimetre Accurate Human Hand Kinematics: from Surface to Skeleton, Computer Methods in Biomechanics and Biomedical Engineering. Authors: Ma'touq, J., Hu, T. and Haddadin, S. DOI: 10.1080/10255842.2018.1425996
2018. The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb. Authors: L. Meli, I. Hussain, M. Aurilio, M. Malvezzi, M. K. O’Malley, D. Prattichizzo. DOI: 10.1109/LRA.2018.2810958
2018. The Robotic Sixth Finger: design of an EMG-controlled device for hemiparetic upper limbs. Authors: Salvietti G.. DOI: 10.1016/j.ijpsycho.2018.07.142
2018. The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis. Authors: Sasha Blue Godfrey, Kristin D. Zhao, Amanda Theuer, Manuel G. Catalano, Matteo Bianchi, Ryan Breighner, Divya Bhaskaran, Ryan Lennon, Giorgio Grioli, Marco Santello, Antonio Bicchi, Karen Andrews. DOI: 10.1371/journal.pone.0205653
2018. Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2. Authors: Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi. DOI: 10.1109/tro.2018.2830407
2017. A Hierarchical Human-Robot Interaction-Planning Framework for Task Allocation in Collaborative Industrial Assembly Processes. Authors: Johannsmeier, L. & Haddadin, S. DOI: 10.1109/LRA.2016.2535907
2017. A Human-Robot Interaction Perspective on Assistive and Rehabilitation Robotics. Authors: P. Beckerle, G. Salvietti, R. Ünal, D. Prattichizzo, S. Rossi, C. Castellini, S. Hirche, S. Endo, H. B. Amor, M. Ciocarlie, F. Mastrogiovanni, B. D. Argall, M. Bianchi . DOI: 10.3389/fnbot.2017.00024
2017. A soft supernumerary robotic finger and mobile arm support for grasping compensation and hemiparetic upper limb rehabilitation. Authors: I. Hussain , G. Salvietti, G. Spagnoletti, M. Malvezzi, D. Cioncoloni, S. Rossi, D. Prattichizzo. DOI: 10.1016/j.robot.2017.03.015
2017. An Artificial Robot Nervous System To Teach Robots How To Feel Pain And Reflexively React To Potentially Damaging Contacts. Authors: Kuehn, J. & Haddadin, S. DOI: 10.1109/LRA.2016.2536360
2017. Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger. Authors: G. Salvietti, I. Hussain, D. Cioncoloni, S. Taddei, S. Rossi, D. Prattichizzo. DOI: 10.1109/TNSRE.2016.2529684
2017. Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking. Authors: G. Salvietti,I. Hussain, M. Malvezzi, D. Prattichizzo. DOI: 10.1109/LRA.2017.2718099
2017. Design, control and validation of the variable stiffness exoskeleton FLExo. Authors: CP *Mghames S., Laghi M.IIT, Della Santina C., Garabini M., Catalano M.IIT, Grioli G.IIT, *Bicchi A.IIT. DOI: DOI: 10.1109/ICORR.2017.8009304
2017. Grasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study. Authors: Gailey A, Godfrey SB, Breighner R, Andrews K, Zhao K, Bicchi A, Santello M. DOI: https://doi.org/10.1109/TNSRE.2017.2737539
2017. On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands. Authors: M. Pozzi, M. Malvezzi, D. Prattichizzo. DOI: 10.1109/LRA.2016.2612304
2017. Optimization-Based Wearable Tactile Rendering. Authors: Alvaro G. Perez, Daniel Lobo, Francesco Chinello, Gabriel Cirio, Monica Malvezzi, Jose San Martin, Domenico Prattichizzo, Miguel A. Otaduy. DOI: 10.1109/TOH.2016.2619708
2017. Postural Hand Synergies during Environmental Constraint Exploitation. Authors: Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi. DOI: 10.3389/fnbot.2017.00041
2017. Robot Collisions: A Survey on Detection, Isolation, and Identification. Authors: Haddadin, S.; De Luca, A. & Albu-Schäffer, A. DOI: 10.1109/TRO.2017.2723903
2017. SoftHand at the CYBATHLON: a user’s experience. Authors: Sasha Blue Godfrey, Matteo Rossi, Cristina Piazza, Manuel Giuseppe Catalano, Matteo Bianchi, Giorgio Grioli, Kristin D. Zhao and Antonio Bicchi. DOI: https://doi.org/10.1186/s12984-017-0334-y
2017. Synergy-Based Bilateral Port: A Universal Control Module for Tele-Manipulation Frameworks Using Asymmetric Master–Slave Systems. Authors: Anais Brygo, Ioannis Sarakoglou, Giorgio Grioli, Nikos Tsagarakis. DOI: 10.3389/fbioe.2017.00019
2017. The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots . Authors: Della Santina C., Piazza, C., Gasparri, G. M., Bonilla, M., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A. DOI: 10.1109/MRA.2016.2636366
2017. The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working. Authors: Piazza, C, Catalano, MG, Godfrey, SB, Rossi, M, Grioli, G, Bianchi, M, Zhao, K, Bicchi, A. DOI: 10.1109/MRA.2017.2751662
2017. Toward wearable supernumerary robotic fingers to compensate the missing grasping abilities in hemiparetic upper limb. Authors: I. Hussain, G. Spagnoletti, G. Salvietti, D. Prattichizzo. DOI: 10.1177/0278364917712433
2017. W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality. Authors: Simone Fani, Simone Ciotti, Edoardo Battaglia, Alessandro Moscatelli, Matteo Bianchi. DOI: 10.1109/TOH.2017.2708717
2016. A Fabric-based Approach for Wearable Haptics. Authors: M. Bianchi. DOI: 10.3390/electronics5030044
2016. A Multi-Modal Sensing Glove for Human Manual-Interaction Studies. Authors: Bianchi M., Haschke, R., Büscher, G., Ciotti, S., Carbonaro, N., and Tognetti, A. DOI: 10.3390/electronics5030042
2016. A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition. Authors: Ciotti S., Battaglia, E., Carbonaro, N., Bicchi, A., Tognetti, A., and Bianchi, M. DOI: 10.3390/s16060811
2016. An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger . Authors: I. Hussain, G. Spagnoletti, G. Salvietti, D. Prattichizzo. DOI: 10.3389/fnbot.2016.00018
2016. Antagonistic Impedance Control for Pneumatically Actuated Robot Joints. Authors: Toedtheide, A.; Lilge, T. & Haddadin, S. DOI: 10.1109/LRA.2015.2511663
2016. Assessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications. Authors: Fani S., Bianchi, M., Jain, S., J. Neto, P., Boege, S., Grioli, G., Bicchi, A., and Santello, M. DOI: 10.3389/fnbot.2016.00011
2016. Inhomogeneous Point-Processes to Instantaneously Assess Affective Haptic Perception through Heartbeat Dynamics Information. Authors: G. Valenza, A. Greco, L. Citi, M. Bianchi, R. Barbieri, E. P. Scilingo. DOI: 10.1038/srep28567
2016. Recent Data Sets on Object Manipulation: A Survey. Authors: Y. Yongqiang, M. Bianchi, M. Liarokapis and Y. Sun. DOI: 10.1089/big.2016.0042
2016. The Change in Fingertip Contact Area as a Novel Proprioceptive Cue. Authors: Moscatelli A., Bianchi, M., Serio, A., Terekhov, A., Hayward, V., Ernst, M., and Bicchi, A. DOI: 10.1016/j.cub.2016.02.052
2016. The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients. Authors: Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, Domenico Prattichizzo. DOI: 10.1109/LRA.2016.2530793
2016. Towards a Synergy Framework Across Neuroscience and Robotics: Lessons Learned and Open Questions. Reply to Comments On: "Hand Synergies: Integration of Robotics and Neuroscience for Understanding the Control of Biological and Artificial Hands". Authors: Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, and Matteo Bianchi. DOI: https://doi.org/10.3390/s16060811

Conference Proceedings

2020. A flexible, three material, 3D-printed, shear force sensor for use on finger tips. Authors: Gerjan Wolterink, Remco Sanders, Gijs Krijnen . DOI: 10.1109/SENSORS43011.2019.8956757
2020. From Robotics to Prosthetics: What Design and Engineering can do better together. Authors: Fossati, grioli, catalano, bicchi. DOI:
2020. Linearisation of a 3D printed flexible tactile sensor based on piezoresistive sensing. Authors: Martijn Schouten ; Bernard Prakken ; Remco Sanders ; Gijs Krijnen. DOI: 10.1109/SENSORS43011.2019.8956652
2019. A Free-motion shoulder subluxation orthosis. Authors: Haarman CJW, Hekman EEG, Haalboom MFH, Rietman JS. DOI:
2019. A functional analysis-based approach to quantify upper limb impairment level in chronic stroke patients: a pilot study. Authors: A. Schwarz*, G. Averta*, J. Veerbeek, A.R. Luft, J.P.O. Held, Gaetano Valenzo, Anonio Bicchi, M. Bianchi . DOI: 10.1109/EMBC.2019.8857732
2019. A Mathematical Model of the Pneumatic Force Sensor for Robot-assisted Surgery. Authors: C. Gaudeni, D. Prattichizzo. DOI: 10.1109/WHC.2019.8816087
2019. A Neuromuscular-Model Based Control Strategy to Minimize Muscle Effort in Assistive Exoskeletons. Authors: S. Mghames ; C. Della Santina ; M. Garabini ; A. Bicchi. DOI: 10.1109/ICORR.2019.8779456
2019. A Variable Stiffness Elbow Joint for Upper Limb Prosthesis. . Authors: Lemerle, S., Grioli, G., Bicchi, A., & Catalano, M. G.. DOI: 10.1109/IROS40897.2019.8970475
2019. An instrumented manipulation task for the assessment of human upper limb sensorimotor function . Authors: Kanzler, C. M., Gassert, R., Lambercy, O.. DOI:
2019. An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test. Authors: Kanzler, Christoph M, Catalano, Manuel Giuseppe ,Piazza, Cristina, Bicchi, Antonio, Gassert, Roger, Lambercy, Olivier. DOI: 10.1109/ICORR.2019.8779550
2019. Benchmarking Resilience of Artificial Hands. Authors: F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi and M. G. Catalano. DOI: 10.1109/ICRA.2019.8793793
2019. Command Acknowledge through Tactile Feedback Improves the Usability of an EMG-based Interface for the Frontalis Muscle. Authors: L. Franco, G. Salvietti, D. Prattichizzo. DOI: 10.1109/WHC.2019.8816133
2019. Contact with Sliding over a Rotating Ridged Surface: the Turntable Illusion. Authors: Gemma Carolina Bettelani, Alessandro Moscatelli, Matteo Bianchi. DOI: https://doi.org/10.1109/WHC.2019.8816119
2019. Energy Budget Transaction Protocol for Distributed Robotic Systems. Authors: Groothuis, S.S., Stramigioli, S. . DOI: Not yet available
2019. Influence of arm weight support on a robotic assessment of upper limb function. Authors: Kanzler, Christoph M, Gomez, Sofia Martinez, Rinderknecht, Mike D, Gassert, Roger, Lambercy, Olivier. DOI: 10.1109/BIOROB.2018.8487682
2019. Method for Muscle Tone Monitoring During Robot-Assisted Therapy of Hand Function: A Proof of Concept . Authors: Ranzani, Raffaele; Viggiano, Federica; Engelbrecht, Bernadette; Held, Jeremia P.O.; Lambercy, Olivier; Gassert, Roger. DOI: 10.1109/ICORR.2019.8779454
2019. On the role of wearable haptics for force feedback in teleimpedance control for dual-arm robotic teleoperation. Authors: Janelle P. Clark, Gianluca Lentini, Federica Barontini, Manuel G. Catalano, Matteo Bianchi, Marcia K. O’Malley. DOI: https://doi.org/10.1109/ICRA.2019.8793652
2019. Soft Hands with Embodied Constraints: The Soft ScoopGripper. Authors: G. Salvietti, Z. Iqbal, M. Malvezzi, T. Eslami, D. Prattichizzo. DOI: 10.1109/ICRA.2019.8793563
2019. Soft tactile sensing: retrieving force, torque and contact point information from deformable surfaces. Authors: Simone Ciotti, Teng Sun, Edoardo Battaglia, Antonio Bicchi, Hongbin Liu, Matteo Bianchi. DOI: https://doi.org/10.1109/ICRA.2019.8794087
2019. Towards Semi-Autonomous and Soft-Robotics Enabled Upper-Limb Exoprosthetics: First Concepts and Robot-Based Emulation Prototype. Authors: J Kuhn, J Ringwald, M Schappler, L Johannsmeier, S Haddadin. DOI: https://doi.org/10.1109/ICRA.2019.8794332
2019. Usability of self-directed robot-assisted upper limb therapy after stroke . Authors: Ranzani, R., Veerbeek, J.M., Engelbrecht, B., Lambercy, O., Luft A.R., Gassert, R., Held, J.P.O.
2018. A Novel Pneumatic Force Sensor for Robot-assisted Surgery. Authors: C. Gaudeni , L. Meli, D. Prattichizzo. DOI: 10.1007/978-3-319-93399-3_50
2018. A Supernumerary Soft Robotic Hand-Arm System for Improving Worker Ergonomics. Authors: Andrea S. Ciullo,Manuel G. Catalano,Antonio Bicchi,Arash Ajoudani. DOI: 10.5281/zenodo.2562075
2018. A Synergistic Behavior Underpins Human Hand Grasping Force Control During Environmental Constraint Exploitation. Authors: Giuseppe Averta,Edoardo Battaglia,Cosimo Della Santina,Manuel G. Catalano,Matteo Bianchi. DOI: 10.1007/978-3-030-01845-0_13
2018. Comparison of three Hand Pose Reconstruction Algorithms using Inertial and Magnetic Measurement Units . Authors: P.J. Kieliba, P.H. Veltink, T. Lisini Baldi, D. Prattichizzo, G. Santaera, A. Bicchi, M. Bianchi, B.J.F. van Beijnum. DOI: 10.1109/HUMANOIDS.2018.8624929
2018. EEG Complexity Maps to Characterize Brain Dynamics during Upper Limb Motor Imagery. Authors: V. Catrambone, A. Greco, G. Averta, M. Bianchi, N. Vanello, A. Bicchi, E.P. Scilingo, and G. Valenza. DOI: 10.1109/EMBC.2018.8512912
2018. EEG Processing to Discriminate Transitive-Intransitive Motor Imagery Tasks: Preliminary Evidences using Support Vector Machines. Authors: V. Catrambone, A. Greco, G. Averta, M. Bianchi, N. Vanello, A. Bicchi, E.P. Scilingo, and G. Valenza. DOI: 10.1109/EMBC.2018.8512239
2018. ExoSense: Measuring Manipulation in a Wearable Manner. Authors: E. Battaglia, M. Catalano, G. Grioli, M. Bianchi, and A. Bicchi. DOI: 10.1109/ICRA.2018.8460498
2018. From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands. Authors: Giuseppe Averta; Cosimo Della Santina; Edoardo Battaglia; Simone Ciotti; Visar Arapi; Simone Fani; Matteo Bianchi. DOI: 10.1109/ICUMT.2017.8255117
2018. Joint Stiffness Compensation for Application in the EXTEND Hand Orthosis. Authors: Claudia J.W. Haarman, Edsko E.G. Hekman, Gerdienke B. Prange and Herman van der Kooij. DOI: 10.1109/biorob.2018.8487208
2018. Learning and Identification of human upper-limb muscle synergies in daily-life tasks with autoencoders. Authors: Hu, Tingli; and Kühn, Johannes; and Ma'touq, Jumana & Haddadin, Sami. DOI: http://dx.doi.org/10.15488/3679
2018. On the Role of Postural Synergies for Grasp Force Generation and Upper Limb Motion Control. Authors: Giuseppe Averta,Franco Angelini,Antonio Bicchi,Gaetano Valenza,Matteo Bianchi. DOI: 10.1007/978-3-030-01845-0_69
2018. Preliminary Results Toward Continuous and Proportional Control of a Multi-synergistic Soft Prosthetic Hand. Authors: Cristina Piazza,Manuel G. Catalano,Antonio Bicchi,Levi J. Hargrove. DOI: 10.1007/978-3-030-01845-0_15
2018. PZT-Actuated Compliant Locking Device. Authors: Martin Tschiersky, Giovanni Berselli, Just Laurens Herder, Dannis Michel Brouwer, Stefano Stramigioli. DOI: na
2018. Rendering of Pressure and Textures Using Wearable Haptics in Immersive VR Environments. Authors: G. Spagnoletti, L. Meli, T. Lisini Baldi, G. Gioioso, C. Pacchierotti, D. Prattichizzo. DOI: 10.1109/VR.2018.8446128
2018. Safety and Guaranteed Stability through Embedded Energy-Aware Actuators. Authors: Folkertsma, G.A., Groothuis, S.S., Stramigioli, S. DOI: DOI: 10.1109/ICRA.2018.8463174
2018. Sensory-motor augmentation of the robot with shared human perception. Authors: R. Ishida, L. Meli, Y. Tanaka, K. Minamizawa, D. Prattichizzo. DOI: https://doi.org/10.1109/IROS.2018.8594496
2018. Separating Haptic Guidance from Task Dynamics: A Practical Solution via Cutaneous Devices. Authors: E. Pezent, S. Fani, J. Bradley, M. Bianchi, and M.K. O' Malley. DOI: 10.1109/HAPTICS.2018.8357147
2018. The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation. Authors: Cristina Piazza,Manuel G. Catalano ,Matteo Bianchi,Emiliano Ricciardi Domenico Prattichizzo Sami Haddadin Andreas R. Luft Olivier Lambercy Roger Gassert Eike Jakubowitz Herman Van Der Kooij Frederick Tonis Fabio Bonomo Benjamin de JongeTomas Ward Kristin D. Zhao Marco Santello Antonio Bicchi. DOI: 10.5281/zenodo.2560414
2018. Thin, Flexible, Capacitive Force Sensors Based on Anisotropy in 3D-Printed Structures. Authors: Gerjan Wolterink, Remco Sanders , Gijs Krijnen. DOI: 10.1109/icsens.2018.8589584
2018. Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond. Authors: M, Bianchi, G. Averta, E. Battaglia, C. Rosales, M. Bonilla, A. Tondo, M. Poggiani, G. Santaera, S. Ciotti, M. Catalano, and A. Bicchi. DOI: DOI: 10.1109/ICRA.2018.8463212
2018. Toward an Active Supernumerary Hand for Grasping Assistance: Analytical and Experimental Analysis for Performance Optimization. Authors: Ciullo A, Felici F, Catalano M, Grioli G, Ajoudani A, Bicchi A. DOI: 10.1109/LRA.2018.2864357
2018. Towards a technology-based assessment of sensory-motor pathological states through tactile illusions. Authors: Gemma Carolina Bettelani, Alessandro Moscatelli, and Matteo Bianchi. DOI: DOI: 10.1109/BIOROB.2018.8487623"
2017. 3D printed flexible capacitive force sensor with a simple micro-controller based readout. Authors: Martijn Schouten ; Remco Sanders ; Gijs Krijnen. DOI: 10.1109/ICSENS.2017.8233949
2017. 3D-printing soft sEMG sensing structures. Authors: Gerjan Wolterink, Remco Sanders, Frodo Muijzer, Bert-Jan van Beijnum, Gijs Krijnen . DOI: 10.1109/icsens.2017.8233935
2017. A magnetic compatible supernumerary robotic finger for functional magnetic resonance imaging (fMRI) acquisitions: device description and preliminary results. Authors: I. Hussain, G. Santanecchi, A. Leo, E. Ricciardi, S. Rossi, D. Prattichizzo. DOI: 10.1109/ICORR.2017.8009409
2017. A soft robotic supernumerary finger and a wearable cutaneous finger interface to compensate the missing grasping capabilities in chronic stroke patients. Authors: I. Hussain, L. Meli, C. Pacchierotti, D. Prattichizzo. DOI: 10.1109/WHC.2017.7989898
2017. Assessment of movement patterns in stroke patients: a case study with the Virtual Peg Insertion Test. Authors: P. Hofmann, J. P. Held, R. Gassert, O.Lambercy. DOI: 10.5281/zenodo.846984
2017. Collision Detection, Isolation and Identification for Humanoids. Authors: Vorndamme, J., Schappler, M., and Haddadin, S. DOI: 10.1109/ICRA.2017.7989552
2017. Design of a Wearable Interface for Lightweight Robotic Arm for People with Mobility Impairments. Authors: T. Lisini Baldi, G. Spagnoletti, M. Dragusanu, D. Prattichizzo. DOI: 10.1109/ICORR.2017.8009471
2017. Design of an Under-Actuated Wrist Based on Adaptive Synergies. Authors: Casini, S, Tincani, V, Averta, G, Poggiani, M, C. Della Santina,, Battaglia, E, Catalano, MG, Bianchi, M, Grioli, G, Bicchi, A. DOI: 10.1109/ICRA.2017.7989789
2017. Estimating contact forces from postural measures in a class of under-actuated robotic hands. Authors: Cosimo Della Santina ; Cristina Piazza ; Gaspare Santaera ; Giorgio Grioli ; Manuel Catalano ; Antonio Bicchi. DOI: 10.1109/IROS.2017.8206062
2017. Hand in Air Tapping: a Wearable Input Technology to Type Wireless. Authors: L. Meli, D. Barcelli, T. Lisini Baldi, D. Prattichizzo . DOI: 10.1109/ROMAN.2017.8172415
2017. Heart rate variability analysis during muscle fatigue due to prolonged isometric contraction. Authors: Andrea Guidi, Alberto Greco, Federica Felici, Andrea Leo, Emiliano Ricciardi, Matteo Bianchi, Antonio Bicchi, and Gaetano Valenza, Enzo Pasquale Scilingo. DOI: 10.1109/EMBC.2017.8037076
2017. Muscle fatigue assessment through electrodermal activity analysis during isometric contraction. Authors: Alberto Greco, Andrea Guidi, Federica Felici, Andrea Leo, Emiliano Ricciardi, Matteo Bianchi, Antonio Bicchi, Luca Citi, Gaetano Valenza and Enzo Pasquale Scilingo. DOI: 10.1109/EMBC.2017.8036846
2017. On the Role of Stiffness Design for Fingertip Trajectories of Underactuated Modular Soft Hands. Authors: I. Hussain, G. Salvietti, M. Malvezzi, D. Prattichizzo. DOI: 10.1109/ICRA.2017.7989354
2017. Preliminary results toward a naturally controlled multi-synergistic prosthetic hand. Authors: M. Rossi, C. Della Santina, C. Piazza, G. Grioli, M.C. Catalano, A. Bicchi. DOI: doi: 10.1109/ICORR.2017.8009437
2017. Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions. Authors: M. Bianchi, Moscatelli, A., Ciotti, S., Bettelani, G. C., Fioretti, F., Lacquaniti, F., and Bicchi, A. DOI: 10.1109/WHC.2017.7989883
2017. Tank Based Unified Torque Impedance Control for an Antagonistic and Pneumatically Actuated Robot Joint. Authors: Tödtheide, A., Shahriari, E., Haddadin, S. DOI: 10.1109/ICRA.2017.7989149
2017. The Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand. Authors: Battaglia, E, Clark, JP, Bianchi, M, Catalano, MG, Bicchi, A, O'Malley, MK. DOI: 10.1109/WHC.2017.7989848
2016. Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study. Authors: S.B. Godfrey, M. Bianchi, A. Bicchi and M. Santello. DOI: 10.1109/EMBC.2016.7591957
2016. Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies. Authors: Piazza, C. Della Santina,, Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A.
2016. On the Pleasantness of a Haptic Stimulation: How Different Textures can be Recognized through Heart Rate Variability Nonlinear Analysis. Authors: M. Nardelli, A. Greco, M. Bianchi, E.P. Scilingo and G. Valenza. DOI: 10.1109/EMBC.2016.7591497
2016. Soft Robotics for the Hydraulic Atlas Arms: Joint Impedance Control with Collision Detection and Disturbance Compensation. Authors: Vorndamme, J.; Schappler, M.; Tödtheide, A. & Haddadin, S. DOI: 10.1109/IROS.2016.7759517
2016. Soft robots that mimic the neuromusculoskeletal system. Authors: M. Garabini, C. Della Santina, M. Bianchi, M.G. Catalano, G. Grioli and A. Bicchi. DOI: 10.1007/978-3-319-46669-9_45
2016. SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control. Authors: Piazza, C. Della Santina C., Catalano, M. G., Grioli, G., Garabini, M., and Bicchi, A. DOI: 10.1109/ICRA.2016.7487532
2016. Tactile Augmented Reality for Arteries Palpation in Open Surgery Training. Authors: S. Condino, Vigliaoro, R., Bianchi, M., Morelli, L., Ferrari, M., Bicchi, A., and Ferrari, V. DOI: 10.1007/978-3-319-43775-0_17
2016. Towards a Novel Generation of Haptic and Robotic Interfaces: Integrating Affective Physiology in Human-Robot Interaction. Authors: M. Bianchi, G. Valenza, A. Greco, M. Nardelli, E. Battaglia, A. Bicchi and E.P. Scilingo. DOI: 10.1109/ROMAN.2016.7745100

Chapter in Books

2020. Supernumerary Robotic Fingers to Compensate and Augment Human Manipulation Abilities. Authors: D. Prattichizzo, M. Malvezzi, G. Salvietti. DOI: 10.1007/978-3-030-24074-5_31
2019. The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation. Authors: C. Piazza, M.G. Catalano, M. Bianchi, E. Ricciardi, D. Prattichizzo, S. Haddadin, A.R. Luft, O. Lambercy, R. Gassert, E. Jakubowitz, H. Van Der Kooij, F. Tonis, F. Bonomo, B. de Jonge, T. Ward, K.D. Zhao, M. Santello, A. Bicchi. DOI: 10.1007/978-3-030-01887-0_71
2019. Using Wearable Haptics for Thermal Discrimination in Virtual Reality Scenarios. Authors: G. Gioioso, M. Pozzi, M. Aurilio, B. Peccerillo, G. Spagnoletti, D. Prattichizzo. DOI: 10.1007/978-981-13-3194-7_32
2018. A novel 3RRS wearable fingertip cutaneous device for virtual interaction. Authors: F. Chinello, C. Pacchierotti, M. Malvezzi, D. Prattichizzo. DOI: 10.1007/978-981-10-4157-0_10
2018. A wearable haptic ring for the control of extra robotic fingers. Authors: I. Hussain, G. Spagnoletti, C. Pacchierotti, D. Prattichizzo. DOI: doi:https://doi.org/10.1007/978-981-10-4157-0_55
2018. Robot-assisted rehabilitation of hand function. Authors: Olivier Lambercy, Raffaele Ranzani and Roger Gassert. DOI: https://doi.org/10.1016/B978-0-12-811995-2.00027-8.
2018. Soft wearable assistive robotics: exosuits and supernumerary limbs. Authors: L. Masia, I. Hussain, M. Xiloyannis, C. Pacchierotti, L. Cappello, M. Malvezzi, G. Spagnoletti, C. Wilson Antuvan, D. Binh Khanh, M. Pozzi, D. Prattichizzo. DOI: 10.1049/pbce108e_ch10
2017. A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients. Authors: I. Hussain, G. Salvietti, G. Spagnoletti, D. Cioncoloni, S. Rossi, D. Prattichizzo. DOI: 10.1007/978-3-319-46532-6_10
2017. Synergy-driven performance enhancement of vision-based 3D hand pose reconstruction. Authors: Ciotti, Simone; Battaglia, Edoardo; Oikonomidis, Iason; Makris, Alexandros; Tsoli, Aggeliki; Bicchi, Antonio; Argyros, Antonis A.; Bianchi, Matteo. DOI: 10.1007/978-3-319-58877-3_42
2016. The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype. Authors: Godfrey S. B. , Bianchi, M., Zhao, K., Catalano, M. G., Breighner, R., Theuer, A., Andrews, K., Grioli, G., Santello, M., and Bicchi, A. DOI: 10.1007/978-3-319-46669-9_78

Thesis

2017. 3D printing a three degree of freedom force sensor. Authors: Marcel Wellenweerd

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