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Articles in Journals

  • 2021. A Configurable Architecture for Two Degree-of-Freedom Variable Stiffness Actuators to Match the Compliant Behavior of Human Joints , Authors: Lemerle Simon, Catalano Manuel G., Bicchi Antonio, Grioli Giorgio, Frontiers in Robotics and AI. DOI: DOI=10.3389/frobt.2021.614145 

  • 2021. F. Barontini, M. G. Catalano, G. Grioli, M. Bianchi and A. Bicchi, "Wearable Integrated Soft Haptics in a Prosthetic Socket," in IEEE Robotics and Automation Letters, vol. 6, no. 2, pp. 1785-1792, April 2021, doi: 10.1109/LRA.2021.3060432.

  • 2020. Towards a soft articulated bionic hand for pediatric users. Authors: Alice Ghezzi, Manuel G. Catalano, Giorgio Grioli, Antonio Bicchi. I-RIM Conference 2020. 

  • 2020. Towards Articulated Soft Robots for Bionic Upper Limbs. Authors: Simon Lemerle, Giorgio Grioli, Manuel G. Catalano and Antonio Bicchi. I-RIM Conference 2020.

  • 2020. Theuer, A., Godfrey, S., Zhao, K., Breighner, R., Catalano, M., Santello, M., Bicchi, A., & Andrews, K. L. (2020). Case Report: Optimizing Daily Function for People with Below-elbow Limb Deficiency with the SoftHand Pro. The Open Journal of Occupational Therapy, 8(4), 1-7. https://doi.org/10.15453/2168-6408.1602

  • 2020. Piazza, C., Simon, A.M., Turner, K.L. et al. Exploring augmented grasping capabilities in a multi-synergistic soft bionic hand. J NeuroEngineering Rehabil 17, 116 (2020). https://doi.org/10.1186/s12984-020-00741-y

  • 2020. C. Piazza, M. Rossi, M. G. Catalano, A. Bicchi and L. J. Hargrove, "Evaluation of a Simultaneous Myoelectric Control Strategy for a Multi-DoF Transradial Prosthesis," in IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 28, no. 10, pp. 2286-2295, Oct. 2020, doi: 10.1109/TNSRE.2020.3016909.

  • 2020. Analysis of Compensatory Movements Using a Supernumerary Robotic Hand for Upper Limb Assistance. Authors: Rossero Martina, Ciullo Andrea S., Grioli Giorgio, Catalano Manuel G., Bicchi Antonio, Frontiers in Robotics and AI . DOI: 10.3389/frobt.2020.587759     

  • 2020. P. Capsi-Morales, G. Grioli, C. Piazza, A. Bicchi and M. G. Catalano, "Exploring the Role of Palm Concavity and Adaptability in Soft Synergistic Robotic Hands," in IEEE Robotics and Automation Letters, vol. 5, no. 3, pp. 4703-4710, July 2020, doi: 10.1109/LRA.2020.3003257.

  • 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. From robots to humans: prosthetics for all. Authors: Fossati M.R., Grioli G., Catalano M.G., Bicchi A. 3rd LeNS World Distributed Conference

  • 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.2016.774510

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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