Zobrazeno 1 - 10
of 4 487
pro vyhledávání: '"Bicchi A"'
Publikováno v:
Transaction on Robotics, Volume 41, 2024
Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic design often d
Externí odkaz:
http://arxiv.org/abs/2412.03985
Autor:
Crotti, Matteo, Rossini, Luca, Pace, Anna, Grioli, Giorgio, Bicchi, Antonio, Catalano, Manuel G.
In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an adaptive soft
Externí odkaz:
http://arxiv.org/abs/2412.03191
Autor:
Ivani, Alessia S., Barontini, Federica, Catalano, Manuel G., Grioli, Giorgio, Bianchi, Matteo, Bicchi, Antonio
This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied partici
Externí odkaz:
http://arxiv.org/abs/2408.12375
Autor:
Ivani, Alessia Silvia, Catalano, Manuel G., Grioli, Giorgio, Bianchi, Matteo, Visell, Yon, Bicchi, Antonio
Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and surprisingly enabl
Externí odkaz:
http://arxiv.org/abs/2402.12989
Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the SoftFoot the idea of adapting a ro
Externí odkaz:
http://arxiv.org/abs/2401.13568
Autor:
Piazza, Cristina, Della Santina, Cosimo, Grioli, Giorgio, Bicchi, Antonio, Catalano, Manuel G.
Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations when the rob
Externí odkaz:
http://arxiv.org/abs/2401.05318
Autor:
Ivani, Alessia Silvia, Barontini, Federica, Catalano, Manuel G., Grioli, Giorgio, Bianchi, Matteo, Bicchi, Antonio
The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arisin
Externí odkaz:
http://arxiv.org/abs/2312.13015
Publikováno v:
2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, Singapore, 2023, pp. 1-6
One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of rehabilitation a
Externí odkaz:
http://arxiv.org/abs/2312.13009
Autor:
Pace, Anna, Proksch, Lukas, Grioli, Giorgio, Aszmann, Oskar C., Bicchi, Antonio, Catalano, Manuel G.
Publikováno v:
2023 International Conference on Rehabilitation Robotics (ICORR), Singapore, Singapore, 2023, pp. 1-6
Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause of instabil
Externí odkaz:
http://arxiv.org/abs/2312.11099
Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different application scen
Externí odkaz:
http://arxiv.org/abs/2311.08204