Proboscidean sensitive soft robot for versatile gripping

Deliverables

Definition of functional materials for 2D and 3D sensing

The choices of functional materials for developing the tip and of the outer skin are explained in view of the utilization of the 3D printing methods are presented

Definition of functional materials for actuators

The choices of functional materials that will be used for developing for fabrication of durable integrated actuators are presented

Communication, dissemination and exploitation plan (CoDE plan) – first release

The first report of the COmmunication, Dissemination and Exploitation plan is released

Analysis of solutions for 2D and 3D multimodal sensing

The analysis of the State of the Art on planar and 3D structures for multimodal mechanical sensing is performed.

Project website and dissemination materials

Project website and dissemination materials are delivered

Full 3D high-resolution anatomical model with associated material properties

The final results on 3D high-resolution anatomical model with associated material properties are reported.

Development of multimodal sensing components

Sensing components, exploiting also 3D micro and nanostructures, able to detect multiple mechanical cues (i.e. pressure, tangential forces, air/fluid flow, etc) are designed, fabricated and tested.

Data Management Plan I (DMP)

The first Data Management Plan is released

Publications

Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Author(s): Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Published in: Frontiers in Robotics and AI, Issue 22969144, 2021, ISSN 2296-9144
Publisher: Frontiers
DOI: 10.3389/frobt.2021.742885

Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning

Author(s): Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3146903

Editorial: Machine Learning Techniques for Soft Robots

Author(s): Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Published in: Frontiers in Robotics and AI, Issue 22969144, 2021, ISSN 2296-9144
Publisher: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Author(s): Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Published in: Science Robotics, Issue 24709476, 2022, ISSN 2470-9476
Publisher: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Author(s): Simone Lantean; Matteo Lo Preti; Lucia Beccai
Published in: Soft Matter, 2022, ISSN 1744-6848
Publisher: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Author(s): Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Published in: Advanced Science, 2023, ISSN 2198-3844
Publisher: Wiley
DOI: 10.1002/advs.202302080

Sensorized Objects Used to Quantitatively Study Distal Grasping in the African Elephant

Author(s): Matteo Lo Preti; Lucia Beccai
Published in: iScience, 2023, ISSN 2589-0042
Publisher: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Author(s): Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Published in: IEEE Robotics and Automation Letters, Issue 23773766, 2022, ISSN 2377-3766
Publisher: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Author(s): Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Published in: IEEE/ASME Transactions on Mechatronics, Issue 10834435, 2022, ISSN 1083-4435
Publisher: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3158979

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Author(s): Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Published in: MDPI Mathematics, Issue 22277390, 2021, ISSN 2227-7390
Publisher: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Author(s): Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Published in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Publisher: Wiley
DOI: 10.1002/aisy.202200373

Open-loop Model-free Dynamic Control of a Soft Manipulator for Tracking Tasks

Author(s): Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Published in: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Publisher: IEEE
DOI: 10.1109/icar53236.2021.9659370

Open-loop Control of a Soft Arm in Throwing Tasks

Author(s): Diego Bianchi, Michele Antonelli, Cecilia Laschi, Egidio Falotico
Published in: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 2022, ISBN 978-989-758-585-2
Publisher: ScitePress
DOI: 10.5220/0011267100003271

Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

Author(s): Savas Dilibal, Emre Tugberk Gulnergiz, Niccolò Pagliarani, Enrico Donato, Francesco Iori, Elisa Setti, Egidio Falotico, Matteo Cianchett
Published in: 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2022
Publisher: IEEE
DOI: 10.1109/hora55278.2022.9799902

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Author(s): Seonggun Joe, Federico Bernabei, Lucia Beccai
Published in: Rehabilitation of the Human Bone-Muscle System, 2022
Publisher: IntechOpen
DOI: 10.5772/intechopen.104373

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