Proboscidean sensitive soft robot for versatile gripping

Risultati finali

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

Pubblicazioni

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

Autori: Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Pubblicato in: Frontiers in Robotics and AI, Numero 22969144, 2021, ISSN 2296-9144
Editore: Frontiers
DOI: 10.3389/frobt.2021.742885

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

Autori: Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3146903

Editorial: Machine Learning Techniques for Soft Robots

Autori: Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Pubblicato in: Frontiers in Robotics and AI, Numero 22969144, 2021, ISSN 2296-9144
Editore: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

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

Autori: Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Pubblicato in: Science Robotics, Numero 24709476, 2022, ISSN 2470-9476
Editore: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Autori: Simone Lantean; Matteo Lo Preti; Lucia Beccai
Pubblicato in: Soft Matter, 2022, ISSN 1744-6848
Editore: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Autori: Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Pubblicato in: Advanced Science, 2023, ISSN 2198-3844
Editore: Wiley
DOI: 10.1002/advs.202302080

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

Autori: Matteo Lo Preti; Lucia Beccai
Pubblicato in: iScience, 2023, ISSN 2589-0042
Editore: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Autori: Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Pubblicato in: IEEE Robotics and Automation Letters, Numero 23773766, 2022, ISSN 2377-3766
Editore: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Autori: Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Pubblicato in: IEEE/ASME Transactions on Mechatronics, Numero 10834435, 2022, ISSN 1083-4435
Editore: 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

Autori: Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Pubblicato in: MDPI Mathematics, Numero 22277390, 2021, ISSN 2227-7390
Editore: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Autori: Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Pubblicato in: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Editore: Wiley
DOI: 10.1002/aisy.202200373

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

Autori: Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Pubblicato in: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Editore: IEEE
DOI: 10.1109/icar53236.2021.9659370

Open-loop Control of a Soft Arm in Throwing Tasks

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

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

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

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Autori: Seonggun Joe, Federico Bernabei, Lucia Beccai
Pubblicato in: Rehabilitation of the Human Bone-Muscle System, 2022
Editore: IntechOpen
DOI: 10.5772/intechopen.104373

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