Antonio Bicchi

Antonio Bicchi
IIT Genova and Univ. Pisa

Ph.D.

About

654
Publications
140,761
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23,207
Citations
Citations since 2016
205 Research Items
12767 Citations
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201620172018201920202021202205001,0001,5002,000

Publications

Publications (654)
Chapter
This contribution describes some activities promoted by a group of roboticists from Istituto Italiano di Tecnologia and Università di Pisa in response to the pandemic. In particular, a “do-it-yourself” (DIY) open-source service and related hardware/products will be illustrated to help combat some consequences of the Covid 19 emergency. The project...
Article
Full-text available
This article evaluates and compares the performance and perception of prosthetic devices based on different design principles, a traditional rigid gripper and an adaptable poly-articulated hand, in a pre- and post-training protocol with an individual with bilateral amputation. As a representative of the first class, we use commercial hands (Ottoboc...
Preprint
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or on more intuitive interfaces which map directly the user arm motions into one robot arm's motions. T...
Article
Full-text available
Teleoperation is a widely adopted strategy to control robotic manipulators executing complex tasks that require highly dexterous movements and critical high-level intelligence. Classical teleoperation schemes are based on either joystick control, or on more intuitive interfaces which map directly the user arm motions into one robot arm's motions. T...
Preprint
In stroke patients, task-specific training has been shown to accelerate functional recovery of the upper limb. It is based on repetitive and intensive goal-directed motor tasks, including grasping and releasing objects. In the subacute phase of stroke, several patients do not have active finger extension. Although many of them retain the ability to...
Article
Full-text available
Characterizing post-stroke impairments in the sensorimotor control of arm and hand is essential to better understand altered mechanisms of movement generation. Herein, we used a decomposition algorithm to characterize impairments in end-effector velocity and hand grip force data collected from an instrumented functional task in 83 healthy control a...
Article
This paper proposes a novel type of grasping strategy that draws inspiration from the role of touch and the importance of wrist motions in human grasping. The proposed algorithm, which we call Sequential Contact-based Adaptive Grasping, can be used to reactively modify a given grasp plan according to contacts arising between the hand and the object...
Article
Full-text available
The swing-up is a classical problem of control theory that has already been widely studied in the literature. Despite that, swinging up an underactuated compliant arm considerably increases the problem complexity. Indeed, in addition to the problem of underactuation, compliant systems usually present also hard-to-model dynamics. Moreover, the contr...
Preprint
Full-text available
In sub-acute stroke patients, task-specific training is the most effective rehabilitation treatment for the upper limb. However, in those patients with severe paresis and initial spasticity, task-specific training could increase the risk to develop severe spasticity in the following months. Four sub-acute patients, at high risk of developing spasti...
Chapter
This extended abstract presents a wearable system for assistance that is a combination of different technologies including sensing, haptics, orthotics and robotics. The result is a device that, by compensating for force deficiencies, helps lifting the forearm and thanks to a robotic supernumerary finger improves the grasping ability of an impaired...
Chapter
Full-text available
The simple kinematics of commercial prosthetic wrists limits the individuals in performing a wide range of tasks and restore natural motor functions. We propose a functional prosthesis that improves grasping capabilities through the addition of a simple yet useful 3 DoF myoelectric wrist joint with compliant and rigid properties. Its locking capabi...
Chapter
Full-text available
The characterization of human upper limb kinematics is fundamental not only in neuroscience and clinical practice, but also for the planning of human-like robot motions in rehabilitation and assistive robotics. One promising approach to endow anthropomorphic robotic manipulators with human motion characteristics is to directly embed human upper lim...
Article
Full-text available
The attention given to impedance control in recent years does not match a similar focus on the choice of impedance values that the controller should execute. Current methods are hardly general and often compute fixed controller gains relying on the use of expensive sensors. In this article, we address the problem of online impedance planning for Ca...
Article
Full-text available
Traditionally, most of the nonlinear control techniques for elastic robotic systems focused on achieving a desired closed-loop behavior by modifying heavily the intrinsic properties of the plant. This is also the case of elastic tendon-driven systems, where the highly nonlinear couplings lead to several control challenges. Following the current phi...
Article
Full-text available
Notwithstanding the advancement of modern bionic hands and the large variety of prosthetic hands in the market, commercial devices still present limited acceptance and percentage of daily use. While commercial prostheses present rigid mechanical structures, emerging trends in the design of robotic hands are moving towards soft technologies. Althoug...
Conference Paper
Full-text available
Eigenmanifolds extend eigenspaces to nonlinear mechanical systems with possibly non-Euclidean metric. Recent work has shown that hyper-efficient oscillations can be excited by simple controllers, which simultaneously stabilize an Eigenmanifold and regulate the total energy. Yet, existing techniques require imposing assumptions on the system dynamic...
Conference Paper
Full-text available
Based on previous experience with prosthesis users and literature, this paper introduces three important aspects to further develop functional transradial myoelectric prostheses: stiffness modulation, grasp reliability and limb dexterity. In particular, we propose three possible solutions and discuss on the insights observed about the exploration o...
Article
Full-text available
Poly-articulated hands, actuated by multiple motors and controlled by surface myoelectric technologies, represent the most advanced aids among commercial prostheses. However, simple hook-like body-powered solutions are still preferred for their robustness and control reliability, especially for challenging environments (such as those encountered in...
Article
Full-text available
In this paper, we study the trajectory tracking problem using iterative learning control for continuous-time nonlinear systems with a generic fixed relative degree in the presence of disturbances. This class of controllers iteratively refine the control input relying on the tracking error of the previous trials and some properly tuned learning gain...
Conference Paper
Full-text available
Control of two-wheeled humanoid robots poses several challenges due to the unstable dynamics of their mobile base and the coupling between upper and lower body dynamics. In this work, we present the latest results of our research on control of two-wheeled unstable humanoid robots. In particular, we present a whole-body dynamic control approach to s...
Article
The COVID-19 pandemic is forcing a rethink in robotics. In the form it is known today, robotics has been the prerogative of a broad community of insiders. But now, in the wreckage left behind by COVID-19, a new era is beginning. What does it hold? During the pandemic, increasing numbers of people had manifested the hope that robotics might bring no...
Article
Full-text available
To enable the design of planning and control strategies in simulated environments before their direct application to the real robot, exploiting the Sim2Real practice, powerful and realistic dynamic simulation tools have been proposed, e.g., the ROS-Gazebo framework. However, the majority of such simulators do not account for some of the properties...
Article
Full-text available
The most common causes of the risk of work-related musculoskeletal disorders (WMSD) have been identified as joint overloading, bad postures, and vibrations. In the last two decades, various solutions ranging from human-robot collaborative systems to robotic exoskeletons have been proposed to mitigate them. More recently, a new approach has been pro...
Article
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The vast majority of state-of-the-art walking robots employ flat or ball feet for locomotion, presenting limitations while stepping on obstacles, slopes, or unstructured terrain. Moreover, traditional feet for quadrupeds lack sensing systems that are able to provide information about the environment and about the foot interaction with the surroundi...
Article
In recent years, the spread of data-driven approaches for robotic grasp synthesis has come with the increasing need for reliable datasets, which can be built e.g. through video labelling. To this goal, it is important to define suitable rules to characterize the main human grasp types, for easily identifying them in video streams. In this work, we...
Article
Full-text available
Background Shedding light on the neuroscientific mechanisms of human upper limb motor control, in both healthy and disease conditions (e.g., after a stroke), can help to devise effective tools for a quantitative evaluation of the impaired conditions, and to properly inform the rehabilitative process. Furthermore, the design and control of mechatron...
Article
Full-text available
Upper-limb impairments are all-pervasive in Activities of Daily Living (ADLs). As a consequence, people affected by a loss of arm function must endure severe limitations. To compensate for the lack of a functional arm and hand, we developed a wearable system that combines different assistive technologies including sensing, haptics, orthotics and ro...
Article
Full-text available
The regulation of the link positions of compliant robots, damping out undesired link oscillations while preserving the system's inherent elasticity is still a challenging task in practical applications. This task becomes even harder to be tackled in the case of compliant robots driven by agonistic-antagonistic variable stiffness actuators in which...
Conference Paper
Full-text available
Online-Offline Iterative Learning Control pro-vides an effective and robust solution to learn precise trajectorytracking when dealing with repetitive tasks. Yet, these algo-rithms were developed under the assumption that the relativedegree between input and output is one. This prevents applica-tions in many practically meaningful situations - e.g....
Chapter
Thanks to their body elasticity, articulated soft robots promise to produce effective and robust oscillations with low energy consumption. This in turn is an important feature which can be exploited in the execution of many tasks, as for example locomotion. Yet, an established theory and general techniques allowing to excite and sustain these nonli...
Article
Full-text available
Living beings modulate the impedance of their joints to interact proficiently, robustly, and safely with the environment. These observations inspired the design of soft articulated robots with the development of Variable Impedance and Variable Stiffness Actuators. However, designing them remains a challenging task due to their mechanical complexity...
Chapter
Full-text available
The need for users’ safety and technology acceptability has incredibly increased with the deployment of co-bots physically interacting with humans in industrial settings, and for people assistance. A well-studied approach to meet these requirements is to ensure human-like robot motions and interactions. In this manuscript, we present a research app...
Article
Full-text available
Thanks to their body elasticity, articulated soft robots promise to produce effective and robust oscillations with low energy consumption. This in turn is an important feature which can be exploited in the execution of many tasks, as for example locomotion. Yet, an established theory and general techniques allowing to excite and sustain these nonli...
Article
Modern active prostheses can be used to recover part of the motor function associated with the loss of a hand. Nevertheless, most sensory abilities are lost, and the person has to manage interaction by relying mostly on visual feedback. Despite intensive research devoted to convey touch related cues, very few solutions have been integrated in a rea...
Article
Full-text available
Soft robots are robotic systems with purposefully designed compliant elements embedded into their mechanical structure.
Article
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To face the demand for applications in which robots have to safely interact with humans and the environment, the research community developed new types of actuators with compliant characteristics. To embody compliance into the actuator, elastic elements with fixed or variable compliance can be used. Among the variable stiffness mechanisms, a popula...
Article
Full-text available
Welcome to this special issue ofThe International Journalfor Robotics Researchon the topic of Modeling and Con-trol of Continuum and Articulated Soft Robots. The pro-posal for this special issue came out of discussions duringthe workshop titled “Soft Robotic Modeling and Control:Bringing Together Articulated Soft Robots and Soft-BodiedRobots” at th...
Article
Full-text available
Force feedback is often beneficial for robotic teleoperation, as it enhances the user’s remote perception. Over the years, many kinesthetic haptic displays (KHDs) have been proposed for this purpose, which have different types of interaction and feedback, depending on their kinematics and their interface with the operator, including, for example, g...
Chapter
Full-text available
The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to ful...
Article
This contribution describes a case study of a “do-it-yourself” (DIY) opensource service and related product to help combating the COVID-19 emergency. It illustrates the birth of LHF Connect, a project designed to facilitate communication between patients isolated in COVID-19 hospitals’ ward and their relatives. LHF Connect is a teleoperated robot t...
Conference Paper
Full-text available
The elasticity of soft robots is influenced by the employed controller. High-gain feedback techniques can stiffen up the behavior of the robot. On the other hand, learning-based controllers play a crucial role in the trajectory tracking of flexible arm robots. They mainly rely on feedforward components and do not need an accurate description of the...
Article
Full-text available
Recently, extratheses, aka Supernumerary Robotic Limbs (SRLs), are emerging as a new trend in the field of assistive and rehabilitation devices. We proposed the SoftHand X, a system composed of an anthropomorphic soft hand extrathesis, with a gravity support boom and a control interface for the patient. In preliminary tests, the system exhibited a...
Conference Paper
Full-text available
In this paper, we propose a method for improving the human operator's arm posture during bilateral teleoperation. The method is based on a musculoskeletal model that considers human operator's arm dynamics and the feedback force from the haptic interface (master), which is used to control a robotic arm (slave) in a remote environment. We perform an...
Article
Full-text available
Human beings can achieve a high level of motor performance that is still unmatched in robotic systems. These capabilities can be ascribed to two main enabling factors: (i) the physical proprieties of human musculoskeletal system, and (ii) the effectiveness of the control operated by the central nervous system. Regarding point (i), the introduction...
Article
Full-text available
This paper tackles the problem of controlling articulated soft robots (ASRs), i.e., robots with either fixed or variable elasticity lumped at the joints. Classic control schemes rely on high-authority feedback actions, which have the drawback of altering the desired robot softness. The problem of accurate control of ASRs, without altering their inh...
Article
Full-text available
Background: State-of-the-art bionic hands incorporate hi-tech devices which try to overcome limitations of conventional single grip systems. Unfortunately, their complexity often limits mechanical robustness and intuitive prosthesis control. Recently, the translation of neuroscientific theories (i.e. postural synergies) in software and hardware arc...
Article
Full-text available
While natural movements result from fluid coordination of multiple joints, commercial upper-limb prostheses are still limited to sequential control of multiple degrees of freedom (DoFs), or constrained to move along predefined patterns. To control multiple DoFs simultaneously, a probability-weighted regression (PWR) method has been proposed and has...
Conference Paper
Full-text available
The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to ful...
Conference Paper
Full-text available
To physically interact with a rich variety of environments and situation-oriented requirements, humans continuously adapt both the stiffness and the force of their limbs through antagonistic muscle coactivation. Reflecting this behaviour in prostheses may promote control naturalness and intuitiveness and, consequently, their acceptance in everyday...
Article
Full-text available
In the execution of repetitive tasks, humans can capitalize on experience to improve their motor performance. Prominent examples of this ability can be recognized in our capacity of grasping and manipulating in uncertain conditions. With the aim of providing a mathematical description for such behavior, experiments are considered where participants...
Article
Full-text available
Robotic hand engineers usually focus on finger capabilities, often disregarding the palm contribution. Inspired by human anatomy, this paper explores the advantages of including a flexible concave palm into the design of a robotic hand actuated by soft synergies. We analyse how the inclusion of an articulated palm improves finger workspace and mani...
Article
Full-text available
To physically interact with a rich variety of environments and to match situation-dependent requirements, humans adapt both the force and stiffness of their limbs. Reflecting this behavior in prostheses may promote a more natural and intuitive control and, consequently, improve prostheses acceptance in everyday life. This pilot study proposes a met...