Cecilia Laschi

Cecilia Laschi
National University of Singapore | NUS · Department of Mechanical Engineering

PhD in Robotics

About

435
Publications
171,297
Reads
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12,042
Citations
Additional affiliations
October 2020 - present
National University of Singapore
Position
  • Professor
August 2014 - September 2020
Scuola Superiore Sant'Anna and University of Pisa
Position
  • Professor
Description
  • Soft Robotics Area leader Course "Human and Animal models for Biorobotics", Master Course in Bionics Engineering Course "Robotics", Master in Computer Science
January 2011 - December 2013
Istituto Italiano di Tecnologia
Description
  • Associate
Education
November 1995 - May 1998
Scuola Superiore Sant'Anna
Field of study
  • Robotics
September 1987 - December 1993
Università di Pisa
Field of study
  • Computer Science

Publications

Publications (435)
Article
Embodied intelligence (intelligence that requires and leverages a physical body) is a well-known paradigm in soft robotics, but its mathematical description and consequent computational modelling remain elusive, with a need for models that can be used for design and control purposes. We argue that filling this gap will enable full uptake of embodie...
Conference Paper
Full-text available
The current work aims to present a quasi-static model of a soft robot arm configuration, inspired by octopus arm. The arm is assumed under the water and hence the main goal is to study the impacts of hydrostatic force, tangential and normal forces of the water imposed to the arm as the environmental interactions, where the arm is driven by tensions...
Article
Full-text available
Purpose of Review The new paradigm of soft robotics has been widely developed in the international robotics community. These robots being soft can be used in applications where delicate yet effective interaction is necessary. Soft grippers and manipulators are important, and their actuation is a fundamental area of study. The main purpose of this w...
Article
The development of larynx simulators as platforms for clinical investigations has been identified as a useful tool for understanding the pathophysiology of vocal folds. The primary goal of this study was the realization of electrically conductive silicone vocal folds able to replicate an electroglottography (EGG) signal under pathophysiological con...
Article
Advances in materials science will blur the boundaries between robots and the materials from which they are composed.
Article
This article presents the experience of a longlasting collaboration in robotics between the countries of Japan and Italy. The diversity of the approaches to robotics research and technology in the two countries and, at the same time, the similarity of some social drives for robotics progress have created a stimulus for generating new thinking about...
Article
Full-text available
Evolutionary studies have unequivocally proven the transition of living organisms from water to land. Consequently, it can be deduced that locomotion strategies must have evolved from one environment to the other. However, the mechanism by which this transition happened and its implications on bio-mechanical studies and robotics research have not b...
Article
Full-text available
Roughness recognition is an important function in the nervous system that facilitates our interactions with the environment. Previous studies have focused on the neuro-cognitive aspects and frequency-based changes in response to the roughness stimuli. In this study, we investigate the effect of different roughness levels on the nonlinear characteri...
Article
How far are we from artificial life? How far are we pushing biomimetics? In robotics, bioinspiration brings scenarios where soft robots acquire life-like abilities and better integrate themselves into our natural world. How do we make robots grow and learn, self-heal and self-feed, adapt and biodegrade? Interesting achievements in soft robotics sho...
Article
A self-powered robot inspired by a fish can survive the extreme pressures at the bottom of the ocean’s deepest trench, thanks to its soft body and distributed electronic system — and might enable exploration of the uncharted ocean. How robots made from soft materials can withstand high pressures.
Article
The articles in this special section focus on how the COVID-19 pandemic has and will continue to impact the robotics industry.
Article
Full-text available
Touch and pain sensations are complementary aspects of daily life that convey crucial information about the environment while also providing protection to our body. Technological advancements in prosthesis design and control mechanisms assist amputees to regain lost function but often they have no meaningful tactile feedback or perception. In the p...
Preprint
Full-text available
Touch and pain sensations are complementary aspects of daily life that convey crucial information about the environment while also providing protection to our body. Technological advancements in prosthesis design and control mechanisms assist amputees to regain lost function but often they have no meaningful tactile feedback or perception. In the p...
Chapter
In this paper, the results of several experiments made on the control of oscillations of a single module of the I-Support manipulator are presented. The I-Support is a soft continuum robotic manipulator composed of several similar modules, designed and built for assisting disabled users during a showering task. For these experiments, a single modul...
Book
This book is the volume of the proceedings for the 17th Edition of ISER. The goal of ISER (International Symposium on Experimental Robotics) symposia is to provide a single-track forum on the current developments and new directions of experimental robotics. The series has traditionally attracted a wide readership of researchers and practitioners in...
Article
Robotic systems that can explore the sea floor, collect marine samples, gather shallow water refuse, and perform other underwater tasks are interesting and important in several fields, from biology and ecology to off-shore industry. In this article, we present a robotic platform that is, to our knowledge, the first to combine benthic legged locomot...
Article
Objectives To confirm the data reported in our previous studies on the analysis of the variability of the electroglottographic signal in the pathological voice; to evaluate possible differences in variability between organic and functional pathologies; to identify any distinctive/typical EGG patterns for these pathologies. Methods One hundred twen...
Article
Full-text available
Cerebellar synaptic plasticity is vital for adaptability and fine tuning of goal-directed movements. The perceived sensory errors between desired and actual movement outcomes are commonly considered to induce plasticity in the cerebellar synapses, with an objective to improve desirability of the executed movements. In rapid goal-directed eye moveme...
Article
Microspine grippers address to a large variety of possible applications, especially in field robotics and manipulation in extreme environments. Predicting and modelling the gripper behaviour remains a major challenge to this day. One of the most complex aspect of those predictions is how to model the spine to rock interaction of the spine tip with...
Article
Full-text available
Being able to replicate real experiments with computational simulations is a unique opportunity to refine and validate models with experimental data and redesign the experiments based on simulations. However, since it is technically demanding to model all components of an experiment, traditional approaches to modeling reduce the experimental setups...
Article
In aquatic pedestrial locomotion, the dynamics of terrestrial and aquatic environments are coupled. Here we study terrestrial running and aquatic punting locomotion of the marine-living crabPachygrapsus marmoratus. We detected both active and passive phases of running and punting through the observation of crab locomotory behavior in standardized s...
Article
Robots have the potential to assist and complement humans in the study and exploration of extreme and hostile environments. For example, valuable scientific data have been collected with the aid of propeller-driven autonomous and remotely operated vehicles in underwater operations. However, because of their nature as swimmers, such robots are limit...
Preprint
Full-text available
Being able to replicate real experiments with computational simulations is a unique opportunity to refine and validate models with experimental data and redesign the experiments based on simulations. However, since it is technically demanding to model all components of an experiment, traditional approaches to modeling reduce the experimental setups...
Preprint
Full-text available
The possibility of simulating in detail in-vivo experiments could be highly beneficial to the neuroscientific community. It could easily allow for preliminary testing of different experimental conditions without having to be constrained by factors such as training of the subjects or resting times between experimental trials. In order to achieve thi...
Preprint
Full-text available
This document presents novel datasets, constructed by employing the iCub robot equipped with an additional depth sensor and color camera. We used the robot to acquire color and depth information for 210 objects in different acquisition scenarios. At this end, the results were large scale datasets for robot and computer vision applications: object r...
Article
In this paper we present a prototype integrated robotic system, the I-Support bathing robot, that aims at supporting new aspects of assisted daily-living activities on a real-life scenario. The paper focuses on describing and evaluating key novel technological features of the system, with the emphasis on cognitive human–robot interaction modules an...
Article
Full-text available
The present study aimed to assess the validity of using a robotic platform (RODDI) to increase and enhance communicative exchanges between educators and children with Autism Spectrum Disorder (ASD) and intellectual disability. Nine children with ASD and intellectual disability and their educators took part in the study. Their communicative exchange...
Article
Bioinspired and biohybrid robots can help respond to diverse, sustainable application needs.
Article
Full-text available
In the present research, we explore the possibility of utilizing a hardware-based neuromorphic approach to develop a tactile sensory system at the level of first-order afferents, which are slowly adapting type 1 (SA-I) and fast adapting type 1 (FA-I) afferents. Four spiking models are used to mimic neural signals of both SA-I and FA-I primary affer...
Chapter
Bioinspiration is a popular trend in robotics research. Bioinspired design needs a deep knowledge of the selected biological model in order to extract the key features relevant to the design of the robot system. The octopus is an ideal model for soft robotics and has served as inspiration for the development of octopus-like robots and robot arms. T...
Article
Full-text available
Plain-language-summary In a recent study we introduced a new approach for analysis of the electroglottographic (ECG) signal. This method is based on the evaluation of variation of the EGG signal and its first derivative, through new software developed by the Pisan phoniatric school. This software is designed to extract quantitative indices related...
Article
Full-text available
Background Cognitive training (CT) is defined as guided practice on a set of standard tasks designed to stimulate particular cognitive functions. Recent studies have shown that physical exercise is beneficial for cognitive activity in older adults and patients with degenerative diseases. Aims The main objective of the present study is to create a...
Article
Full-text available
Biological agents need to complete perception-action cycles to perform various cognitive and biological tasks such as maximizing their wellbeing and their chances of genetic continuation. However, the processes performed in these cycles come at a cost. Such costs force the agent to evaluate a tradeoff between the optimality of the decision making a...
Article
In this research, we develop a neuromorphic system to study neural signaling at the level of first order tactile afferents which are slowly adapting type I (SA1) and rapidly adapting type I (RA1) mechanoreceptors. Considering, the linearized Izhikevich model, two digital circuits are developed for both afferents and are executed on the field progra...
Article
Full-text available
The cerebellum, which is responsible for motor control and learning, has been suggested to act as a Smith predictor for compensation of time-delays by means of internal forward models. However, insights about how forward model predictions are integrated in the Smith predictor have not yet been unveiled. To fill this gap, a novel bio-inspired modula...
Article
Full-text available
In traditional robotics, model-based controllers are usually needed in order to bring a robotic plant to the next desired state, but they present critical issues when the dimensionality of the control problem increases and disturbances from the external environment affect the system behavior, in particular during locomotion tasks. It is generally a...
Article
Objective: In the past decade, Cognitive training tools have been used to improve brain functioning and some have been applied to cognitive decline in Dementia. Recently, research studies have demonstrated that aerobic exercise could play an important restorative role toward cognitive impairments. Therefore, the main objective of this work is to p...
Article
Presents information on the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems.
Article
The complex motion abilities of the Octopus vulgaris have been an intriguing research topic for biologists and roboticists alike. Various studies have been conducted on the underlying control architectures employed by these high dimensional biological organisms. Researchers have attempted to replicate these architectures on robotic systems. Contrar...
Conference Paper
Full-text available
Kinematic control of soft roboticmanipulators is achallenging problem particularly for systemsthat are both globally and locally redundant. This articlepresents a learning-based task-spacekinematiccontroller thatenablestracking in such soft robotic manipulators. The novelty of the work is a bio-inspired structured sampling mechanism thatactively re...
Article
For robots to navigate successfully in the real world, unstructured environment adaptability is a prerequisite. Although this is typically implemented within the control layer, there have been recent proposals of adaptation through a morphing of the body. However, the successful demonstration of this approach has mostly been theoretical and in simu...
Data
multimedia for 'A bistable soft gripper with mechanically embedded sensing and actuation for fast closed-loop grasping'
Preprint
Full-text available
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they are still limited by their speed, sensing capabilities and actuation mechanism. Hence, their usage have been restricted in highly dynamic grasping tasks. This paper presents a soft robotic gripper with tun...
Article
Recent work has begun to explore the design of biologically inspired soft robots composed of soft, stretchable materials for applications including the handling of delicate materials and safe interaction with humans. However, the solid-state sensors traditionally used in robotics are unable to capture the high-dimensional deformations of soft syste...
Article
Full-text available
Recent electrophysiological observations related to saccadic eye movements in rhesus monkeys, suggest a prediction of the sensory consequences of movement in the Purkinje cell layer of the cerebellar oculomotor vermis (OMV). A definite encoding of real-time motion of the eye has been observed in simple-spike responses of the combined burst-pause Pu...
Chapter
Full-text available
Dementia and Alzheimer’s Disease affects more than 35 million people worldwide. The onset and the development of this pathological condition are generally subtle and progressively. Nevertheless, is often possible identifying some precursors symptoms of the disease. A nosographic entity, which describes this condition between healthy and pathologica...
Article
Reports on the Robotics Flagship project which aims to establish a new paradigm that merges biology, materials science, and AI to build learning and collaborative robots that are adaptable and can coexist with humans. It also attempts to design those robots so that they seamlessly integrate into the planet's life cycle and preserve its resources, r...
Article
Full-text available
Dynamic control of soft robotic manipulators is an open problem yet to be well explored and analyzed. Most of the current applications of soft robotic manipulators utilize static or quasi-dynamic controllers based on kinematic models or linearity in the joint space. However, such approaches are not truly exploiting the rich dynamics of a soft-bodie...
Article
Full-text available
This paper reports the concept, design and development of a pneumatic braided muscle actuator, able to produce bi-directional force and motion. Such a capability can simplify the design and enhance the capabilities of robotic/automation systems using pneumatic muscles as actuators. Finite element modeling is utilized as a design tool in order to st...
Article
In this paper a model-based open loop control of SILVER, a multigait legged underwater vehicle for the benthic zone exploration, is presented. The contributions of underwater environment are taken into account by resorting to a recently introduced fundamental model of monopedal underwater hopping locomotion on which the tuning of a completely open...
Article
Background: Premature birth is associated with feeding difficulties due to inadequate coordination of sucking, swallowing, and breathing. Nonnutritive sucking (NNS) and oral stimulation interventions may be effective for oral feeding promotion, but the mechanisms of the intervention effects need further clarifications. Purpose: We reviewed prete...
Article
The evaluation of cervical spine mobility and the measurement of cervical range of motion are important methods used in clinical settings for diagnosis and prognosis of patients with cervical spine disorders but also to quantify manipulation effects. Therefore, the primary objective of this study was the development of a “wear and forget” device ab...