A5102930046- Soft Robotics and Applications
- Robot Manipulation and Learning
- Manufacturing Process and Optimization
- Tactile and Sensory Interactions
- Surgical Simulation and Training
- Micro and Nano Robotics
- Modular Robots and Swarm Intelligence
- Motor Control and Adaptation
- Space Satellite Systems and Control
- Innovations in Concrete and Construction Materials
- Additive Manufacturing and 3D Printing Technologies
- Muscle activation and electromyography studies
- Robotic Path Planning Algorithms
- EEG and Brain-Computer Interfaces
- Structural Health Monitoring Techniques
- Infrastructure Maintenance and Monitoring
- Advanced Sensor and Energy Harvesting Materials
- Advanced Surface Polishing Techniques
- Injection Molding Process and Properties
- Reading and Literacy Development
- Concrete Corrosion and Durability
- Advanced Materials and Mechanics
- Flexible and Reconfigurable Manufacturing Systems
- Advanced Manufacturing and Logistics Optimization
Italian Institute of Technology
2019-2023
University of Calgary
2023
University of Padua
2023
Scuola Superiore Sant'Anna
2017-2020
For some surgical interventions, like the Total Mesorectal Excision (TME), traditional laparoscopes lack flexibility to safely maneuver and reach difficult targets. This paper answers this need through designing, fabricating modelling a highly dexterous 2-module soft robot for minimally invasive surgery (MIS).A robotic approach is proposed that uses flexible fluidic actuators (FFAs) allowing inherently safe navigation. Dexterity provided by an optimized design of fluid chambers within...
The rapidly growing field of soft robotics owes its success to the vast vistas possibilities they promise. They may be utilized as standalone systems, or work in harmony with existing robotic technologies. Being based on and/or flexible materials, robots have usually high dexterity and at same time, are also often considered ‘intrinsically safe’. This is generally true soft-bodied can safer from a mechanical point view, but this sometimes improperly used. identification possible safety...
Combining the strengths of surgical robotics and minimally invasive surgery (MIS) holds potential to revolutionize interventions. The MIS advantages for patients are obvious, but use instrumentation suitable often translates in limiting surgeon capabilities (eg, reduction dexterity maneuverability demanding navigation around organs). To overcome these shortcomings, application soft technologies approaches can be beneficial. devices based on materials is already demonstrating several all...
A screw-based formulation of the kinematics, differential and statics soft manipulators is presented, which introduces robotics counterpart to fundamental geometric theory developed since Brockett's original work on subject. As far as actuation concerned, embedded tendon fluidic are modeled within same framework, screw-system they belong shown. Furthermore, active passive motion subspaces clearly differentiated, guidelines for manipulable force-closure conditions developed. Finally, model...
Soft robotic grippers are shown to be high effective for grasping unstructured objects with simple sensing and control strategies. However, they still limited by their speed, capabilities actuation mechanism. Hence, usage have been restricted in highly dynamic tasks. This paper presents a soft gripper tunable bistable properties sensor-less grasping. The mechanism allows us store arbitrarily large strain energy the system which is then released upon contact. also provides flexibility on type...
Abstract Cable-driven hyper-redundant robots have been adopted in many fields for accessing harsh and confined environments that may be inaccessible or dangerous humans. The cable actuation strategy makes the robot hardware safer increases payload reducing its weight. In this paper, a novel design of fully actuated cable-driven has proposed. This solution is pulleyless decreases mechanical complexity, allowing to compact arm diameter avoid tension losses on cables during motion. Three...
Fused Deposition Modeling (FDM) is a type of Additive Manufacturing (AM) technology that becoming increasingly common in numerous applications thanks to its versatility and reduced material waste. However, the complex physical phenomena occurring during extrusion, including dynamics non-Newtonian fluids, viscoelastic behaviors rheology, make use heuristic observations preferable analytical approaches. Consequently, engineers have focused on optimizing materials hardware rather than control...
Abstract Designing gripping and manipulation systems for soft materials is an interesting but challenging task that has been widely investigated in the robotic field recently. Soft require a departure from traditional methodologies proposed grasping rigid objects. The presented work step towards manipulating planar materials, namely garments. A work-cell to automate stitching, involving of fabric cloth foam pad described simulated. results simulation show feasibility, speeds comparable...
The assembly challenge of the World Robot Challenge (WRC) 2020, which was a part Summit (WRS) aimed to complete rapidly changing tasks in high mix/low volume production through building agile and lean systems that can respond one-off products. authors this paper participated with team PneuBot from Industrial Robotics Facility Italian Institute Technology by developing flexible system. purpose work develop an system able handle variations parts minimal changeover hardware software. In...
<p>Experimental procedures are often involved in the numerical models validation. To define behaviour of a structure, its underlying dynamics and stress distributions generally investigated. In this research, multi-instrumental multi-spectral method is proposed order to validate model Inspection Robot mounted on new San Giorgio's Bridge Polcevera river. An infrared thermoelasticity-based approach used measure stress-concentration factors and, additionally, an innovative methodology...
In our daily life, the sight and sense of touch play a fundamental role in objects recognitions. This process is helped by experience: if subject has already seen or touched an object past, he will recognize it more easily future. Following this assumption, authors paper wanted to investigate experience can influence results clinical examination where active role. The attention was focused on peripheral neuropathies diagnosis since they require accurate assessment several parameters...