Soft Robotics Research

Home/Soft Robotics Research

Reconstruction for Proprioception using Tactile Arrays

Reconstruction for Proprioception using Tactile Arrays Scimeca, L and Hughes, J and Maiolino, P and Iida, F. IEEE RA-L(2019)  In collaboration with University of Cambridge Abstract – Continuum body structures provide unique opportunities for soft robotics, with the infinite degrees of freedom enabling unconstrained and highly adaptive exploration and manipulation. However, the infinite degrees of freedom of continuum bodies make sensing [...]

Reconstruction for Proprioception using Tactile Arrays2019-04-29T14:41:36+01:00

Contact Modelling and Tactile Data Processing for Robot Skins

Contact Modelling and Tactile Data Processing for Robot Skins Wojciech Wasko, Alessandro Albini, Perla Maiolino, Fulvio Mastrogiovanni, Giorgio Cannata, MDPI Sensors (2019) In collaboration with University of Genova Abstract – Tactile sensing is a key enabling technology to develop complex behaviours for robots interacting with humans or the environment. This paper discusses computational aspects playing [...]

Contact Modelling and Tactile Data Processing for Robot Skins2019-04-29T14:42:42+01:00

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing J. A. E. Hughes, P. Maiolino and F. Iida. Science Robotics (2018) In collaboration with University of Cambridge Abstract – The development of robotic manipulators and hands that show dexterity, adaptability, and subtle behavior comparable to human hands is an unsolved research challenge. In this article, we [...]

An anthropomorphic soft skeleton hand exploiting conditional models for piano playing2019-04-26T11:13:27+01:00

Achieving Robotically Peeled Lettuce

Achieving Robotically Peeled Lettuce Josie Hughes, Luca Scimeca, Ioana Ifrim, Perla Maiolino, Fumiya Iida. IEEE RA-L (2018) In collaboration with University of Cambridge Abstract – Robotic technologies are being increasingly applied to agriculture, in particular to harvesting. Some types of produce such as iceberg lettuce require additional processing after harvesting in order to satisfy the [...]

Achieving Robotically Peeled Lettuce2019-04-26T11:02:14+01:00

Soft morphological processing of tactile stimuli for autonomous category formation

Soft morphological processing of tactile stimuli for autonomous category formation Luca Scimeca, Perla Maiolino, Fumiya Iida. IEEE RoboSoft 2018. In collaboration with University of Cambridge Abstract – Sensor morphology is a fundamental aspect of tactile sensing technology. Design choices induce stimuli to be morphologically processed, changing the sensory perception of the touched objects and affecting [...]

Soft morphological processing of tactile stimuli for autonomous category formation2019-04-26T10:58:34+01:00

A Variable Stiffness Robotic Probe for Soft Tissue Palpation

A Variable Stiffness Robotic Probe for Soft Tissue Palpation Nicolas Herzig, Perla Maiolino, Fumiya Iida, Thrishantha Nanayakkara. IEEE RA-L 2018 In Collaboration with Imperial College London Abstract – During abdominal palpation diagnosis, a medical practitioner would change the stiffness of their fingers in order to improve the detection of hard nodules or abnormalities in soft [...]

A Variable Stiffness Robotic Probe for Soft Tissue Palpation2019-04-26T10:51:29+01:00

CySkin Technology

CySkin Technology In collaboration with University of Genova Made of flexible interconnected triangular modules, the skin can be adapted to different surfaces integrating high-resolution tactile sensors on small and large areas. The tactile feedback is locally processed and transferred on a network of Intelligent Hub Boards (IHBs) that constitute the CySkin nervous system. Each module embeds 11 pressure sensors, can [...]

CySkin Technology2019-04-26T11:22:10+01:00

Development of an integrated tactile sensor system for clothes manipulation and classification using industrial grippers

Development of an integrated tactile sensor system for clothes manipulation and classification using industrial grippers A.A. Khan, M. Khosravi, S. Denei, P. Maiolino, W. Kasprzak, F. Mastrogiovanni, G. Cannata. IEEE ICiAfs 2016 In collaboration with University of Genova Abstract – This paper proposes an architecture for tactile-based fabric learning and classification. The architecture is based [...]

Development of an integrated tactile sensor system for clothes manipulation and classification using industrial grippers2019-04-25T10:07:13+01:00