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Article
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
The ANA Avatar XPRIZE was a four-year competition to develop a robotic “avatar” system to allow a human operator to sense, communicate, and act in a remote environment as though physically present. The competi...
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Chapter and Conference Paper
Preliminary Analysis and Simulation of a Compact Variable Stiffness Wrist
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitab...
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Article
Open AccessThe SoftHand Pro platform: a flexible prosthesis with a user-centered approach
Among commercially-available upper-limb prostheses, the two most often used solutions are simple hook-style grippers and poly-articulated hands, which present a higher number of articulations and show a closer...
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Article
Open AccessA soft supernumerary hand for rehabilitation in sub-acute stroke: a pilot study
In patients with subacute stroke, task specific training (TST) has been shown to accelerate functional recovery of the upper limb. However, many patients do not have sufficient active extension of the fingers ...
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Article
Open AccessComparison between rigid and soft poly-articulated prosthetic hands in non-expert myo-electric users shows advantages of soft robotics
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...
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Living Reference Work Entry In depth
Soft Robots
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Article
Open AccessExploring augmented gras** capabilities in a multi-synergistic soft bionic hand
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...
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Chapter and Conference Paper
A Supernumerary Soft Robotic Hand-Arm System for Improving Worker Ergonomics
Long exposure to overload and vibration transmission on the upper limb are among the high risk injury factors in industrial environments. They contribute to the development of musculoskeletal disorders, which ...
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Chapter and Conference Paper
A Synergistic Behavior Underpins Human Hand Gras** Force Control During Environmental Constraint Exploitation
Despite the complex nature of human hands, neuroscientific studies suggested a simplified kinematic control underpinning motion generation, resulting in principal joint angle co-variation patterns, usually cal...
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Chapter and Conference Paper
Preliminary Results Toward Continuous and Proportional Control of a Multi-synergistic Soft Prosthetic Hand
State of art of modern hand prosthesis is populated by sophisticate hi-tech poly-articular hands which usually offer a broader set of movement capabilities, with the possibility to control up to 4 or 5 motors ...
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Chapter and Conference Paper
The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation
Robotics-enabled technologies for assistive and rehabilitative applications have gained an increasing attention, both in academic and industrial research settings, as a promising solution for human sensory-mot...
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Chapter and Conference Paper
Advanced Gras** with the Pisa/IIT SoftHand
This chapter presents the hardware, software and overall strategy used by the team UNIPI-IIT-QB to participate to the Robotic Gras** and Manipulation Competition. It relies on the PISA/IIT SoftHand, which is...
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Chapter
From Soft to Adaptive Synergies: The Pisa/IIT SoftHand
Taking inspiration from the neuroscientific findings on hand synergies discussed in the first part of the book, in this chapter we present the Pisa/IIT SoftHand, a novel robot hand prototype. The design moves ...
