I think that we need to take care about future of AI: I am closer to the idea of Elon Musk. _DP
Body tracking
Workshop @ ICORR 2017 | Human-Oriented Approaches for Assistive and Rehabilitation Robotics
On Monday 17 in London there will be a very interesting workshop on Assistive and Rehabilitation Robotics. It is a workshop of the IEEE ICORR Conference. Gionata Salvietti from our #sirslab is one of the organizers of the workshop. I am anxious to participate to the WS. DP
https://humorarr.wordpress.com/workshop-icorr-2017/
http://www.icorr2017.org/
Pepper alla Casa di Riposo ASP Campansi in Siena
Una collaborazione tra Università di Siena e ASP di Siena
Che dire ? È stata un’esperienza fantastica che ha arricchito prima di tutto noi del #sirslab. Una robotica che tiene al centro l’uomo è quello per cui noi al Dipartimento di Ingegneria dell’Informazione e Scienze Matematiche, Università di Siena ci stiamo impegnando ogni giorno. Un particolare grazie ai folks del Laboratorio di Robotica tra cui Leonardo Meli, Chiara Gaudeni, Tommaso Lisini, Niccolò Ciavarella e tutti quelli che nel tempo ci hanno aiutato a programmare Pepper. Un grazie particolare a Monica Ulivelli, motore dell’iniziativa all’interno del CDA e a Carlo Rossi, Biancamaria Rossi e a tutta la dirigenza di ASP Viviana Turchi e al consiglio scientifico di cui ho l’onore di fare parte insieme a Luigia Tauro. Grazie ad Alice e al suo team per tutto quanto ha creato e realizzato per questa iniziativa ed infine un immenso grazie agli ospiti del Campansi di Siena che sono la vera anima di tutto quanto è stato realizzato in questi giorni di duro lavoro. Ora rimaniamo in attesa del Documentario. Stay tuned. ps. Grazie anche alla mia amata Elena che è stata con noi. _DP
[jobs] 2 PHD Openings – Highly Wearable Robotics and Highly Wearable Haptics – University of Siena – Deadline July 17, 2017 (2pm).
Dear future scientists, if you want to start a new research adventure on Wearable Haptics for AR/VR and Teleoperation and on Supernumerary Robotic Limbs to help people with impairments and to define new paradigms of human robot integrations, apply to the two PhD scholarships on
– Supernumerary limbs to compensate and augment the manipulation abilities of humans
– Technologies and methodologies for robotic manipulation and wearable haptics [In cooperation with Istituto Italiano di Tecnologia in Genova] now available at the SIRSLab of the University of Siena
The PhD program is in Information Engineering and Science at the University of Siena (one of the two scholarships is in cooperation with the Istituito Italiano di Tecnologia in Genova)
To apply to one of the two scholarships, follow the instruction on line (this step is mandatory and the deadline is July 17 at 2pm)
and send an email to domenico.prattichizzo@unisi.it.
To know more about the research activities and for any additional questions send me an email.
Thanks for your interest
_Domenico Prattichizzo and the #sirslab team
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Domenico Prattichizzo
Professor of Robotics, University of Siena
Senior Scientist, IIT Genova
IEEE Fellow
email: prattichizzo@ing.unisi.it
www: https://prattichizzoblog.wordpress.com
phone: +39 329 2606659
skype: domenico.prattichizzo
hangouts: domenico.prattichizzo@gmail.com
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SIRSLab – Siena Robotics and System Lab – Main Lab Video Presentation – 2017 – #sirslab
The SIRSLab focuses on human centred robotics research and is established at the Department of Information Engineering and Mathematics of University of Siena and is coordinated by Prof. Domenico Prattichizzo (https://prattichizzoblog.wordpress.com). The SIRSLab is very active in the field of Robotics in Italy, and its main focus is on haptics, wearables, virtual reality, and robotic grasping and manipulation. Main research subjects are:
– control of robotic manipulation and grasping
– bilateral human-robot tele manipulation
– wearable haptic interfaces and wearable robots
– applications of AR and VR
– rehabilitation robotics with application to stroke and parkinson
– telepresence and remote tactile interaction
Our vision is to design highly wearable robotic/haptic interfaces to propose novel paradigms of integration between humans and robots.
The SIRSLab closely cooperates with the Advanced Robotics Lab of the Istituto Italiano di Tecnologia in Genova.
For any additional information about our research and opportunities to work with us send an email to prattichizzo@ing.unisi.it.
Domenico Prattichizzo
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Professor of Robotics, University of Siena
Senior Scientist, IIT Genova
IEEE Fellow
email: prattichizzo@ing.unisi.it
www: https://prattichizzoblog.wordpress.com
phone: +39 329 2606659
skype: domenico.prattichizzo
hangouts: domenico.prattichizzo@gmail.com
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Grasp Quality Evaluation in Underactuated and Compliant Robotic Hands: New Indexes and New Challenges
The new trend in the design of robotic hands is to make them underactuated and compliant, so that they can safely interact with the enviroment, and adapt to the objects they have to grasp.
Evaluating the grasping capabilities of such type of hands is a challenging task because there is the need of an evaluation method that takes into account i) which forces can be actually controlled by the hand, depending on its actuation system, and ii) the parameters that characterize the contact points such as the friction coefficient and the maximum and minimum applicable contact forces.
To this aim, the work presented in [1] revisits some traditional quality measures developed for multi-fingered, fully actuated hands, and applies them to the case of underactuated hands. Measures based on the wrench space computation, namely the largest minimum resisted wrench, and measures of contact and grasp robustness, namely the Potential Grasp Robustness (PGR) and the Potential Contact Robustness (PCR), are compared through simulated examples. Both types of indexes are found to be suitable for evaluating underactuated grasps in a realistic and coherent way, because they can account for friction constraints and physically achievable contact forces.
Underactuated and compliant hands can adapt to the shape of the objects they have to grasp and tend to perform power grasps, rather than precision grasps. This consideration lead to the work described in [2], where authors demonstrate that the PGR can be applied not only to precision grasps, but also to power grasps.
The workshop entitled “Evaluation and benchmarking of underactuated and soft robotic hands” was held at IROS 2016 to discuss on the possibility of having a common benchmarking framework for assessing the quality of compliant and underactuated manipulation systems, and highlighted that in the community there is a clear need of comparability and reproducibility, not only for soft and underactuated hands, but for general robotic grasping systems.
The posters and the slides that were presented at the workshop are available here.
References
[1] M. Pozzi, A. M. Sundaram, M. Malvezzi, D. Prattichizzo, and M. A. Roa, “Grasp quality evaluation in underactuated robotic hands,” in Proceedings, IEEE/RSJ International Conference on Intelligent Robots and Systems, 2016. [PDF]
[2] M. Pozzi, M. Malvezzi, and D. Prattichizzo, “On grasp quality measures: Grasp robustness and contact force distribution in underactuated and compliant robotic hands,” IEEE Robotics and Automation Letters, vol. 2, 2017. [Link]
