The video lectures on “The Art of Grasping and Manipulation in Robotics” at the University of Siena are now available

 

 

Dear Roboticists,

my team and I realized at the University of Siena a series of short video lectures on robotic grasping and we would like to share with you the result.

The on-line course on “The Art of Grasping and Manipulation in Robotics” is now available: http://sirslab.dii.unisi.it/GraspingCourse/index.html.

Building dexterous robotic hands and studying new algorithms to control them is essential to allow industrial, service, and humanoid robots to interact with objects around them, and, possibly, with humans in a natural and safe way. The main objective of this course is to give an overview of grasp modeling and control, also introducing the SynGrasp MATLAB® Toolbox.

The course is based on the chapter on Grasping of the Springer Handbook of Robotics: https://link.springer.com/chapter/10.1007/978-3-319-32552-1_38

Video Lectures have mainly been recorded during real lectures and are structured in four units.

I hope you will find this course useful. We are open to comments and suggestions on how to improve it and possibly extend it to include more topics.

Best regards,

_Domenico and the #SIRSLab team

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Content of the course:

Unit 1: Basic concepts – Lecturer: Domenico Prattichizzo

Lecture 1.1: Introduction to the course

Lecture 1.2: Power and precision grasp

Lecture 1.3: The friction cone

Lecture 1.4: The Grasp Matrix

Lecture 1.5: Notation

Unit 2: Grasp modeling – Lecturer: Monica Malvezzi

Lecture 2.1: Object Kinematics

Lecture 2.2: Hand Kinematics

Lecture 2.3: Contact models

Lecture 2.4: Quasi-static model of the grasp

Lecture 2.5: Grasp properties

Unit 3: Grasp control – Lecturer: Domenico Prattichizzo

Lecture 3.1: Hand Control

Lecture 3.2: Control of the object

Lecture 3.3: Limitations of the rigid-body assumption

Supplementary material 3.1: Indeterminate grasps

Supplementary material 3.2: Graspability

Unit 4: SynGrasp – Lecturer: Maria Pozzi

Lecture 4.1: Introduction to the SynGrasp Toolbox

Lecture 4.2: Robotics research with SynGrasp [Slides]

Lecture 4.3: Basic examples [Exercises]

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Domenico Prattichizzo

– Professor of Robotics and Haptics, University of Siena

– Senior Scientist, IIT Genova

– President Eurohaptics Society

– IEEE Fellow

email: prattichizzo@ing.unisi.it

www: https://prattichizzoblog.wordpress.com

phone: +39 329 2606659

skype: domenico.prattichizzo

hangouts: domenico.prattichizzo@gmail.com

#IROS2018 Siena goes to Madrid with 7 papers

SIENA GOES TO MADRID – The Siena Robotics Lab #sirslab will be present at #IROS2018 in Madrid with *7 papers* !!! Great work of the whole team and great collaborations with POLIMI, IIT, Aarhus University, CNRS, Kalhifa University Keyo University, Nagoya Institute of Technology. See you in Madrid friends !!!

– Operator awareness in human-robot collaboration through wearable vibrotactile feedback
Andrea Casalino, Costanza Messeri, Maria Pozzi, Andrea Maria Zanchettin , Paolo Rocco, Domenico Prattichizzo

– Combining Wearable Haptics and Augmented Reality: user evaluation using an external camera and the Microsoft HoloLens
Leonardo Meli, Claudio Pacchierotti, Gionata Salvietti, Francesco Chinello, Maurizio Maisto, Alessandro De Luca, Domenico Prattichizzo

– Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity
Irfan Hussain, Federico Renda, Muhammad Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo

– Sensory-motor augmentation of the robot with shared human perception
Ryuya Ishida, Leonardo Meli, Yoshihiro Tanaka, Kouta Minamizawa, Domenico Prattichizzo

– Grasp Stiffness Control in Robotic Hands through Coordinated Optimization of Pose and Joint Stiffness
Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani

– The Co-Gripper: a Wireless Cooperative Gripper for Safe Human Robot Interaction
Gionata Salvietti, Muhammad Zubair Xuber Iqbal, Irfan Hussain, Domenico Prattichizzo, Monica Malvezzi

– Transparency-optimal passivity layer design for time-domain control of multi-DoF haptic-enabled teleoperation
Olmo Alonso Moreno Franco, Joao Bimbo, Claudio Pacchierotti, Domenico Prattichizzo, Davide Barcelli, Gianni Bianchini

 

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Haptics – #sirslab paper published on IEEE Robotics and Automation Letters (RA-L)

The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb

Leonardo Meli, Irfan Hussain, Mirko Aurilio, Monica Malvezzi, Marcia K. O’MalleDomenico Prattichizzo.

DOI: 10.1109/LRA.2018.2810958

Abstract.  Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called “hBracelet”. It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user’s arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. Furthermore, we present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving the overall telepresence.

 

A video showing the main concept of the work can be watched at

The pdf of the paper can be downloaded at http://sirslab.dii.unisi.it/papers/2018/Meli18_hBracelet.pdf

The paper can be cited using the following bibtex item

@ARTICLE{Meli18_hBracelet,
author={L. Meli and I. Hussain and M. Aurilio and M. Malvezzi and M. K. O’Malley and D. Prattichizzo},
journal={IEEE Robotics and Automation Letters},
title={The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb},
year={2018},
volume={3},
number={3},
pages={2198-2205},
keywords={Actuators;Belts;Force;Haptic interfaces;Pulleys;Robots;Skin;Haptics and haptic interfaces;human-centered robotics;telerobotics and teleoperation;wearable robots},
doi={10.1109/LRA.2018.2810958},
ISSN={}, 
month={July},}

 

This work will be presented at the IEEE International Conference on Robotics and Automation (ICRA 2018) that is held 21-25 May in Brisbane, Australia.

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]

A new perspective paper published on Frontiers on Neurorobotics

A human-robot interaction perspective on assistive and rehabilitation robotics

Philipp Beckerle, Gionata Salvietti, Ramazan Unal, Domenico Prattichizzo, Simone Rossi, Claudio Castellini, Sandra Hirche, Satoshi Endo, Heni Ben Amor, Matei Ciocarlie, Fulvio Mastrogiovanni, Brenna D. Argall and Matteo Bianchi

Abstract Assistive and rehabilitation devices are a promising and challenging field of recent robotics research. Motivated by societal needs such as aging populations, such devices can support motor functionality and subject training. The design, control, sensing and assessment of the devices become more sophisticated due to a human in the loop. This paper gives a human-robot interaction perspective on current issues and opportunities in the field. On the topic of control and machine learning, approaches that support but do not distract subjects are reviewed.  Options to provide sensory user-feedback that are currently missing from robotic devices are outlined. Parallels between device acceptance and affective computing are made. Furthermore, requirements for functional assessment protocols that relate to real-world tasks are discussed. In all topic areas, the design of human-oriented frameworks and methods is dominated by challenges related to the close interaction between the human and robotic device. This paper discusses the aforementioned aspects in order to open up new perspectives for future robotic solutions.
A human-robot interaction perspective on assistive and rehabilitation robotics. Available from: https://www.researchgate.net/publication/316735448_A_human-robot_interaction_perspective_on_assistive_and_rehabilitation_robotics

Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives

Our group has just published a new survey article on the IEEE Transactions on Haptics!

The 23-pages-long manuscript presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. We also discuss the main technological and design challenges for the development of wearable haptic interfaces, and report on the future perspectives of the field.

This work is the result of a collaboration between my group SIRSLab, the CNRS at Irisa and Inria Rennes (C. Pacchierotti), UPMC (V. Hayward), Inria Chile (S. Sinclair), and SSSA (A. Frisoli and M. Solazzi), in the framework of project WEARHAP.

_DP

C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, D. Prattichizzo. “Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives.” IEEE Transactions on Haptics, 2017.

The paper is available from IEEEXplore (Open Access!):
http://ieeexplore.ieee.org/document/7922602/