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

—

Focalizzarsi e comunicare per giocare un ruolo centrale nel mondo delle professioni vivendo in una delle città di provincia più belle e vivibili d’Italia: Siena.

La quarta puntata della serie per il programma Buongiorno Siena di Daniele Magrini​ a Radio Siena Tv​. — Focalizzarsi e comunicare per giocare un ruolo centrale nel mondo delle professioni vivendo in una delle città di provincia più belle e vivibili d’Italia: Siena. _DP #sirslab #siena #robotics DIISM Università degli Studi di Siena​

 

La serie di tutti i video è disponibile su YouTube:

https://www.youtube.com/playlist?list=PLfYZRHo5ca5ahXmJ_fiHztWno5Zr9SNyK

 

 

 

 

Robot in Sanità, 20 Settembre 2018, 9:45am, Centro Didattico Le Scotte, Siena

Cari amici, mi fa piacere condividere con voi il seguente evento. _DP

Robot in Sanità

Giovedì, 20 Settembre 2018 – da 09:45 a 17:00

Il 20 Settembre, alle ore 09:45 presso l’ Aula 2 c/o Centro Didattico Le Scotte c/o AOU SIENA – Strada delle Scotte, 4 (ROBOT IN SANITA’ – brochurelato elisoccorso), si terrà il seminario “Robot in Sanità”.

Uomo e Robot in sanità, due mondi sempre più vicini. Nel seminario saranno ripercorse alcune applicazioni sanitarie, nella prospettiva di comunicare le future esigenze cliniche e conoscere i prodotti già presenti o di prossima innovazione.

Programma in PDF

 

ISCRIZIONI ENTRO IL 18 SETTEMBRE 2018

L’iscrizione al Seminario è gratuita e dovrà avvenire esclusivamente online all’indirizzo https://siena.ing4.it/ISFormazione-Siena

attraverso la piattaforma dedicata alla formazione, selezionando il titolo del Seminario

Prenota il tuo posto!

Programma in allegato

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

Combining wearable finger 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.

DOI: 10.1109/LRA.2018.2864354

Abstract.  Augmented Reality (AR) enriches our physical world with digital content and media, such as 3D models and videos, overlaying in real time the camera view of our smartphone, tablet, laptop, or glasses. Despite the recent massive interest for this technology, it is still not possible to receive rich haptic feedback when interacting with augmented environments. This lack is mainly due to the poor diffusion of suitable haptic interfaces, which should be easy to wear, lightweight, compact, and inexpensive. In this paper, we briefly review the state of the art on wearable haptics and its application in AR. Then, we present three AR use cases, considering tasks of manipulation, guidance, and gaming, using both external cameras with standard screens as well as fully-wearable solutions, using the Microsoft HoloLens. We evaluate these tasks enrolling a total of 34 subjects, analyzing performance and user experience when using a 3-DoF wearable device for the fingertip, a 2-DoF wearable device for the proximal finger phalanx, a vibrotactile ring, and a popular sensory substitution technique (interaction force displayed as a colored bar). Results show that providing haptic feedback through the wearable devices significantly improves the performance, intuitiveness, and comfort of the considered AR tasks.

 

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

The pdf of the paper can be downloaded at http://sirslab.dii.unisi.it/papers/2018/Meli18_hololens.pdf

The paper can be cited using the following bibtex item

@article{Meli18_RAL_hololens, 
   Author = {Meli, L. and Pacchierotti, C. and Salvietti, G. and Chinello, F. and Maisto, M. and De Luca, A. and Prattichizzo, D.},
   Title = {Combining wearable finger haptics and Augmented Reality: User evaluation using an external camera and the Microsoft HoloLens},
   Journal = {{IEEE Robotics and Automation Letters}},
   Volume = {3},
   Number = {4},
   Pages = {4297--4304},
   Year = {2018}
}

This work will be presented at the IIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) that is held 1-5 October in Madrid, Spain.

Lezione di Domenico Prattichizzo Università di Siena tenuta a Senigallia Rotary 2018 – YouTube

Una lunga lecture tenuta al Liceo Medi di Senigallia e organizzata dal Rotary Club di Senigallia sulle attività di ricerca del nostro laboratorio #sirslab.

Sarebbe interessante avere dei pointer di alcune parti più interessanti.
Ci lavorerò.

Avendo tenuto questa lezione presso una scuola superiore, il Liceo Medi, ritengo che guardarla potrebbe essere interessante per i ragazzi che devono scegliere il loro percorso formativo Universitario.

L’attenzione è sulle attività di robotica del nostro Laboratorio #sirslab, ma ci sono molti aspetti di validità più ampi e generali che prescindono dall’interesse specifico verso la robotica.

_DP

#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

 

Prattichizzo eletto presidente della Società EuroHaptics

Un grande risultato di tutto il #sirslab. #haptics. _DP

Source: Prattichizzo eletto presidente della Società EuroHaptics – unisinforma magazine università di siena