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SoMa SIGNED

Soft-bodied intelligence for Manipulation

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EC-Contrib. €

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Project "SoMa" data sheet

The following table provides information about the project.

Coordinator
TECHNISCHE UNIVERSITAT BERLIN 

Organization address
address: STRASSE DES 17 JUNI 135
city: BERLIN
postcode: 10623
website: www.tu-berlin.de

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Germany [DE]
 Project website http://soma-project.eu
 Twitter https://twitter.com/soma_H2020
 Total cost 7˙096˙091 €
 EC max contribution 6˙321˙278 € (89%)
 Programme 1. H2020-EU.2.1.1.5. (Advanced interfaces and robots: Robotics and smart spaces)
 Code Call H2020-ICT-2014-1
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-05-01   to  2019-04-30

 Partnership

Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    TECHNISCHE UNIVERSITAT BERLIN DE (BERLIN) coordinator 1˙690˙482.00
2    UNIVERSITA DI PISA IT (PISA) participant 1˙574˙062.00
3    FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA IT (GENOVA) participant 1˙168˙000.00
4    DEUTSCHES ZENTRUM FUER LUFT - UND RAUMFAHRT EV DE (KOELN) participant 820˙740.00
5    OCADO INNOVATION LIMITED UK (HATFIELD) participant 812˙875.00
6    INSTITUTE OF SCIENCE AND TECHNOLOGY AUSTRIA AT (KLOSTERNEUBURG) participant 229˙618.00
7    THE WALT DISNEY COMPANY (SWITZERLAND) GMBH CH (ZURICH) participant 25˙500.00

Map

 Project objective

The main obstacle to a wide-spread adoption of advanced manipulation systems in industry is their complexity, fragility, lack of strength, and difficulty of use. This project describes a path of disruptive innovation for the development of simple, compliant, yet strong, robust, and easy-to-program manipulation systems. The idea is: Soft Manipulation (SoMa).

SoMa explores a new avenue of robotic manipulation with the environment, as opposed to manipulation of or in the environment. In our approach, the physical constraints imposed by objects in the environment and the manipulandum itself are not regarded as obstacles, but rather as opportunities to guide functional hand pre-shaping, adaptive grasping, and affordance-guided manipulation of objects. The exploitation of these opportunities, which we refer to as environmental constraints (EC), enables robust grasping and manipulation in dynamic, open, and highly variable environments.

The key ingredient for the exploitation of EC is softness of hands, i.e. their embodied ability to comply and adapt to features of the environment. The traditional paradigm for robotic manipulation is in complete disarray in front of this shift of focus: state-of-the-art grasp planners are targeted towards rigid hands and objects, and attempt to find algorithmic solutions to inherently complex, often ill-posed problems. Further complicating matters, the requirement of planning for soft, uncertain interactions between hand and environment is entirely beyond the state of the art. However, this is how humans most often use their hands, and how we plan to change robotic manipulation.

 Deliverables

List of deliverables.
Information package for European Robotics companies Documents, reports 2020-03-20 10:32:38
HRI Evaluation report Documents, reports 2020-03-20 10:32:38
Reactive planner for sequencing ECE primitives Other 2020-03-20 10:32:38
Evaluation of sensory feedback Documents, reports 2020-03-20 10:32:35
Strategy descriptions Documents, reports 2020-03-20 10:32:35
Internet presence online Other 2020-03-20 10:32:35
Methods for measuring grip stiffness Other 2020-03-20 10:32:35
Computational Design Tool - Unified simulation Other 2020-03-20 10:32:35
Revised methods for measuring grip stiffness Documents, reports 2020-03-20 10:32:35
Haptically guided grasping motion and stiffness regulation strategies Documents, reports 2020-03-20 10:32:35
Strategy descriptions revised Documents, reports 2020-03-20 10:32:35
Mapping ECE primitives from human to robotic hands Documents, reports 2020-03-20 10:32:35
Planner for sequencing ECE primitives Other 2020-03-20 10:32:35
Enhanced Hand Prototypes exploiting ECE Demonstrators, pilots, prototypes 2020-03-20 10:32:35
Revised Requirements Analysis Documents, reports 2020-03-20 10:32:35
Soft hands for Intermediate Integration and Testing Demonstrators, pilots, prototypes 2020-03-20 10:32:35
Revised HRI Use Cases Documents, reports 2020-03-20 10:32:35
Requirements Analysis Documents, reports 2020-03-20 10:32:35
HRI Use Cases Documents, reports 2020-03-20 10:32:35

Take a look to the deliverables list in detail:  detailed list of SoMa deliverables.

 Publications

year authors and title journal last update
List of publications.
2019 Shayan Hoshyari, Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Vibration-Minimizing Motion Retargeting for Robotic Characters
published pages: , ISSN: 0730-0301, DOI:
ACM Transactions on Graphics (Proceedings of SIGGRAPH 2019) 2020-03-20
2019 Matteo Bianchi, Gionata Salvietti
Editorial: Mapping Human Sensory-Motor Skills for Manipulation Onto the Design and Control of Robots
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2019.00001
Frontiers in Neurorobotics 13 2020-03-20
2018 Visar Arapi, Cosimo Della Santina, Davide Bacciu, Matteo Bianchi, Antonio Bicchi
DeepDynamicHand: A Deep Neural Architecture for Labeling Hand Manipulation Strategies in Video Sources Exploiting Temporal Information
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00086
Frontiers in Neurorobotics 12 2020-03-20
2018 Panagiotis Sotiropoulos, Pavlos Triantafylou, Hussein Mnyusiwalla, Maximo A. Roa, Duncan Russell, Graham Deacon
System-level evaluation of a Robotic System for a Pick-and-Place Task
published pages: , ISSN: , DOI:
Conference Workshop: IROS 2018 - Experimental Robotic Grasping and Manipulation, Benchmarks, Datasets, and Competitions 2020-03-20
2019 F. Negrello, W. Friedl, M. Roa, G. Grioli, O. Brock, M.Garabini, A.Bicchi and M.G.Catalano.
Benchmarking Artificial Hands in Dynamic Tasks: Hand and Grasp Resilience
published pages: , ISSN: 2377-3766, DOI:
IEEE Robotics and Automation Letters, Special issue 2020-03-20
2019 G. J. Pollayil, M. J. Pollayil, G. Grioli and A. Bicchi
Touch Based Adaptive Grasping for Soft Robotic Hands
published pages: , ISSN: 0278-3649, DOI:
International Journal of Robotics Research. Special issue on Soft Manipulation 2020-03-20
2019 Francesco Vigni, Espen Knoop, Domenico Prattichizzo, Monica Malvezzi
The Role of Closed-Loop Hand Control in Handshaking Interactions
published pages: 878-885, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2893402
IEEE Robotics and Automation Letters 4/2 2020-03-20
2018 Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani
Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness
published pages: 3952-3959, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2858271
IEEE Robotics and Automation Letters 3/4 2020-03-20
2018 Clemens Eppner and Roberto Martin-Martin and Oliver Brock
Physics-Based Selection of Informative Actions for Interactive Perception
published pages: , ISSN: , DOI:
IEEE Transactions on Automation Science and Engineering 2020-03-20
2019 H. Mnyusiwalla, P. Triantafyllou, P. Sotiropoulos, G. Deacon, M.A. Roa, W. Friedl and A.M. Sundaram
Benchmarking of Compliant Underactuated Soft End Effectors in an Industrial Context
published pages: , ISSN: 1793-6942, DOI:
International Journal of Humanoid Robotics 2020-03-20
2018 Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
A Bio-inspired Grasp Stiffness Control for Robotic Hands
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00089
Frontiers in Robotics and AI 5 2020-03-20
2018 E. Battaglia
Touch on the go: wearable haptics for sensing and augmented perception
published pages: , ISSN: , DOI:
2020-03-20
2017 Francesca Negrello, Sariah Mghames, Giorgio Grioli, Manolo Garabini, Manuel Giuseppe Catalano
A compact soft articulated parallel wrist for grasping in narrow spaces
published pages: 1-1, ISSN: 2377-3766, DOI: 10.1109/lra.2019.2925304
IEEE Robotics and Automation Letters 2017 IEEE/RSJ International Con 2020-03-20
2019 Ciotti S., Sun T., Battaglia E., Bicchi A., Liu H., Bianchi M.
Force, torque and contact point information from deformable surfaces
published pages: , ISSN: , DOI:
ICRA 2019 2020-03-20
2018 Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martín-Martín, Arne Sieverling, Vincent Wall, Oliver Brock
Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015
published pages: 1459-1475, ISSN: 0929-5593, DOI: 10.1007/s10514-018-9761-2
Autonomous Robots 42/7 2020-03-20
2018 Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo
Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity
published pages: 2854-2861, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2845906
IEEE Robotics and Automation Letters 3/4 2020-03-20
2019 Cosimo Della Santina, Visar Arapi, Giuseppe Averta, Francesca Damiani, Gaia Fiore, Alessandro Settimi, Manuel G. Catalano, Davide Bacciu, Antonio Bicchi, Matteo Bianchi
Learning From Humans How to Grasp: A Data-Driven Architecture for Autonomous Grasping With Anthropomorphic Soft Hands
published pages: 1533-1540, ISSN: 2377-3766, DOI: 10.1109/LRA.2019.2896485
IEEE Robotics and Automation Letters 4/2 2020-03-20
2019 F. Negrello, M. Garabini, G. Grioli, N. Tsagarakis, A. Bicchi and M. G. Catalano
Benchmarking Resilience of Artificial Hands
published pages: , ISSN: , DOI:
ICRA 2019 2020-03-20
2018 Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo
Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity
published pages: 2854-2861, ISSN: 2377-3766, DOI: 10.1109/lra.2018.2845906
IEEE Robotics and Automation Letters 3/4 2020-03-20
2019 Hongyi Xu, Espen Knoop, Stelian Coros, Moritz Bächer
Bend-it
published pages: 1-15, ISSN: 0730-0301, DOI: 10.1145/3272127.3275089
ACM Transactions on Graphics 37/6 2020-03-20
2019 Luigi Malomo, Jesús Pérez, Emmanuel Iarussi, Nico Pietroni, Eder Miguel, Paolo Cignoni, Bernd Bickel
FlexMaps
published pages: 1-14, ISSN: 0730-0301, DOI: 10.1145/3272127.3275076
ACM Transactions on Graphics 37/6 2020-03-20
2019 Vincent Wall and Oliver Brock
Multi-Task Sensorization of Soft Actuators Using Prior Knowledge
published pages: 9416-9421, ISSN: , DOI:
IEEE International Conference on Robotics and Automation (ICRA) 2020-03-20
2018 Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Arash Ajoudani
A Bio-inspired Grasp Stiffness Control for Robotic Hands
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2018.00089
Frontiers in Robotics and AI 5 2020-03-20
2019 Mura Domenico, Manuel Catalano, Knoop Espen, G. Grioli, M. Bächer and A. Bicchi
On the role of Stiffness and Synchronization in Human-Robot Handshaking
published pages: , ISSN: 0278-3649, DOI:
International Journal of Robotics Research. Special issue on Soft Manipulation 2020-03-20
2018 Can Erdogan and Armin Schröder and Oliver Brock
Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping
published pages: , ISSN: , DOI:
ICRA 2018 2020-03-20
2016 R. Deimel, O. Brock
A novel type of compliant and underactuated robotic hand for dexterous grasping
published pages: 161-185, ISSN: 0278-3649, DOI: 10.1177/0278364915592961
The International Journal of Robotics Research 35/1-3 2020-03-20
2018 M. Pozzi, E. Miguel, R. Deimel, M. Malvezzi, B. Bickel, O. Brock, D. Prattichizzo
Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains
published pages: , ISSN: , DOI:
IEEE International Conference on Robotics and Automation 2018 2020-03-20
2018 Gionata Salvietti
Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2018.00027
Frontiers in Neurorobotics 12 2020-03-20
2016 Raphael Deimel, Marcel Radke, Oliver Brock
Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components
published pages: IEEE, ISSN: 2153-0866, DOI:
2020-03-20
2016 Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens
A Compact Representation of Human Single-Object Grasping
published pages: , ISSN: 2153-0866, DOI:
Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems 2020-03-20
2017 Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking
published pages: 2008-2015, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2718099
IEEE Robotics and Automation Letters 2/4 2020-03-20
2016 Rico Jonschkowski, Clemens Eppner, Sebastian Höfer, Roberto Martín-Martín, Oliver Brock
Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge
published pages: , ISSN: 2153-0866, DOI: 10.1109/IROS.2016.7758087
2020-03-20
2018 Cosimo Della Santina, Robert K. Katzschmann, Antonio Bicchi, Daniela Rus
Dynamic Control of Soft Robots Interacting with the Environment
published pages: , ISSN: , DOI:
2020-03-20
2016 Hamal Marino, Mirko Ferrati, Alessandro Settimi, Carlos Rosales, Marco Gabiccini
On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach
published pages: 469-476, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2519149
IEEE Robotics and Automation Letters 1/1 2020-03-20
2018 Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, Antonio Bicchi
Toward Dexterous Manipulation With Augmented Adaptive Synergies: The Pisa/IIT SoftHand 2
published pages: 1-16, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2830407
IEEE Transactions on Robotics 2020-03-20
2016 Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Maximo A. Roa
Grasp Quality Evaluation in Underactuated Robotic Hands
published pages: , ISSN: 2153-0866, DOI:
2020-03-20
2015 Raphael Deimel, Oliver Brock
Soft Hands for Reliable Grasping Strategies
published pages: 211-221, ISSN: , DOI:
Soft Robotics 2020-03-20
2017 Ruslan Guseinov, Eder Miguel, Bernd Bickel
CurveUps
published pages: 1-12, ISSN: 0730-0301, DOI: 10.1145/3072959.3073709
ACM Transactions on Graphics 36/4 2020-03-20
2018 Simone Fani, Simone Ciotti, Manuel G. Catalano, Giorgio Grioli, Alessandro Tognetti, Gaetano Valenza, Arash Ajoudani, Matteo Bianchi
Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation
published pages: 77-88, ISSN: 1070-9932, DOI: 10.1109/MRA.2017.2741579
IEEE Robotics & Automation Magazine 25/1 2020-03-20
2017 Cosimo Della Santina, Matteo Bianchi, Giorgio Grioli, Franco Angelini, Manuel Catalano, Manolo Garabini, Antonio Bicchi
Controlling Soft Robots: Balancing Feedback and Feedforward Elements
published pages: 75-83, ISSN: 1070-9932, DOI: 10.1109/MRA.2016.2636360
IEEE Robotics & Automation Magazine 24/3 2020-03-20
2016 Matteo Bianchi, Robert Haschke, Gereon Büscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti
A Multi-Modal Sensing Glove for Human Manual-Interaction Studies
published pages: 42, ISSN: 2079-9292, DOI: 10.3390/electronics5030042
Electronics 5/3 2020-03-20
2015 Clemens Eppner, Raphael Deimel, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock
Exploitation of Environmental Constraints in Human and Robotic Grasping
published pages: 1021-1038, ISSN: 0278-3649, DOI:
The International Journal of Robotics Research , 2015, Green OA 34(7) 2020-03-20
2018 Giuseppe Averta, Franco Angelini, Manuel Bonilla, Matteo Bianchi, Antonio Bicchi
Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning
published pages: 2686-2693, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2829027
IEEE Robotics and Automation Letters 3/3 2020-03-20
2017 Cosimo Della Santina, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi
The Quest for Natural Machine Motion: An Open Platform to Fast-Prototyping Articulated Soft Robots
published pages: 48-56, ISSN: 1070-9932, DOI: 10.1109/MRA.2016.2636366
IEEE Robotics & Automation Magazine 24/1 2020-03-20
2015 C. Eppner, R. Deimel, J. Alvarez-Ruiz, M. Maertens, O. Brock
Exploitation of environmental constraints in human and robotic grasping
published pages: 1021-1038, ISSN: 0278-3649, DOI: 10.1177/0278364914559753
The International Journal of Robotics Research 34/7 2020-03-20
2015 Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo
SynGrasp: A MATLAB Toolbox for Underactuated and Compliant Hands
published pages: 52-68, ISSN: 1070-9932, DOI: 10.1109/MRA.2015.2408772
IEEE Robotics & Automation Magazine 22/4 2020-03-20
2017 Cosimo Della Santina, Matteo Bianchi, Giuseppe Averta, Simone Ciotti, Visar Arapi, Simone Fani, Edoardo Battaglia, Manuel Giuseppe Catalano, Marco Santello, Antonio Bicchi
Postural Hand Synergies during Environmental Constraint Exploitation
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00041
Frontiers in Neurorobotics 11 2020-03-20
2017 Paul Oh, Hannes Hoeppner, M. Ani Hsieh
The 2017 IEEE RAS Technical Education Program Activites: A Snapshot [Education]
published pages: 112-113, ISSN: 1070-9932, DOI: 10.1109/MRA.2017.2761158
IEEE Robotics & Automation Magazine 24/4 2020-03-20
2018 Franco Angelini, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, Antonio Bicchi
Decentralized Trajectory Tracking Control for Soft Robots Interacting With the Environment
published pages: 1-12, ISSN: 1552-3098, DOI: 10.1109/TRO.2018.2830351
IEEE Transactions on Robotics 2020-03-20
2016 Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel
Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration
published pages: , ISSN: 2153-0866, DOI:
2020-03-20
2015 Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock
A Taxonomy of Human Grasping Behavior Suitable for Transfer to Robotic Hands
published pages: , ISSN: , DOI:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015 2020-03-20
2016 Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi
A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition
published pages: 811, ISSN: 1424-8220, DOI: 10.3390/s16060811
Sensors 16/6 2020-03-20
2017 Roberto Martín-Martín and Oliver Brock
Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception
published pages: , ISSN: , DOI:
AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents 2020-03-20
2017 Giuseppe Averta, Cosimo Della Santina, Edoardo Battaglia, Federica Felici, Matteo Bianchi, Antonio Bicchi
Unvealing the Principal Modes of Human Upper Limb Movements through Functional Analysis
published pages: , ISSN: 2296-9144, DOI: 10.3389/frobt.2017.00037
Frontiers in Robotics and AI 4 2020-03-20
2017 Jonas Zehnder, Espen Knoop, Moritz Bächer, Bernhard Thomaszewski
Metasilicone
published pages: 1-13, ISSN: 0730-0301, DOI: 10.1145/3130800.3130881
ACM Transactions on Graphics 36/6 2020-03-20
2016 Eder Miguel, Mathias Lepoutre, Bernd Bickel
Computational design of stable planar-rod structures
published pages: 1-11, ISSN: 0730-0301, DOI: 10.1145/2897824.2925978
ACM Transactions on Graphics 35/4 2020-03-20
2016 Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexander Terekhov, Vincent Hayward, Marc O. Ernst, Antonio Bicchi
The Change in Fingertip Contact Area as a Novel Proprioceptive Cue
published pages: 1159-1163, ISSN: 0960-9822, DOI: 10.1016/j.cub.2016.02.052
Current Biology 26/9 2020-03-20
2018 Maria Pozzi, Gionata Salvietti, Joao Bimbo, Monica Malvezzi, Domenico Prattichizzo
The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands
published pages: 2206-2213, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2810946
IEEE Robotics and Automation Letters 3/3 2020-03-20
2015 Clemens Eppner, Oliver Brock
Planning Grasp Strategies That Exploit Environmental Constraints
published pages: , ISSN: , DOI:
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), May 2015 2020-03-20
2017 Deimel, Raphael
Soft robotic hands for compliant grasping
published pages: , ISSN: , DOI: 10.14279/depositonce-6063
2020-03-20
2017 Hannes Höppner, Maximilian Große-Dunker, Georg Stillfried, Justin Bayer, Patrick van der Smagt
Key Insights into Hand Biomechanics: Human Grip Stiffness Can Be Decoupled from Force by Cocontraction and Predicted from Electromyography
published pages: , ISSN: 1662-5218, DOI: 10.3389/fnbot.2017.00017
Frontiers in Neurorobotics 11 2020-03-20
2016 Edoardo Battaglia, Matteo Bianchi, Alessandro Altobelli, Giorgio Grioli, Manuel G. Catalano, Alessandro Serio, Marco Santello, Antonio Bicchi
ThimbleSense: A Fingertip-Wearable Tactile Sensor for Grasp Analysis
published pages: 121-133, ISSN: 1939-1412, DOI: 10.1109/TOH.2015.2482478
IEEE Transactions on Haptics 9/1 2020-03-20
2017 Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands
published pages: 329-336, ISSN: 2377-3766, DOI: 10.1109/LRA.2016.2612304
IEEE Robotics and Automation Letters 2/1 2020-03-20
2016 Gionata Salvietti, Leonardo Meli, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo
Multi–Contact Bilateral Telemanipulation with Kinematic Asymmetries
published pages: 1-1, ISSN: 1083-4435, DOI: 10.1109/TMECH.2016.2606895
IEEE/ASME Transactions on Mechatronics 2020-03-20

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The information about "SOMA" are provided by the European Opendata Portal: CORDIS opendata.

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