VIACTORS

Papers

Journal Papers

F. Carpi, G. Frediani, S. Tarantino, and D. De Rossi,"Millimeter-scale bubble-like dielectric elastomer actuators", Polymer International In press, 2010
G. Gallone, F. Galantini and F. Carpi, "Perspectives for new dielectric elastomers with improved electromechanical actuation performance: composites versus blends", Polymer International In press, 2010
F. Carpi, S. Raspopovic, G. Frediani, S. Tarantino, and D. De Rossi, "Real-time openloop control of dielectric elastomer actuators via bioelectric and biomechanical signals", Polymer International In press, 2010
M. Van Damme, P. Beyl, B. Vanderborght, R. Versluys, R. Van Ham, I. Vanderniepen, F. Daerden, D. Lefeber, "The Safety of a Robot Actuated by Pneumatic Muscles - A Case Study International Journal of Social Robotics, DOI: 10.1007/s12369-009-0042-2, Published online, will appear in print in 2010.
[PDF]
K. P. Tee, D. W. Franklin, T. Milner, M. Kawato and E. Burdet, "Concurrent Adaptation of force and impedance in the redundant muscle system", Biological Cybernetics 102: 31-44, 2010
T. Arichi, A. Moraux, A. Melendez, V. Doria, M. Groppo, N. Merchant, S. Combs, E. Burdet, D. J. Larkman, SJ Counsell, CF Beckmann, AD Edwards, "Somatosensory cortical activation identied by functional MRI in preterm and term infants", Neuroimage 49(3): 2063-71. 2010
M. Randazzo, M. Fumagalli, G. Metta and G. Sandini , "Closed loop control of a rotational joint driven by two antagonistic dielectric elastomer actuators", Electroactive Polymer Actuators and Devices (EAPAD) XII, 2010 accepted
M. Laffranchi, N. G.Tsagarakis and D. G. Caldwell, "Enhancing Interaction Safety via Intrinsically Compliant Robot Design and Energy Regulation Control", International Journal of Robotics Research, submitted
M. Biso, A. Ansaldo and D. Ricci, "Performance improvement in bucky gel actuators by chemical modifications of carbon nanotubes" physica status solidi (RRL) - Rapid Research Letters, submitted
L. Masia, M. Casadio , P. Giannoni, G. Sandini and P. Morasso,"Performance Adaptive Training Control Strategy for recovering wrist movements in stroke patients: a preliminary, feasibility study" Journal of Neuroengieering and Rehabilitation 2009, 6:44doi:10.1186/1743-0003-6-44 [PDF]
S. Haddadin, T. Laue, U. Frese, S. Wolf, A. Albu-Schäffer, and G. Hirzinger, "Kick it like a Safe Robot: Requirements for 2050", Robotics and Autonomous Systems (RAS): Special Issue on Humanoid Soccer Robots, vol. 57, issue 8, pp. 761-775 [PDF]
A. E. Fiorilla, N. G.Tsagarakis, F. Nori and G. Sandini, "Design of a 2-Finger Hand Exoskeleton for Finger stiffness measurements" Journal of Applied Bionics and Biomechanics:Special Issue on "Upper and Lower Limb Exoskeletons, 2009 (accepted) [PDF]
S. Haddadin, A. Albu-Schäffer and G. Hirzinger, "Requirements for Safe Robots: Measurements, Analysis & New Insights", International Journal on Robotics Research (IJRR2007) (accepted)
M. Görner, T. Wimböck, G. Hirzinger "The DLR Crawler: evaluation of gaits and control of an actively compliant six-legged walking robot", Industrial Robot: An International Journal, Vol. 36, No. 4., pp. 344-351.
O'Sullivan, E Burdet, Diedrichs, "Dissociating variability and effort as determinants of coordination Plos", Computational Biology5(4): e1000345
S Haller, D Chapuis, R Gassert, E Burdet, M Klarhoefer (2009), "Supplementary motor area and anterior intraparietal area integrate ne-graded timing and force control during precision grip", European Journal of Neuroscience 30(12): 2401-06(6)
M Biso, and D Ricci, "Multi-walled carbon nanotubes plastic actuator" Phys. Status Solidi B, 1–4, 2009 [PDF]
F. Carpi, G. Frediani, S. Tarantino, and D. De Rossi, "Millimeter-scale bubble-like dielectric elastomer actuators", Polymer International (accepted)
F. Carpi, S. Raspopovic, G. Frediani, S. Tarantino, and D. De Rossi, "Real-time open-loop control of dielectric elastomer actuators via bioelectric and biomechanical signals" Polymer International (accepted)
C. Castellini and P. van der Smagt (2009). Surface EMG in Advanced Hand Prosthetics Biological Cybernetics. 100 (1), 35--47
P. van der Smagt and M. Grebenstein and H. Urbanek and N. Fligge and M. Strohmayr and G.Stillfried and J. Parrish and A. Gustus (2009). "Robotics of Human Movement", Journal of Neurophysiology, Paris. 103 (3-5), 119- 132

Conference Papers and Posters

M. Laffranchi, N. G.Tsagarakis and D. G. Caldwell, "A Variable Physical Damping Actuator (VPDA) for Compliant Robotic Joints", IEEE International Conference on Robotics and Automation (ICRA 2010), accepted
F. Carpi, G. Frediani and D. De Rossi, "Idrostatically coupled dielectric elastomer actuators for tactile displays and cutaneous stimulators", Smart Structures and Materials 2010: Electroactive Polymer Actuators and Devices, San Diego, March 2010, accepted
M. Randazzo, M. Fumagalli and G. Metta, "Force control of a tendon driven joint actuated by dielectric elastomers", ACTUATORS2010 submitted
F. Galantini, G. Gallone, F. Carpi, D. De Rossi, "Dielectric properties and elastic moduli, a delicate balance for dielectric elastomer actuators", 10th IEEE International Conference on Solid Dielectrics, Potsdam, July 2010 accepted
F. Carpi, G. Frediani and D. De Rossi, "Contractile dielectric elastomer actuator based on hydrostatic coupling", ACTUATOR 2010, Bremen, June 2010, accepted
F. Carpi, G. Frediani and D. De Rossi, "Bubble-like dielectric elastomer actuator with hydrostatic coupling for tactile displays", ACTUATOR 2010, Bremen, June 2010, accepted
F. Galantini, G. Gallone, F. Carpi, D. De Rossi, "Soft Elastic Modulus and High Dielectric Constant: a Synergistic Matching forElastomeric Actuators", ACTUATOR 2010, Bremen, June 2010.accepted
M. G. Catalano, R. Schiavi, and A. Bicchi. "Design of Variable Stiffness Actuators Mechanisms based on Enumeration and Analysis of Performance.", IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3 - 8 2010.
L.C. Visser, R. Carloni, R. Unal and S. Stramigioli, "Modeling and design of energy efficient variable stiffness actuators", IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3 - 8 2010, pp. 3273 - 3278 [PDF]
L.C. Visser, R. Carloni and S. Stramigioli, "Variable stiffness actuators: a port-based analysis and a comparison of energy efficiency", IEEE International Conference on Robotics and Automation (ICRA2010), Anchorage, Alaska, May 3 - 8 2010, pp. 3279 - 3284 [PDF]
G. Ganesh, A. Albu-Schaeer, M. Haruno, M. Kawato and E. Burdet (2010), "Biomimetic motor behavior for simultaneous adaptation of force, impedance and trajectory in interaction tasks", IEEE International Conference on Robotics and Automation (ICRA), accepted
M. Biso, A. Ansaldo, D. N. Futaba, K. Hata and D. Ricci "Use of chemically modified CNTs improves performances of plastic actuators", XXIVth International winterschool on electronic properties of novel materials, March 6-13, 2010 Kirchberg/Tirol - Austria, accepted
M. Biso, A. Ansaldo, D. N. Futaba, K. Hata and D. Ricci "Chemical modification of CNTs to improve bucky gel actuation", International Meeting on the Chemistry of Nanotubes and Graphene (Chem on
Tubes), Arcachon, France April 11-15, 2010, accepted
M. Biso, A. Ansaldo, D. N. Futaba, K. Hata and D. Ricci "Performance Improvement in Bucky Gel Actuators by Chemical Modification of Super-GrowthCarbon Nanotubes", ACTUATOR 2010, Bremen, June 14-16, 2010 submitted
M. Biso, A. Ansaldo and D. Ricci "Strain and Frequency Improvement in Bucky Gel Actuators by Chemical Modification of Carbon Nanotubes", 5th World Congress on Biomimetics, Artificial Muscles and Nano- Bio, November 25-27, 2009 Osaka, Japan accepted [PDF]
M. Laffranchi, N.G.Tsagarakis, F.Cannella and D.G.Caldwell, "Antagonistic and Series Elastic Actuators: a Comparative Analysis on the Energy Consumption" IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp5678-5684 [PDF]
M Laffranchi, N.G.Tsagarakis, and D.G.Caldwell, "Safe Human Robot Interaction via Energy regulation control" IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, pp35-41 [PDF]
N.G.Tsagarakis, M. Laffranchi, B. Vanderborght, D. G. Caldwell, "A Compact Soft Actuator Unit for Small Scale Human Friendly Robots" IEEE International Conference on Robotics and Automation Conference, (ICRA 2009), Kobe Japan, pp 4356-4362 [PDF].
M. Bisio and D. Ricci, "Fully plastic actuator based on multi-walled carbon nanotubes bucky gel", IEEE/NANO 2009 pp 580 - 584 [PDF]
B. Vanderborght, N. G. Tsagarakis, R. Van Ham, M. Gaudina, D. Caldwell, "New adjustable compliant actuator MACCEPA 2.0 for energy efficient locomotion", Dynamic Walking Conference 2009, abstract only, presented.
B. Vanderborght, N. G. Tsagarakis, C. Semini, R. Van Ham, D. Caldwell., "MACCEPA 2.0: Adjustable Compliant Actuator with Stiffening Characteristic for Energy Efficient Hopping",
IEEE International Conference on Robotics and Automation (ICRA 2009), pp 544-549 [PDF]
A. Jafari, N. G. Tsagarakis, B. Vanderborght and D. G. Caldwell,"Minimizing Energy Consumption through Optimal Mechanical Design and Stiffness Regulation", 2nd Workshop on Human Friendly Robotics, 2009, Sestri Levante, Italy [PDF]
R. Versluys, A. Matthys, R. Van Ham, I. Vanderniepen, D. Lefeber, "Powered ankle-foot system that mimics intact human ankle behavior: proposal of a new concept", 2009 IEEE 11th International Conference on Rehabilitation Robotics (poster presentation).
R. Versluys, R. Van Ham, I. Vanderniepen, D. Lefeber "Successful walking with a biologically-inspired below-knee prosthesis" 2009 IEEE 11th International Conference on Rehabilitation Robotics (Poster presentation.
S. Haddadin, A. Albu-Schäffer, M. Frommberger, J. Rossmann, and G. Hirzinger The "DLR Crash Report": Towards a Standard Crash-Testing Protocol for Robot Safety - Part I: Results IEEE Int. Conf. on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp.272-279
S. Haddadin, A. Albu-Schäffer, M. Frommberger, J. Rossmann, and G. Hirzinger: The "DLR Crash Report": Towards a Standard Crash-Testing Protocol for Robot Safety - Part II: Discussions IEEE Int. Conf. on Robotics and Automation (ICRA 2009), Kobe, Japan, 2009, pp.280-287
A. Albu-Schäffer, A. Bicchi , E. Burdet, D. Lefeber, A. Parravicini, P. van der Smagt, S. Stramigioli, N. Tsagarakis: VIACTORS - Variable Impedance ACTuation systems embodying advanced interaction behaviors Science Beyond Fiction. European Future Technologies Conference and Exhibition, Prague, 2009 (Poster presentation)
O. Gerelli, R. Carloni, S. Stramigioli, "Port-based modeling and optimal control for a new very versatile energy efficient actuator", SYROCO 2009.
F. Carpi, G. Frediani and D. De Rossi, "A new concept for dielectric elastomer actuators: hydrostatic coupling" Smart Sensors, Actuators and MEMS 2009, Ulrich Schmid Editor, Proceedings of SPIE, Vol. 7362, p. 73620H
F. Carpi, G. Frediani and D. De Rossi, "Dielectric elastomer actuators with hydrostatic coupling" Smart Structures and Materials 2009: Electroactive Polymer Actuators and Devices, Y. Bar-Cohen Editor, Proceedings of SPIE, Vol. 7287, pp. 72870D-1 - 72870D-8.
F. Carpi, G. Frediani and D. De Rossi, "Electromechanically active polymers: new opportunities for biomaterials and tissue engineering" Proc. of World Congress on Medical Physics and Biomedical Engineering, September 7-12, 2009, Munich, Germany. (accepted)
A. De Luca, F. Flacco, R. Schiavi, and A. Bicchi. Nonlinear Decoupled Motion-Stiffness Control and Collision Detection/Reaction for the VSA-II Variable Stiffness Device Proc. IEEE/RSJ International Conference on Intelligent RObots and Systems, St. Louis MO USA, October, 11 - 15 2009, pages 5487-5494, [PDF]
R. Schiavi, F. Flacco, and A. Bicchi. Integration of Active and Passive Compliance Control for Safe Human-Robot Coexistence. Int. Conference of Robotics and Automation, Kobe, Japan, May, 12 - 17 2009, 259-264 [PDF]
M. Bianchi, A. Serio, E. P. Scilingo, and A. Bicchi. "A new softness display based on bi-elastic fabric". World Haptics, Salt Lake City, USA, pages 382 - 383, March, 18 - 20 2009 (poster presentation) [PDF]

PhD Theses

"Towards Safe Control of a Compliant Manipulator Powered by Pneumatic Muscles" (M. Van Damme), Published
"Study and Development of Articulated Ankle Prostheses with Adaptable Compliance and Push-Off Properties" (R. Versluys), Published

Internal Reports

G. Agneta (2009) Energy storage in human muscle. DLR internal report DLR-IB 515- 2009/14. 84 pages