{"id":"https://openalex.org/W2416743726","doi":"https://doi.org/10.1109/icra.2016.7487344","title":"Reflex control of the Pisa/IIT SoftHand during object slippage","display_name":"Reflex control of the Pisa/IIT SoftHand during object slippage","publication_year":2016,"publication_date":"2016-05-01","ids":{"openalex":"https://openalex.org/W2416743726","doi":"https://doi.org/10.1109/icra.2016.7487344","mag":"2416743726"},"language":"en","primary_location":{"id":"doi:10.1109/icra.2016.7487344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5070028115","display_name":"Arash Ajoudani","orcid":"https://orcid.org/0000-0002-1261-737X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Arash Ajoudani","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044639598","display_name":"Elif Hocao\u011flu","orcid":"https://orcid.org/0000-0003-3246-972X"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Elif Hocaoglu","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5039433875","display_name":"Alessandro Altobelli","orcid":"https://orcid.org/0000-0002-1022-8733"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Alessandro Altobelli","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5102002618","display_name":"Matteo Rossi","orcid":"https://orcid.org/0000-0002-8010-121X"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Matteo Rossi","raw_affiliation_strings":["Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5026792374","display_name":"Edoardo Battaglia","orcid":"https://orcid.org/0000-0002-1445-3962"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Edoardo Battaglia","raw_affiliation_strings":["Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5031036223","display_name":"Nikos G. Tsagarakis","orcid":"https://orcid.org/0000-0002-9877-8237"},"institutions":[{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Nikos Tsagarakis","raw_affiliation_strings":["Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5082180334","display_name":"Antonio Bicchi","orcid":"https://orcid.org/0000-0001-8635-5571"},"institutions":[{"id":"https://openalex.org/I108290504","display_name":"University of Pisa","ror":"https://ror.org/03ad39j10","country_code":"IT","type":"education","lineage":["https://openalex.org/I108290504"]},{"id":"https://openalex.org/I1300504238","display_name":"Piaggio (Italy)","ror":"https://ror.org/00r254y42","country_code":"IT","type":"company","lineage":["https://openalex.org/I1300504238"]},{"id":"https://openalex.org/I30771326","display_name":"Italian Institute of Technology","ror":"https://ror.org/042t93s57","country_code":"IT","type":"facility","lineage":["https://openalex.org/I30771326"]}],"countries":["IT"],"is_corresponding":false,"raw_author_name":"Antonio Bicchi","raw_affiliation_strings":["Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy","Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Centro di Ricerca E. Piaggio, Universita di Pisa, Pisa, Italy","institution_ids":["https://openalex.org/I108290504","https://openalex.org/I1300504238"]},{"raw_affiliation_string":"Department of Advanced Robotics, Istituto Italiano di Tecnologia, Genova, Italy","institution_ids":["https://openalex.org/I30771326"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":35,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"1972","last_page":"1979"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},"topics":[{"id":"https://openalex.org/T10429","display_name":"EEG and Brain-Computer Interfaces","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}},{"id":"https://openalex.org/T10784","display_name":"Muscle activation and electromyography studies","score":0.9976000189781189,"subfield":{"id":"https://openalex.org/subfields/2204","display_name":"Biomedical Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10982","display_name":"Motor Control and Adaptation","score":0.9926000237464905,"subfield":{"id":"https://openalex.org/subfields/2805","display_name":"Cognitive Neuroscience"},"field":{"id":"https://openalex.org/fields/28","display_name":"Neuroscience"},"domain":{"id":"https://openalex.org/domains/1","display_name":"Life Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/slippage","display_name":"Slippage","score":0.8782340288162231},{"id":"https://openalex.org/keywords/grasp","display_name":"GRASP","score":0.6844053268432617},{"id":"https://openalex.org/keywords/reflex","display_name":"Reflex","score":0.5954075455665588},{"id":"https://openalex.org/keywords/electrical-impedance","display_name":"Electrical impedance","score":0.5691829919815063},{"id":"https://openalex.org/keywords/impedance-control","display_name":"Impedance control","score":0.562253475189209},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.47378799319267273},{"id":"https://openalex.org/keywords/torque","display_name":"Torque","score":0.43463823199272156},{"id":"https://openalex.org/keywords/mechanical-impedance","display_name":"Mechanical impedance","score":0.4101230502128601},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.40006113052368164},{"id":"https://openalex.org/keywords/simulation","display_name":"Simulation","score":0.377373069524765},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.3599075376987457},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2979477047920227},{"id":"https://openalex.org/keywords/psychology","display_name":"Psychology","score":0.24064943194389343},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.19225066900253296},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.1498863399028778},{"id":"https://openalex.org/keywords/electrical-engineering","display_name":"Electrical engineering","score":0.09258314967155457},{"id":"https://openalex.org/keywords/structural-engineering","display_name":"Structural engineering","score":0.08420127630233765},{"id":"https://openalex.org/keywords/neuroscience","display_name":"Neuroscience","score":0.06723234057426453}],"concepts":[{"id":"https://openalex.org/C2776096238","wikidata":"https://www.wikidata.org/wiki/Q6130172","display_name":"Slippage","level":2,"score":0.8782340288162231},{"id":"https://openalex.org/C171268870","wikidata":"https://www.wikidata.org/wiki/Q1486676","display_name":"GRASP","level":2,"score":0.6844053268432617},{"id":"https://openalex.org/C83974742","wikidata":"https://www.wikidata.org/wiki/Q179405","display_name":"Reflex","level":2,"score":0.5954075455665588},{"id":"https://openalex.org/C17829176","wikidata":"https://www.wikidata.org/wiki/Q179043","display_name":"Electrical impedance","level":2,"score":0.5691829919815063},{"id":"https://openalex.org/C2777984285","wikidata":"https://www.wikidata.org/wiki/Q17098134","display_name":"Impedance control","level":3,"score":0.562253475189209},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.47378799319267273},{"id":"https://openalex.org/C144171764","wikidata":"https://www.wikidata.org/wiki/Q48103","display_name":"Torque","level":2,"score":0.43463823199272156},{"id":"https://openalex.org/C159447365","wikidata":"https://www.wikidata.org/wiki/Q6421317","display_name":"Mechanical impedance","level":3,"score":0.4101230502128601},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.40006113052368164},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.377373069524765},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.3599075376987457},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2979477047920227},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.24064943194389343},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.19225066900253296},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.1498863399028778},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.09258314967155457},{"id":"https://openalex.org/C66938386","wikidata":"https://www.wikidata.org/wiki/Q633538","display_name":"Structural engineering","level":1,"score":0.08420127630233765},{"id":"https://openalex.org/C169760540","wikidata":"https://www.wikidata.org/wiki/Q207011","display_name":"Neuroscience","level":1,"score":0.06723234057426453},{"id":"https://openalex.org/C97355855","wikidata":"https://www.wikidata.org/wiki/Q11473","display_name":"Thermodynamics","level":1,"score":0.0},{"id":"https://openalex.org/C199360897","wikidata":"https://www.wikidata.org/wiki/Q9143","display_name":"Programming language","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/icra.2016.7487344","is_oa":false,"landing_page_url":"https://doi.org/10.1109/icra.2016.7487344","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2016 IEEE International Conference on Robotics and Automation (ICRA)","raw_type":"proceedings-article"},{"id":"pmh:oai:arpi.unipi.it:11568/842744","is_oa":false,"landing_page_url":"http://hdl.handle.net/11568/842744","pdf_url":null,"source":{"id":"https://openalex.org/S4377196265","display_name":"CINECA IRIS Institutial research information system (University of Pisa)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I108290504","host_organization_name":"University of Pisa","host_organization_lineage":["https://openalex.org/I108290504"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"info:eu-repo/semantics/conferenceObject"}],"best_oa_location":null,"sustainable_development_goals":[{"display_name":"Peace, Justice and strong institutions","id":"https://metadata.un.org/sdg/16","score":0.7900000214576721}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":27,"referenced_works":["https://openalex.org/W134827737","https://openalex.org/W1516071549","https://openalex.org/W1776391213","https://openalex.org/W1967136547","https://openalex.org/W1976664534","https://openalex.org/W1993961103","https://openalex.org/W1998885771","https://openalex.org/W2003647011","https://openalex.org/W2020251869","https://openalex.org/W2032303412","https://openalex.org/W2042163945","https://openalex.org/W2042267111","https://openalex.org/W2056991891","https://openalex.org/W2068020641","https://openalex.org/W2102279668","https://openalex.org/W2115669646","https://openalex.org/W2124456990","https://openalex.org/W2127067435","https://openalex.org/W2127642969","https://openalex.org/W2133644836","https://openalex.org/W2136874613","https://openalex.org/W2154358910","https://openalex.org/W2164575107","https://openalex.org/W2165341727","https://openalex.org/W2166831879","https://openalex.org/W2570268714","https://openalex.org/W6605581939"],"related_works":["https://openalex.org/W2727798326","https://openalex.org/W2066756988","https://openalex.org/W614118670","https://openalex.org/W2011737899","https://openalex.org/W2105126143","https://openalex.org/W4308480823","https://openalex.org/W2573068166","https://openalex.org/W1992974134","https://openalex.org/W2904885586","https://openalex.org/W1910603216"],"abstract_inverted_index":{"In":[0],"this":[1,27,81],"work,":[2],"to":[3,70,109,131,151,177],"guarantee":[4],"the":[5,37,43,51,56,61,65,92,97,110,117,120,142,153,156,200,203,208,211,215],"Pisa/IIT":[6],"SoftHand's":[7],"grasp":[8,58],"robustness":[9],"against":[10],"slippage,":[11],"three":[12,138],"reflex":[13,54,77,102,158,175],"control":[14,49,87,139,204],"modes,":[15],"namely":[16],"Current,":[17],"Pose":[18,74],"and":[19,23,34,39,48,75,183,210],"Impedance,":[20],"are":[21,32,149],"implemented":[22],"experimentally":[24],"evaluated.":[25],"Towards":[26],"objective,":[28],"ThimbleSense":[29],"fingertip":[30],"sensors":[31],"designed":[33],"integrated":[35],"into":[36],"thumb":[38],"middle":[40],"fingers":[41],"of":[42,50,60,116,144,155,202],"SoftHand":[44],"for":[45,141],"real-time":[46],"detection":[47],"slippage.":[52,189],"Current":[53],"regulates":[55],"restoring":[57,168],"forces":[59,169],"hand":[62,111],"by":[63,83,207,214],"modulating":[64],"motor's":[66],"current":[67],"profile":[68],"according":[69],"an":[71,85],"update":[72],"law.":[73],"Impedance":[76,101,174,216],"modes":[78,140,159],"instead":[79],"replicate":[80],"behaviour":[82,187],"implementing":[84],"impedance":[86],"scheme.":[88],"The":[89],"difference":[90],"between":[91],"two":[93],"latter":[94],"is":[95,104],"that":[96,166],"stiffness":[98],"gain":[99],"in":[100,107,160,180,221],"mode":[103],"being":[105],"varied":[106],"addition":[108],"pose,":[112],"as":[113],"a":[114,126],"function":[115],"slippage":[118],"on":[119,192,199],"fingertips.":[121],"Experimental":[122],"setup":[123],"also":[124],"includes":[125],"seven":[127],"degrees-of-freedom":[128],"robotic":[129],"arm":[130],"realize":[132],"consistent":[133],"trajectories":[134],"(e.g.":[135],"lifting)":[136],"among":[137],"sake":[143],"comparison.":[145],"Different":[146],"test":[147],"objects":[148],"considered":[150],"evaluate":[152],"efficacy":[154],"proposed":[157],"our":[161],"experimental":[162],"setup.":[163],"Results":[164],"suggest":[165],"task-appropriate":[167],"can":[170],"be":[171],"achieved":[172],"using":[173],"due":[176],"its":[178,219],"capability":[179],"demonstrating":[181],"instantaneous":[182],"rather":[184],"smooth":[185],"reflexive":[186],"during":[188],"Preliminary":[190],"experiments":[191],"five":[193],"healthy":[194],"human":[195],"subjects":[196],"provide":[197],"evidence":[198],"similarity":[201],"concepts":[205],"exploited":[206],"humans":[209],"one":[212],"realized":[213],"reflex,":[217],"highlighting":[218],"potential":[220],"prosthetic":[222],"applications.":[223]},"counts_by_year":[{"year":2025,"cited_by_count":2},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":8},{"year":2022,"cited_by_count":3},{"year":2021,"cited_by_count":3},{"year":2020,"cited_by_count":6},{"year":2019,"cited_by_count":1},{"year":2018,"cited_by_count":4},{"year":2017,"cited_by_count":2},{"year":2016,"cited_by_count":1}],"updated_date":"2026-07-22T07:51:19.307946","created_date":"2025-10-10T00:00:00"}