Proboscidean sensitive soft robot for versatile gripping

Informations projet

PROBOSCIS

N° de convention de subvention: 863212

DOI

10.3030/863212

Projet clôturé

Date de signature de la CE 24 Septembre 2019

Date de début 1 Novembre 2019

Date de fin 30 Avril 2025

Financé au titre de

• EXCELLENT SCIENCE - Future and Emerging Technologies (FET)

Coût total

€ 3 473 438,75

Contribution de l’UE

€ 3 473 438,75

Coordonné par

FONDAZIONE ISTITUTO ITALIANO DI TECNOLOGIA
Italy

CORDIS fournit des liens vers les livrables publics et les publications des projets HORIZON.

Les liens vers les livrables et les publications des projets du 7e PC, ainsi que les liens vers certains types de résultats spécifiques tels que les jeux de données et les logiciels, sont récupérés dynamiquement sur OpenAIRE .

Livrables

Demonstrators, pilots, prototypes (4)

PROBOSCIS final prototype

Based on the results obtained with early prototype, the final version of PROBOSCIS is developed and delivered.

Full 3D high-resolution anatomical model with associated material properties

The final results on 3D high-resolution anatomical model with associated material properties are reported.

Extended tactile skin

The bioinspired large area tactile skin, based on results of D6.3, is fabricated and tested

Development of multimodal sensing components

Sensing components, exploiting also 3D micro and nanostructures, able to detect multiple mechanical cues (i.e. pressure, tangential forces, air/fluid flow, etc) are designed, fabricated and tested.

Documents, reports (7)

Definition of functional materials for 2D and 3D sensing

The choices of functional materials for developing the tip and of the outer skin are explained in view of the utilization of the 3D printing methods are presented

Definition of functional materials for actuators

The choices of functional materials that will be used for developing for fabrication of durable integrated actuators are presented

Communication, dissemination and exploitation plan (CoDE plan) - updated

The updated report of the COmmunication, Dissemination and Exploitation plan is released

Communication, dissemination and exploitation plan (CoDE plan) – first release

The first report of the COmmunication, Dissemination and Exploitation plan is released

Analysis of solutions for 2D and 3D multimodal sensing

The analysis of the State of the Art on planar and 3D structures for multimodal mechanical sensing is performed.

Definition of experimental protocols

The experimental protocols for evaluating the PROBOSCIS prototypes in selected scenarios are described

PROBOSCIS reaching control

The high-level controller of the continuum arm is described in this deliverable, explaining the control strategies for tasks such as reaching an object.

Websites, patent fillings, videos etc. (1)

Project website and dissemination materials

Project website and dissemination materials are delivered

Open Research Data Pilot (1)

Data Management Plan I (DMP)

The first Data Management Plan is released

Publications

Conference proceedings (9)

Smell Driven Navigation for Soft Robotic Arms: Artificial Nose and Control

Auteurs: Francesco Piqué; Francesco Stella; Josie Hughes; Egidio Falotico; Cosimo Della Santina
Publié dans: Proceedings of IEEE Conference on Soft Robotics, 2023
Éditeur: IEEE
DOI: 10.1109/robosoft55895.2023.10122116

A bistable soft gripper with mechanically embedded sensing and actuation for fast grasping

Auteurs: Thuruthel T. G.; Haider Abidi S.; Cianchetti M.; Laschi C.; Falotico E.
Publié dans: Proceedings of the 29th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2020. (pp. pp. 1049-1054). IEEE (2020), 2020
Éditeur: IEEE
DOI: 10.1109/ro-man47096.2020.9223487

Open-loop Model-free Dynamic Control of a Soft Manipulator for Tracking Tasks

Auteurs: Andrea Centurelli, Alessandro Rizzo, Silvia Tolu, Egidio Falotico
Publié dans: 2021 20th International Conference on Advanced Robotics, ICAR 2021, 2021
Éditeur: IEEE
DOI: 10.1109/icar53236.2021.9659370

GRACE: GeometRy-based Actuators that Contract and Elongate

Auteurs: De Pascali, Corrado; Naselli, Giovanna Adele; Palagi, Stefano; Scharff, Rob Bernardus Nicolaas; Mazzolai, Barbara
Publié dans: 2022 I-RIM Conference, 2022, ISBN 9788894580532
Éditeur: Zenodo
DOI: 10.5281/zenodo.7531361

Policy Adaptation using an Online Regressing Network in a Soft Robotic Arm

Auteurs: Muhammad Sunny Nazeer; Diego Bianchi; Giulia Campinoti; Cecilia Laschi; Egidio Falotico
Publié dans: Proceedings of IEEE Conference on Soft Robotics, 2023
Éditeur: IEEE
DOI: 10.1109/robosoft55895.2023.10121927

A Learning-based Approach for Adaptive Closed-loop Control of a Soft Robotic Arm

Auteurs: Pique, Francesco; Kalidindi, Hari Teja; Menciassi, Arianna; Laschi, Cecilia; Falotico, Egidio
Publié dans: 202 I-RIM Conference, 2021
Éditeur: Zenodo
DOI: 10.5281/zenodo.4781427

Open-loop Control of a Soft Arm in Throwing Tasks

Auteurs: Diego Bianchi, Michele Antonelli, Cecilia Laschi, Egidio Falotico
Publié dans: Proceedings of the 19th International Conference on Informatics in Control, Automation and Robotics - ICINCO, 2022, ISBN 978-989-758-585-2
Éditeur: ScitePress
DOI: 10.5220/0011267100003271

Grasping of Li-ion Batteries via Additively Manufactured Soft Gripper and Collaborative Robot

Auteurs: Savas Dilibal, Emre Tugberk Gulnergiz, Niccolò Pagliarani, Enrico Donato, Francesco Iori, Elisa Setti, Egidio Falotico, Matteo Cianchett
Publié dans: 2022 International Congress on Human-Computer Interaction, Optimization and Robotic Applications (HORA), 2022
Éditeur: IEEE
DOI: 10.1109/hora55278.2022.9799902

Whole-arm Grasping Strategy for Soft Arms to Capture Space Debris

Auteurs: Agabiti, Camilla; Ménager, Etienne; Falotico, Egidio
Publié dans: 2023 IEEE International Conference on Soft Robotics (RoboSoft), 2023
Éditeur: IEEE
DOI: 10.1109/robosoft55895.2023.10122076

Peer reviewed articles (27)

Triaxial 3-D-Channeled Soft Optical Sensor for Tactile Robots

Auteurs: Matteo Lo Preti, Federico Bernabei, Anderson B. Nardin, Lucia Beccai
Publié dans: IEEE Sensors Journal, Numéro 24, 2024, Page(s) 27956-27965, ISSN 1530-437X
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/jsen.2024.3425835

3D-printed hierarchical arrangements of actuators mimicking biological muscular architectures

Auteurs: De Pascali, Corrado; Palagi, Stefano; Mazzolai, Barbara
Publié dans: Bioinspiration & Biomimetics, 2023, ISSN 1748-3190
Éditeur: IOP PUblishing
DOI: 10.1088/1748-3190/acd159

Mechanical Sensing in Embodied Agents

Auteurs: Preti, Matteo Lo; Thuruthel, Thomas George; Gilday, Kieran; Beccai, Lucia; Iida, Fumiya
Publié dans: IOP Conference Series: Materials Science and Engineering, 2021, ISSN 1757-899X
Éditeur: IOP Publishing
DOI: 10.1088/1757-899x/1261/1/012013

Tunable Lotus Leaf Effect by Three-Dimensionally Printed Stretchable Objects

Auteurs: Noa Trink, Shlomo Magdassi
Publié dans: ACS Applied Materials & Interfaces, Numéro 16, 2024, Page(s) 64276-64286, ISSN 1944-8244
Éditeur: American Chemical Society
DOI: 10.1021/acsami.4c14238

Soft DAgger: Sample-Efficient Imitation Learning for Control of Soft Robots

Auteurs: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Publié dans: Sensors, 2023, ISSN 1424-8220
Éditeur: Multidisciplinary Digital Publishing Institute (MDPI)
DOI: 10.3390/s23198278

Sensing Deformation in Vacuum Driven Foam-Based Actuator via Inductive Method

Auteurs: Seonggun Joe, Hongbo Wang, Massimo Totaro, Lucia Beccai
Publié dans: Frontiers in Robotics and AI, Numéro 22969144, 2021, ISSN 2296-9144
Éditeur: Frontiers
DOI: 10.3389/frobt.2021.742885

Elephants evolved strategies reducing the biomechanical complexity of their trunk.

Auteurs: Paule Dagenais; Paule Dagenais; Sean Hensman; Valérie Haechler; Michel C. Milinkovitch; Michel C. Milinkovitch
Publié dans: Current biology, 2021, ISSN 0960-9822
Éditeur: Cell Press
DOI: 10.1016/j.cub.2021.08.029

Closed-Loop Dynamic Control of a Soft Manipulator Using Deep Reinforcement Learning

Auteurs: Andrea Centurelli, Luca Arleo, Alessandro Rizzo, Silvia Tolu, Cecilia Laschi, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 23773766, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3146903

Ablation Study of a Dynamic Model for a 3D-Printed Pneumatic Soft Robotic Arm

Auteurs: Carlo Alessi; Egidio Falotico; Alessandro Lucantonio
Publié dans: IEEE Access, 2023, ISSN 2169-3536
Éditeur: Institute of Electrical and Electronics Engineers Inc.
DOI: 10.1109/access.2023.3266282

RL-Based Adaptive Controller for High Precision Reaching in a Soft Robot Arm

Auteurs: Muhammad Sunny Nazeer , Cecilia Laschi, Egidio Falotico
Publié dans: IEEE Transactions on Robotics, 2024, ISSN 1552-3098
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tro.2024.3381558

Editorial: Machine Learning Techniques for Soft Robots

Auteurs: Thomas George Thuruthel, Egidio Falotico, Lucia Beccai, Fumiya Iida
Publié dans: Frontiers in Robotics and AI, Numéro 22969144, 2021, ISSN 2296-9144
Éditeur: Frontiers Media S.A.
DOI: 10.3389/frobt.2021.726774

Design and 3D printing of soft optical waveguides towards monolithic perceptive systems

Auteurs: Petr Trunin, Diana Cafiso, Lucia Beccai
Publié dans: Additive Manufacturing, Numéro 100, 2025, Page(s) 104687, ISSN 2214-8604
Éditeur: Elsevier BV
DOI: 10.1016/j.addma.2025.104687

3D-printed biomimetic artificial muscles using soft actuators that contract and elongate

Auteurs: Corrado De Pascali, Giovanna Adele Naselli, Stefano Palagi, Rob B. N. Sharff, Barbara Mazzolai
Publié dans: Science Robotics, Numéro 24709476, 2022, ISSN 2470-9476
Éditeur: AAAS
DOI: 10.1126/scirobotics.abn4155

Stretchable reflective coating for soft optical waveguides and sensors

Auteurs: Simone Lantean; Matteo Lo Preti; Lucia Beccai
Publié dans: Soft Matter, 2022, ISSN 1744-6848
Éditeur: Royal Society of Chemistry
DOI: 10.1039/d2sm00869f

Jointless Bioinspired Soft Robotics by Harnessing Micro and Macroporosity

Auteurs: Seonggun Joe, Ouriel Bliah, Shlomo Magdassi, Lucia Beccai
Publié dans: Advanced Science, 2023, ISSN 2198-3844
Éditeur: Wiley
DOI: 10.1002/advs.202302080

Tactile Object Recognition With Recurrent Neural Networks Through a Perceptive Soft Gripper

Auteurs: Enrico Donato, David Pelliccia, Matin Hosseinzadeh, Mahmood Amiri, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 10, 2025, Page(s) 7023-7030, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2025.3572422

Development of the Ultralight Hybrid Pneumatic Artificial Muscle: Modelling and optimization.

Auteurs: Seonggun Joe; Massimo Totaro; Hongbo Wang; Lucia Beccai
Publié dans: PLoS ONE, 2021, ISSN 1932-6203
Éditeur: Public Library of Science
DOI: 10.1371/journal.pone.0250325

SofToss: Learning to Throw Objects With a Soft Robot

Auteurs: Diego Bianchi , Michele Gabrio Antonelli , Cecilia Laschi , Angelo Maria Sabatini, and Egidio Falotico
Publié dans: IEEE Robotics & Automation Magazine, 2023, ISSN 1070-9932
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/mra.2023.3310865

Sensorized Objects Used to Quantitatively Study Distal Grasping in the African Elephant

Auteurs: Matteo Lo Preti; Lucia Beccai
Publié dans: iScience, 2023, ISSN 2589-0042
Éditeur: Cell Press, Elsevier
DOI: 10.2139/ssrn.4366155

Controlling Soft Robotic Arms Using Continual Learning

Auteurs: Francesco Piqué, Hari Teja Kalidindi, Lorenzo Fruzzetti, Cecilia Laschi, Arianna Menciassi, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 23773766, 2022, ISSN 2377-3766
Éditeur: IEEE
DOI: 10.1109/lra.2022.3157369

Online Pressure Map Reconstruction in a Multitouch Soft Optical Waveguide Skin

Auteurs: Matteo Lo Preti; Massimo Totaro; Egidio Falotico; Marco Crepaldi; Lucia Beccai
Publié dans: IEEE/ASME Transactions on Mechatronics, Numéro 10834435, 2022, ISSN 1083-4435
Éditeur: Institute of Electrical and Electronics Engineers
DOI: 10.1109/tmech.2022.3158979

Pushing with Soft Robotic Arms via Deep Reinforcement Learning

Auteurs: Carlo Alessi, Diego Bianchi, Gianni Stano, Matteo Cianchetti, Egidio Falotico
Publié dans: Advanced Intelligent Systems, Numéro 6, 2024, ISSN 2640-4567
Éditeur: Wiley
DOI: 10.1002/aisy.202300899

Robust Fractional-Order Control Using a Decoupled Pitch and Roll Actuation Strategy for the I-Support Soft Robot

Auteurs: Jorge Muñoz, Francesco Piqué, Concepción A. Monje, Egidio Falotico
Publié dans: MDPI Mathematics, Numéro 22277390, 2021, ISSN 2227-7390
Éditeur: MDPI
DOI: 10.3390/math9070702

Soft Mechanosensing via 3D Printing: A review

Auteurs: Diana Cafiso, Simone Lantean , Candido Fabrizio Pirri, Lucia Beccai
Publié dans: Advanced Intelligent Systems, 2023, ISSN 2640-4567
Éditeur: Wiley
DOI: 10.1002/aisy.202200373

Multi-Material 3D Printed Shape Memory Polymer with Tunable Melting and Glass Transition Temperature Activated by Heat or Light

Auteurs: Ela Sachyani Keneth , Rama Lieberman , Matthew Rednor , Giulia Scalet, Ferdinando Auricchio and Shlomo Magdassi
Publié dans: Polymers, 2020, ISSN 2073-4360
Éditeur: MDPI
DOI: 10.3390/polym12030710

SoftSling: A Soft Robotic Arm Control Strategy to Throw Objects With Circular Run-Ups

Auteurs: Diego Bianchi, Giulia Campinoti, Costanza Comitini, Cecilia Laschi, Alessandro Rizzo, Angelo Maria Sabatini, Egidio Falotico
Publié dans: IEEE Robotics and Automation Letters, Numéro 9, 2024, Page(s) 8250-8257, ISSN 2377-3766
Éditeur: Institute of Electrical and Electronics Engineers (IEEE)
DOI: 10.1109/lra.2024.3442535

Learning Controllers for Continuum Soft Manipulators: Impact of Modeling and Looming Challenges

Auteurs: Egidio Falotico, Enrico Donato, Carlo Alessi, Elisa Setti, Muhammad Sunny Nazeer, Camilla Agabiti, Daniele Caradonna, Diego Bianchi, Francesco Piqué, Yasmin Tauqeer Ansari, Marc Killpack
Publié dans: Advanced Intelligent Systems, Numéro 7, 2025, ISSN 2640-4567
Éditeur: Wiley
DOI: 10.1002/aisy.202400344

Book chapters (1)

A Review on Vacuum-Powered Fluidic Actuators in Soft Robotics

Auteurs: Seonggun Joe, Federico Bernabei, Lucia Beccai
Publié dans: Rehabilitation of the Human Bone-Muscle System, 2022
Éditeur: IntechOpen
DOI: 10.5772/intechopen.104373