Alessandro Filippeschi

Design and Validation of a Novel Quadruple-Disk CYcloidal Compact-Cam Reducer for Robotic Applications: Q-CYC

Reduction gearboxes play a key role in robotics actuation. Among the existing designs, cycloidal gears are gaining popularity for their efficiency, torque density, and robustness. The compact-cam architecture is a variant of the classical cycloidal drive that employs two rigidly coupled cycloidal di…

Enhancing Null Space Exploitation within TDPA through Online Optimization Based on Maximum Constraints Capabilities

Mitigating Dissipative Artifacts in Long-Delay Bilateral Teleoperation through Optimal Prioritized Dissipation under Actuator Constraints

Optimal Prioritized Dissipation and Closed-Form Damping Limitation under Actuator Constraints for Haptic Interfaces

Improved Free Motion Performance for TDPA-Passivated Position-Force Measured Teleoperation Architectures

Passivity-based methods are widely used in tele-operation to guarantee stability, especially for the widely used Position-Force measured (PFm) architecture. Among them, Time Domain Passivity Approach (TDPA) achieves stability through passivation, generating a dissipation action that degrades the ref

Transparency evaluation for the Kinematic Design of the Harnesses through Human-Exoskeleton Interaction Modeling

Lower Limb Exoskeletons (LLEs) are wearable robotic systems that provide mechanical power to the user. Human-exoskeleton (HE) connections must guarantee the subsistence of the user’s natural behavior during the interaction, avoiding the exertion of undesired forces, i.e., the robot must be transpare…

Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action

Haptic interaction often requires stabilizing controllers for safety. The Time-Domain Passivity Approach guarantees passivity (then stability) by observing and dissipating energy generated from active elements in a network. The dissipating action is performed by a Passivity Controller, whose action…

Gait Phases Blended Control for Enhancing Transparency on Lower-Limb Exoskeletons

A major challenge in the design and control of exoskeletons is the preservation of the user.s natural behavior when interacting with these machines. From this point of view, one of the most important features is the transparency of the exoskeleton. An ideally transparent exoskeleton follows the user

A Novel Wearable Haptic Controller for Teleoperating Robotic Platforms

This letter presents a novel wearable haptic controller (WHC) system suitable for teleoperation of demolition machines and robotic platforms. With regard to existing operator controller unit composed by passive joysticks, the WHC has been designed to provide force feedback to the user, hence improvi

Encountered-type haptic interface for virtual interaction with real objects based on implicit surface haptic rendering for remote palpation

The shortage of physicians afflicting developed countries encourages engineers and doctors to collaborate towards the development of telemedicine. In particular, robotic systems have the potential for helping doctors making examination. A very common examination that can be the goal of a robotic sys…