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Domenico Prattichizzo

48 accepted papers

2026

A 3-Degrees-Of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation

Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
ICRA 2026poster

This paper introduces a lightweight, three-degrees- of-freedom exoskeleton for wrist rehabilitation powered by Twisted String Actuators (TSAs), specifically designed to support flexion/extension, radial/ulnar deviation, and pronation/supination movements. Leveraging the high power-to-weight ratio of…

Cited by 0Source ↗Scholar ↗
2026

A Parametric Wave-Structured 3-DoF Compliant Joint with Tunable Stiffness

Anjum Saeed, Mihai Dragusanu, Monica Malvezzi, Domenico Prattichizzo, Gionata Salvietti
ICRA 2026poster

Soft–rigid tendon-driven robotic hands are widely adopted due to their simple fabrication and effective compliance, enabling robust and adaptive grasping. However, achieving dexterity, such as in-hand manipulation, remains challenging because actuation systems typically constrain finger trajectories…

Cited by 0Scholar ↗
2026

Leveraging Embodied Mechanical Intelligence for Learning Decluttering Tasks

Enrico Turco, Valerio Bo, Chiara Castellani, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo +1
ICRA 2026poster

In this work, we investigate how a state-of-the-art grasp planner based on deep reinforcement learning performs when applied to a soft-rigid gripper in a decluttering task. The gripper, called Soft ScoopGripper, is endowed with a rigid scoop-shaped part that facilitates the interaction with the envi…

Cited by 0Scholar ↗
2025

A 3 Degrees-of-Freedom Lightweight Flexible Twisted String Actuators (TSAs)-Based Exoskeleton for Wrist Rehabilitation

Mihai Dragusanu, Nicolas Guinet, Bhivraj Suthar, Tommaso Lisini Baldi, Domenico Prattichizzo, Monica Malvezzi
RA-L 2025

This paper introduces a lightweight, three-degrees-of-freedom exoskeleton for wrist rehabilitation powered by Twisted String Actuators (TSAs), specifically designed to support flexion/extension, radial/ulnar deviation, and pronation/supination movements. Leveraging the high power-to-weight ratio of

Cited by 4Source ↗Scholar ↗
2025

Human-Robot Collaborative Cable-Suspended Manipulation With Contact Distinction

Giovanni Cortigiani, Monica Malvezzi, Domenico Prattichizzo, Maria Pozzi
RA-L 2025

The collaborative transportation of objects between humans and robots is a fundamental task in physical human-robot interaction. Most of the literature considers the rigid co-grasping of non-deformable items in which both the human and the robot directly hold the transported object with their hands.

Cited by 5Source ↗Scholar ↗
2025

Soft Human-Robot Handover Using a Vision-Based Pipeline

Chiara Castellani, Enrico Turco, Valerio Bo, Monica Malvezzi, Domenico Prattichizzo, Gabriele Costante +1
RA-L 2025

Handing over objects is an essential task in human-robot collaborative scenarios. Previous studies have predominantly employed rigid grippers to perform the handover, focusing on generating grasps that avoid physical contact with people. In this paper, we present a vision-based open-palm handover so

Cited by 7Source ↗Scholar ↗
2024

Reducing Cognitive Load in Teleoperating Swarms of Robots through a Data-Driven Shared Control Approach

Enrico Turco, Chiara Castellani, Valerio Bo, Claudio Pacchierotti, Domenico Prattichizzo, Tommaso Lisini Baldi
IROS 2024poster

Multi-robot systems have gained increasing interest across various fields such as medicine, environmental monitoring, and more. Despite the evident advantages, the coordination of the swarm arises significant challenges for human operators, particularly concerning the cognitive burden needed for eff…

Cited by 3Source ↗Scholar ↗
2024

The Double-Scoop Gripper: A Tendon-Driven Soft-Rigid End-Effector for Food Handling Exploiting Constraints in Narrow Spaces

Leonardo Franco, Enrico Turco, Valerio Bo, Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo +1
ICRA 2024poster

Food handling is a challenging task for robotic grippers, as it requires to manipulate highly deformable and fragile items, that can be easily damaged. Moreover, ingredients for the preparation of the different dishes are usually stored in small containers that are often not easily accessible. This…

Cited by 1Source ↗Scholar ↗
2024

Wearable Haptics for a Marionette-inspired Teleoperation of Highly Redundant Robotic Systems

Davide Torielli, Leonardo Franco, Maria Pozzi, Luca Muratore, Monica Malvezzi, Nikos Tsagarakis +1
ICRA 2024poster

The teleoperation of complex, kinematically redundant robots with loco-manipulation capabilities represents a challenge for human operators, who have to learn how to operate the many degrees of freedom of the robot to accomplish a desired task. In this context, developing an easy-to-learn and easy-t…

Cited by 4Source ↗Scholar ↗
2023

Augmented Reality Navigation in Robot-Assisted Surgery with a Teleoperated Robotic Endoscope

Veronica Penza, Alberto Neri, Maria Koskinopoulou, Enrico Turco, Domenico Soriero, Stefano Scabini +2
IROS 2023poster

Augmented reality (AR) is considered one of the most promising solutions for safer procedures in several surgical specialities. Fusing patient-specific pre-operative information, typically 3D models extracted from CT scans or MRI, with real-time surgical images allows the surgeon to have detailed in…

Cited by 4Source ↗Scholar ↗
2023

Compliant Finger Joint with Controlled Variable Stiffness based on Twisted Strings Actuation

Mihai Dragusanu, Danilo Troisi, Domenico Prattichizzo, Monica Malvezzi
ICRA 2023poster

Underactuated tendon-driven fingers are a simple, yet effective solution, for realizing robotic grippers and hands. The lack of controllable degrees of actuation and precise sensing is compensated by the deformable structure of the finger, which is able to adapt to the objects to be grasped and mani…

Cited by 4Source ↗Scholar ↗
2022

Automated Design of Embedded Constraints for Soft Hands Enabling New Grasp Strategies

Valerio Bo, Enrico Turco, Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
RA-L 2022

Soft robotic hands allow to fully exploit hand-object-environment interactions to complete grasping tasks. However, their usability can still be limited in some scenarios (e.g., restricted or cluttered spaces). In this article, we propose to enhance the versatility of soft grippers by adding special

Cited by 9Source ↗Scholar ↗
2022

The DressGripper: A Collaborative Gripper With Electromagnetic Fingertips for Dressing Assistance

Mihai Dragusanu, Sara Marullo, Monica Malvezzi, Gabriele Maria Achilli, Maria Cristina Valigi, Domenico Prattichizzo +1
RA-L 2022

This letter introduces a collaborative gripper designed for safe interactions during wearing operations. In a robotic system helping people to get dressed, two main goals have to be achieved: <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">i)</i> the

Cited by 13Source ↗Scholar ↗
2022

The Wavejoints: A Novel Methodology to Design Soft-Rigid Grippers Made by Monolithic 3D Printed Fingers with Adjustable Joint Stiffness

Mihai Dragusanu, Gabriele Maria Achilli, Maria Cristina Valigi, Domenico Prattichizzo, Monica Malvezzi, Gionata Salvietti
ICRA 2022poster

In this paper, we present a methodology to design soft-rigid grippers able to perform different manipulation tasks. The main idea is the introduction of wave-shaped hinges whose geometrical parameters can be designed to achieve different three-dimensional impedance characteristics. This allows one t…

Cited by 23Source ↗Scholar ↗
2021

Grasp Planning With a Soft Reconfigurable Gripper Exploiting Embedded and Environmental Constraints

Enrico Turco, Valerio Bo, Maria Pozzi, Alessandro Rizzo, Domenico Prattichizzo
RA-L 2021

Grasping in unstructured environments requires highly adaptable and versatile hands together with strategies to exploit their features to get robust grasps. This letter presents a method to grasp objects using a novel reconfigurable soft gripper with embodied constraints, the Soft ScoopGripper (SSG)

Cited by 19Source ↗Scholar ↗
2020

Bilateral Haptic Collaboration for Human-Robot Cooperative Tasks

Gionata Salvietti, Muhammad Zubair Iqbal, Domenico Prattichizzo
RA-L 2020

The aim of this letter is to introduce the concept of bilateral haptic cooperation as a novel paradigm for human-robot cooperative tasks. The approach is demonstrated with a system composed of a soft gripper and a wearable interface. The soft gripper, called CoGripper, has been designed to guarantee

Cited by 22Source ↗Scholar ↗
2020

Design, Development, and Control of a Tendon-actuated Exoskeleton for Wrist Rehabilitation and Training

Mihai Dragusanu, Tommaso Lisini Baldi, Zubair Iqbal, Domenico Prattichizzo, Monica Malvezzi
ICRA 2020poster

Robot rehabilitation is an emerging and promising topic that incorporates robotics with neuroscience and rehabilitation to define new methods for supporting patients with neurological diseases. As a consequence, the rehabilitation process could increase the efficacy exploiting the potentialities of…

Cited by 22Source ↗Scholar ↗
2020

Grasping With the SoftPad, a Soft Sensorized Surface for Exploiting Environmental Constraints With Rigid Grippers

Chiara Gaudeni, Maria Pozzi, Zubair Iqbal, Monica Malvezzi, Domenico Prattichizzo
RA-L 2020

A common trend in robotic manipulation is to build compliant hands that can exploit environmental constraints to perform robust grasps. However, in large-scale industrial applications, end-effectors are mostly rigid. How can we exploit environmental constraints using rigid industrial grippers? We pr

Cited by 8Source ↗Scholar ↗
2020

Maintaining stable grasps during highly dynamic robot trajectories

Giandomenico Martucci, Joao Bimbo, Domenico Prattichizzo, Monica Malvezzi
IROS 2020poster

One of the key advantages of robots is the high speeds at which they can operate. In industrial settings, increased velocities can lead to higher throughputs and improved efficiency. Some manipulation tasks might require the robot to perform highly dynamic operations such as shaking, or swinging whi…

Cited by 7Source ↗Scholar ↗
2020

The Mag-Gripper: A Soft-Rigid Gripper Augmented With an Electromagnet to Precisely Handle Clothes

Sara Marullo, Simone Bartoccini, Gionata Salvietti, Muhammad Zubair Iqbal, Domenico Prattichizzo
RA-L 2020

This letter introduces Mag-Gripper, a novel robotic gripper specifically designed for autonomous clothing manipulation. It is capable of improving grasp repeatability, and precision, compensating uncertainties in the target grasping locations. We propose to approach the autonomous clothing manipulat

Cited by 14Source ↗Scholar ↗
2019

Collision Detection and Isolation on a Robot using Joint Torque Sensing

Joao Bimbo, Claudio Pacchierotti, Nikos G. Tsagarakis, Domenico Prattichizzo
IROS 2019poster

As robotic systems become more flexible and intelligent, they must be able to move into environments with a high degree of uncertainty or clutter, such as our homes, workplaces, and the outdoors. In these unstructured scenarios, it is possible that the body of the robot collides with its surrounding…

Cited by 0Source ↗Scholar ↗
2019

The Role of Closed-Loop Hand Control in Handshaking Interactions

Francesco Vigni, Espen Knoop, Domenico Prattichizzo, Monica Malvezzi
RA-L 2019

In this letter, we investigate the role of haptic feedback in human-robot handshaking by comparing different force controllers. The basic hypothesis is that in human handshaking force control there is a balance between an intrinsic (open-loop) and extrinsic (closed-loop) contributions. We use an und

Cited by 21Source ↗Scholar ↗
2018

Combining Wearable Finger Haptics and Augmented Reality: User Evaluation Using an External Camera and the Microsoft HoloLens

Leonardo Meli, Claudio Pacchierotti, Gionata Salvietti, Francesco Chinello, Maurizio Maisto, Alessandro De Luca +1
RA-L 2018

Augmented reality (AR) enriches our physical world with digital content and media, such as three-dimensional models and videos, overlaying in real time the camera view of our smartphone, tablet, laptop, or glasses. Despite the recent massive interest for this technology, it is still not possible to

Cited by 57Source ↗Scholar ↗
2018

Design and Evaluation of a Wearable Skin Stretch Device for Haptic Guidance

Francesco Chinello, Claudio Pacchierotti, João Bimbo, Nikos G. Tsagarakis, Domenico Prattichizzo
RA-L 2018

We present a wearable skin stretch device for the forearm. It is composed of four cylindrical end effectors, evenly distributed around the user's forearm. They can generate independent skin stretch stimuli at the palmar, dorsal, ulnar, and radial sides of the arm. When the four end effectors rotate

Cited by 99Source ↗Scholar ↗
2018

Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains

Maria Pozzi, Eder Miguel, Raphael Deimel, Monica Malvezzi, Bernd Bickel, Oliver Brock +1
ICRA 2018poster

In the context of robotic manipulation and grasping, the shift from a view that is static (force closure of a single posture) and contact-deprived (only contact for force closure is allowed, everything else is obstacle) towards a view that is dynamic and contact-rich (soft manipulation) has led to a…

Cited by 50Source ↗Scholar ↗
2018

Grasp Stiffness Control in Robotic Hands Through Coordinated Optimization of Pose and Joint Stiffness

Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikolaos G. Tsagarakis, Arash Ajoudani
RA-L 2018

This letter presents a novel controller for robotic hands, which regulates the grasp stiffness by manipulating the pose and the finger joint stiffness of hands with multiple degrees of freedom while guaranteeing grasp stability. The proposed approach is inspired by the observations of human motor be

Cited by 22Source ↗Scholar ↗
2018

Haptic Guidance in Dynamic Environments Using Optimal Reciprocal Collision Avoidance

Tommaso Lisini Baldi, Stefano Scheggi, Marco Aggravi, Domenico Prattichizzo
RA-L 2018

Human guidance in situations where the users cannot rely on their main sensory modalities, such as assistive or search-and-rescue scenarios, is a challenging task. In this letter, we address the problem of guiding users along collision-free paths in dynamic environments, assuming that they cannot re

Cited by 31Source ↗Scholar ↗
2018

Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity

Irfan Hussain, Federico Renda, Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal D. Seneviratne +2
RA-L 2018

In this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, we show how the model and its main properties can be exploited in the design phase, and we present an application for an underactuated tendon-driven gripper with a modular structur

Cited by 44Source ↗Scholar ↗
2018

Operator Awareness in Human-Robot Collaboration Through Wearable Vibrotactile Feedback

Andrea Casalino, Costanza Messeri, Maria Pozzi, Andrea Maria Zanchettin, Paolo Rocco, Domenico Prattichizzo
RA-L 2018

In industrial scenarios, requiring human-robot collaboration, the understanding between the human operator and his/her robot coworker is paramount. On the one side, the robot has to detect human intentions, and on the other side, the human needs to be aware of what is happening during the collaborat

Cited by 73Source ↗Scholar ↗
2018

Sensory-motor augmentation of the robot with shared human perception

Ryuya Ishida, Leonardo Meli, Yoshihiro Tanaka, Kouta Minamizawa, Domenico Prattichizzo
IROS 2018poster

Robots have replaced people in many manufacturing production lines but the information they gather from sensors might not be sufficient to autonomously accomplish dexterous manipulation operations. Symbiotic human-robot cooperation appears to be a more realistic near future in industrial scenarios.…

Cited by 13Source ↗Scholar ↗
2018

The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands

Maria Pozzi, Gionata Salvietti, João Bimbo, Monica Malvezzi, Domenico Prattichizzo
RA-L 2018

Underactuated and compliant hands, frequently referred to as soft hands, have been recently proposed to overcome common issues of multifingered robotic hands. Although several prototypes have been developed, there is still a lack of systematic ways to model and control these devices to get grasps ex

Cited by 22Source ↗Scholar ↗
2018

The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb

Leonardo Meli, Irfan Hussain, Mirko Aurilio, Monica Malvezzi, Marcia K. O'Malley, Domenico Prattichizzo
RA-L 2018

Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Toward a more realistic feeling of virtual and remote environment inter

Cited by 60Source ↗Scholar ↗
2018

Transparency-Optimal Passivity Layer Design for Time-Domain Control of Multi-DoF Haptic-Enabled Teleoperation

Olmo A. Moreno Franco, Joao Bimbo, Claudio Pacchierotti, Domenico Prattichizzo, Davide Barcelli, Gianni Bianchini
IROS 2018poster

This paper presents a novel optimization-based passivity control algorithm for haptic-enabled bilateral teleoperation systems involving multiple degrees of freedom. In particular, in the context of energy-bounding control, the contribution focuses on the implementation of a passivity layer for an ex…

Cited by 4Source ↗Scholar ↗
2017

Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

Gionata Salvietti, Irfan Hussain, Monica Malvezzi, Domenico Prattichizzo
RA-L 2017

In this letter, we propose a method to design tendon-driven underactuated hands whose fingertips can track a predefined trajectory, when actuated. We focus on passively compliant hands composed of deformable joints and rigid links. We first introduce a procedure to determine suitable joints stiffnes

Cited by 46Source ↗Scholar ↗
2017

On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands

Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo
RA-L 2017

The availability of grasp quality measures is fundamental for grasp planning and control, and also to drive designers in the definition and optimization of robotic hands. This work investigates on grasp robustness and quality indexes that can be applied to power grasps with underactuated and complia

Cited by 30Source ↗Scholar ↗
2017

On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

Irfan Hussain, Gionata Salvietti, Monica Malvezzi, Domenico Prattichizzo
ICRA 2017poster

In this work, we propose a method to compute the stiffness of flexible joints and its realization in order to let the fingers track a certain predefined trajectory. We refer to tendon-driven, underactuated and passively compliant hands composed of deformable joints and rigid links. Specific stiffnes…

Cited by 19Source ↗Scholar ↗
2017

Robot team teleoperation for cooperative manipulation using wearable haptics

Selma Musić, Gionata Salvietti, Pablo Budde gen. Dohmann, Francesco Chinello, Domenico Prattichizzo, Sandra Hirche
IROS 2017poster

Robot teams require planning and adaptive capabilities in order to perform cooperative manipulation tasks in dynamic or unstructured environments. Since these capabilities are inherent to humans, it is suitable to consider human-robot team teleoperation for cooperative manipulation where a single hu…

Cited by 14Source ↗Scholar ↗
2017

Teleoperation in cluttered environments using wearable haptic feedback

Joao Bimbo, Claudio Pacchierotti, Marco Aggravi, Nikos Tsagarakis, Domenico Prattichizzo
IROS 2017poster

Robotic teleoperation in cluttered environments is attracting increasing attention for its potential in hazardous scenarios, disaster response, and telemaintenance. Although haptic feedback has been proven effective in such applications, commercially-available grounded haptic interfaces still show s…

Cited by 94Source ↗Scholar ↗
2017

Towards robotic MAGMaS: Multiple aerial-ground manipulator systems

Nicolas Staub, Mostafa Mohammadi, Davide Bicego, Domenico Prattichizzo, Antonio Franchi
ICRA 2017poster

In this paper we lay the foundation of the first heterogeneous multi-robot system of the Multiple Aerial-Ground Manipulator System (MAGMaS) type. A MAGMaS consists of a ground manipulator and a team of aerial robots equipped with a simple gripper manipulator the same object. The idea is to benefit f…

Cited by 44Source ↗Scholar ↗
2016

Cooperative aerial tele-manipulation with haptic feedback

Mostafa Mohammadi, Antonio Franchi, Davide Barcelli, Domenico Prattichizzo
IROS 2016poster

In this paper, we propose a bilateral tele-operation scheme for cooperative aerial manipulation in which a human operator drives a team of Vertical Take-Off and Landing (VTOL) aerial vehicles, that grasped an object beforehand, and receives a force feedback depending on the states of the system. For…

Cited by 55Source ↗Scholar ↗
2016

Grasp quality evaluation in underactuated robotic hands

Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Máximo A. Roa
IROS 2016poster

Underactuated and synergy-driven hands are gaining attention in the grasping community mainly due to their simple kinematics, intrinsic compliance and versatility for grasping objects even in non structured scenarios. The evaluation of the grasping capabilities of such hands is a challenging task. T…

Cited by 13Source ↗Scholar ↗
2016

Multi-contact bilateral telemanipulation using wearable haptics

Leonardo Meli, Gionata Salvietti, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo
IROS 2016poster

Bilateral telemanipulation refers to frameworks in which a human operator manipulates a master robotic interface and a slave robotic device emulates the behavior of the master, while haptic feedback is provided to the operator. For multi-contact bilateral teleoperation wc intend master and slave sys…

Cited by 10Source ↗Scholar ↗
2016

The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients

Irfan Hussain, Gionata Salvietti, Giovanni Spagnoletti, Domenico Prattichizzo
RA-L 2016

This letter presents the Soft-SixthFinger, a wearable robotic extra-finger designed to be used by chronic stroke patients to compensate for the missing hand function of their paretic limb. The extra-finger is an underactuated modular structure worn on the paretic forearm by means of an elastic band.

Cited by 104Source ↗Scholar ↗
2015

A force-based bilateral teleoperation framework for aerial robots in contact with the environment

Guido Gioioso, Mostafa Mohammadi, Antonio Franchi, Domenico Prattichizzo
ICRA 2015poster

In this paper a novel teleoperation framework for aerial robots that physically interact with the environment is presented. This framework allows to teleoperate the robot both in contact-free flight and in physical contact with the environment in order, e.g., to apply desired forces on objects of th…

Cited by 34Source ↗Scholar ↗
2015

Evaluation of a predictive approach in steering the human locomotion via haptic feedback

Marco Aggravi, Stefano Scheggi, Domenico Prattichizzo
IROS 2015poster

In this paper, we present a haptic guidance policy to steer the user along predefined paths, and we evaluate a predictive approach to compensate actuation delays that humans have when they are guided along a given trajectory via sensory stimuli. The proposed navigation policy exploits the nonholonom…

Cited by 16Source ↗Scholar ↗
2015

Modeling compliant grasps exploiting environmental constraints

Gionata Salvietti, Monica Malvezzi, Guido Gioioso, Domenico Prattichizzo
ICRA 2015poster

In this paper we present a mathematical framework to describe the interaction between compliant hands and environmental constraints during grasping tasks. In the proposed model, we considered compliance at wrist, joint and contact level. We modeled the general case in which the hand is in contact wi…

Cited by 20Source ↗Scholar ↗