Gabriele Maria Achilli — accepted AI-conference papers

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 13 Source ↗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 23 Source ↗Scholar ↗