Giacomo Moretti — accepted AI-conference papers

2024

Towards Robotised Palpation for Cancer Detection through Online Tissue Viscoelastic Characterisation with a Collaborative Robotic Arm

Luca Beber, Edoardo Lamon, Giacomo Moretti, Daniele Fontanelli, Matteo Saveriano, Luigi Palopoli

IROS 2024poster

This paper introduces a new method for online estimating the penetration of the end-effector and the viscoelastic properties of a soft body, through palpation exams using a collaborative robotic arm. The estimator is based on the dimensionality reduction method that simplifies the nonlinear Hunt-Cro…

Cited by 0 Source ↗Scholar ↗

2018

Design and Experimental Characterisation of a Hydrostatic Transmission for Upper Limb Exoskeletons

Marco Bolignari, Giacomo Moretti, Marco Fontana

IROS 2018poster

This paper introduces a novel hydrostatic air-liquid torque transmission system for an upper limb exoskeleton. The proposed design is based on remote electrical actuation, with grounded motors, combined with high performance fluid power transmission employed to deliver the power to the joints of the…

Cited by 11 Source ↗Scholar ↗