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Massimiliano Solazzi

8 accepted papers

2023

Actuator Capabilities Aware Limitation for TDPA Passivity Controller Action

Francesco Porcini, Alessandro Filippeschi, Massimiliano Solazzi, Carlo Alberto Avizzano, Antonio Frisoli
ICRA 2023poster

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…

Cited by 1Source ↗Scholar ↗
2022

Optimal Joint TDPA Formulation for Kinematically Redundant Robot Manipulators

Francesco Porcini, Massimiliano Solazzi, Antonio Frisoli
IROS 2022poster

The accomplishment of a successful teleoperation task requires guaranteeing system stability and transparency. Communication delay (in particular variable time delay), quantization and discretization negatively affect system stability and might be overcome with Time Domain Passivity Approach (TDPA),…

Cited by 5Source ↗Scholar ↗
2021

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

Cristian Camardella, Francesco Porcini, Alessandro Filippeschi, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
RA-L 2021

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

Cited by 26Source ↗Scholar ↗
2020

Evaluation of an Exoskeleton-based Bimanual Teleoperation Architecture with Independently Passivated Slave Devices

Francesco Porcini, Domenico Chiaradia, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
ICRA 2020poster

Search and rescue robotics is becoming a relevant topic in the last years and the growing number of robotic platforms and dedicated projects is the evidence of the interest in this area. In this context, the possibility to drive a remote robot with an exoskeleton is a promising strategy to enhance d…

Cited by 17Source ↗Scholar ↗
2018

Design and Evaluation of a Novel 5 DoF Underactuated Thumb-Exoskeleton

Massimiliano Gabardi, Massimiliano Solazzi, Daniele Leonardis, Antonio Frisoli
RA-L 2018

This letter presents the design of a new exoskeleton for thumb. The main feature of this device is a high degree of underactuation. In fact, the five degrees of freedom (dof) of the thumb are actuated by just one linear actuator. Other features of the thumb-exos are its capability of exert only forc

Cited by 41Source ↗Scholar ↗
2018

WRES: A Novel 3 DoF WRist ExoSkeleton With Tendon-Driven Differential Transmission for Neuro-Rehabilitation and Teleoperation

Domenico Buongiorno, Edoardo Sotgiu, Daniele Leonardis, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
RA-L 2018

In this letter, the authors proposed a new wrist exoskeleton designed to provide kinesthetic feedback to the wrist user's joints for rehabilitative, teleoperation, and virtual environment interaction purposes. The design process focused on the need to use the interface as the end-effector of a whole

Cited by 85Source ↗Scholar ↗
2016

Haptic simulation of an automotive automatic gearshift: Stability analysis and design of force profiles with hysteresis

Domenico Chiaradia, Massimiliano Solazzi, Diego Caporali, Massimiliano Russo, Alessandro Piu, Antonio Frisoli
ICRA 2016

This paper presents the development and the experimental validation of a controller for the simulation of the behavior of automotive automatic gearshifts. For this purpose a gearshift simulator was developed based on 2 DOF haptic interface to evaluate users qualitative judgment of automatic gearshif

Cited by 3Source ↗Scholar ↗