Mihai Dragusanu — accepted AI-conference 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 0 Source ↗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 0 Scholar ↗

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 4 Source ↗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 4 Source ↗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 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 ↗

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 22 Source ↗Scholar ↗