Monica Malvezzi — 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 ↗

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 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 ↗

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 5 Source ↗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 7 Source ↗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 1 Source ↗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 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

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 9 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

Cooperative Human-Robot Grasping With Extended Contact Patches

Sara Marullo, Maria Pozzi, Domenico Prattichizzo, Monica Malvezzi

RA-L 2020

Grasping large and heavy objects with a robot assistant is one of the most interesting scenarios in physical Human-Robot Interaction. Many solutions have been proposed in the last 40 years, focusing not only on human safety, but also on comfort and ergonomics. When carrying objects with large planar

Cited by 2 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 ↗

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 8 Source ↗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 7 Source ↗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 21 Source ↗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 50 Source ↗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 44 Source ↗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 22 Source ↗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 60 Source ↗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 46 Source ↗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 30 Source ↗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 19 Source ↗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 13 Source ↗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 10 Source ↗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 20 Source ↗Scholar ↗