Soft Mechatronics for Biorobotics

Matteo Cianchetti

Main Activities: 

Soft, elastic and deformable systems with variable stiffness are key factors for safe and effective interactions with physical unknown environments, opening to robots a wide range of application possibilities. Soft robotics can show all its potentiality only if all the components of the system are contextually taken into consideration, going beyond even the biomechatronic approach in terms of integrated design. Several efforts have been focused on the development of new sensors, actuators, batteries and mechanisms that are based on soft, flexible or variable stiffness technologies, but the most has yet to be done. In particular, actuators represent the real bottle neck, but in the last few years new and promising soft mechatronics technologies are emerging thus offering new possibilities to fill the gap between natural and artificial muscles.

Owner

Matteo Cianchetti

Main Contact

Publications

2015

  • De Falco I, Gerboni G, Cianchetti M, Menciassi A “Design and fabrication of an elastomeric unit for soft modular robots in minimally invasive surgery” Journal of Visualized Experiments, in press. 
  • Manti M, Hassan T, Passetti G, D’Elia N, Laschi C, Cianchetti M (2015) "A bioinspired soft robotic gripper for adaptable and effective grasping", Soft Robotics, 2(3) 107-116. [pdf]
  • Ansari Y, Shoushtari AL, Cacucciolo V, Cianchetti M, Laschi C (2015) “Dynamic Walking with a Soft Limb Robot” in LNAI 9222 S.P. Wilson et al. (Eds.): Living Machines 2015, pp. 13-25. [pdf]
  • Manti M, Hassan T, Passetti G, D’Elia N, Cianchetti M, Laschi C (2015) “An Under-Actuated and Adaptable Soft Robotic Gripper” in LNAI 9222 S.P. Wilson et al. (Eds.): Living Machines 2015, pp. 64-74. [pdf]
  • Vannozzi L, Ricotti L, Cianchetti M, Bearzi C, Gargioli C, Rizzi R, Dario P, Menciassi A (2015) “Self-assembly of polydimethylsiloxane structures from 2D to 3D for bio-hybrid actuation”, Bioinspiration & Biomimetics, 10, 056001. [link]
  • Gerboni G, Ranzani T, Diodato A, Ciuti G, Cianchetti M, Menciassi A (2015) “Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a fully integrated soft module” MeccanicaSpringer Netherlands, 1-9. [link]
  • Rateni G, Cianchetti M, Ciuti G, Menciassi A, Laschi C (2015) “Design and development of a soft robotic gripper for manipulation in minimally invasive surgery: a proof of concept” Meccanica, Springer Netherlands, 1-9. [link]
  • Follador M, Cianchetti M, Mazzolai B (2015) "Design of a compact bistable mechanism based on dielectric elastomer actuators" Meccanica, Springer Netherlands, 1-9. [pdf]
  • Manti M, Cianchetti M, Nacci A, Ursino F, Laschi C (2015) “A biorobotic model of the human larynx” Conf Proc IEEE Eng Med Biol Soc – EMBC 2015, 3623-3626.
  • Hassan T, Manti M, Passetti G, D’Elia N, Cianchetti M, Laschi C (2015) “Design and development of a bio-inspired, under-actuated soft gripper” Conf Proc IEEE Eng Med Biol Soc – EMBC 2015, 3619-3622.
  • Fras J, Czarnowski J, Macias M, Główka J, Cianchetti M, Menciassi A (2015) “New STIFF-FLOP module construction idea for improved actuation and sensing” Conf Proc IEEE on Robotics and Automation – ICRA 2015, 2901-2906.
  • Cianchetti M, Calisti M, Margheri L, Kuba M, Laschi C “Bioinspired locomotion and grasping in water: the soft eight-arm OCTOPUS robot” Bioinspiration & Biomimetics (Special Issue on Octopus-inspired robotics), 10, 035003. [pdf]
  • Ranzani T, Gerboni G, Cianchetti M, Menciassi A “A bioinspired soft manipulator for minimally invasive surgery” Bioinspiration & Biomimetics (Special Issue on Octopus-inspired robotics), 10, 035008. [pdf]
  • Elsayed Y, Lekakou C, Ranzani T, Cianchetti M, Morino M, Arezzo A, Menciassi A, Geng T, Saaj C (2015) “Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery” Minimally Invasive Therapy & Allied Technologies, Early Online, 1–7. 

 

2014

  • Elsayed Y, Vincensi A, Lekakou C, Geng T, Saaj CM, Ranzani T, Cianchetti M, Menciassi A (2014) “Finite Element Analysis and Design Optimization of a Pneumatically Actuating Silicone Module for Robotic Surgery Applications” Soft Robotics, 1(4) 255-262. [pdf]
  • Cianchetti M, Licofonte A, Follador M, Rogai F, Laschi C (2014) “Bioinspired Soft Actuation System using Shape Memory Alloys” Actuators (Special Issue on Soft Actuators), 3(3), 226-244. [pdf]
  • Cianchetti M, Ranzani T, Gerboni G, Nanayakkara T, Althoefer K, Dasgupta P, Menciassi A (2014) “Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach” Soft Robotics, 1(2) 122-131. [pdf]
  • Renda F, Giorelli M, Calisti M, Cianchetti M, Laschi C (2014) “Dynamic Model of a Multi-Bending Soft Robot Arm Driven by Cables” IEEE Transactions on Robotics, 30(5), 1109-1122. [pdf]
  • Laschi C, Cianchetti M (2014) “Soft Robotics: new perspectives for robot bodyware and control” Frontiers in Bioengineering and Biotechnology, 2(3). [pdf]
  • Zambrano D, Cianchetti M, Laschi C (2014) “The Morphological Computation Principles as a New Paradigm for Robotic Design” in Opinions and Outlooks on Morphological Computation, H. Hauser, R. M. Füchslin, R. Pfeifer (Ed.s), pp. 214-225. [pdf]
  • Cacucciolo V, Corucci F, Cianchetti M, Laschi C (2014) “Evolving Optimal Swimming in Different Fluids: A Study Inspired by batoid Fishes” in Biomimetic and Biohybrid Systems, A. Duff, N. Lepora, A. Mura, T. Prescott, P. Verschure (Ed.s), Lecture Notes in Computer Science, Springer, pp. 23-34.
  • Cacucciolo V, Cianchetti M, Laschi C (2014) “Comparison of optimization algorithms for the indirect encoding of a neural controller for a soft robotic arm” Conf Proc of European Symposium on Mathematical Modelling and Computer Simulation – EMS 2014.
  • Cacucciolo V, Cianchetti M, Laschi C (2014) “A model-based framework to investigate morphological computation in muscular hydrostats and to design soft robotic arms” Conf Proc on the synthesis and simulation of living systems – Artificial Life 2014.
  • Zheng T, Yang Y, Branson DT, Kang R, Guglielmino E, Cianchetti M, Caldwell DG, Yang G (2014) "Control design of shape memory alloy based multi-arm continuum robot inspired by octopus" Conf Proc IEEE on Industrial Electronics and Applications – ICIEA 2014, 1108-1113
  • Laschi C and Cianchetti M (2014) “Soft Robotics and the challenges for soft actuation and sensing technologies” Conf Proc Electromechanically Active Polymers (EAP) transducers and artificial muscles (invited paper) – EuroEAP 2014.
  • Gerboni G, Ranzani T, Ciuti G, Cianchetti M, Menciassi A (2014) “A new strategy to build a fully modular soft manipulator for MIS” International Joint Workshop on New Technologies for Computer/Robot Assisted Surgery – CRAS 2014, Genoa, Italy.
  • De Falco I, Cianchetti M, Menciassi A (2014) “STIFF-FLOP surgical manipulator: design and preliminary motion evaluation” International Joint Workshop on New Technologies for Computer/Robot Assisted Surgery – CRAS 2014, Genoa, Italy. [pdf]
  • Cianchetti M, Laschi C (2014) “The OCTOPUS project as an incubator of soft robotics technologies” International workshop on Soft Robot @ ICRA 2014, Hong Kong, China.

 

2013

  • Zheng T, Branson DT, Guglielmino E, Kang R, Medrano Cerda GA, Cianchetti M, Follador M, Godage IS and Caldwell DG (2013) “Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments” J. Mechanisms Robotics, 5(2), 02100
  • Follador M, Tramacere F, Viry L, Cianchetti M, Beccai L, Laschi C, Mazzolai B (2013) “Octopus-inspired innovative suction cups”, in Biomimetic and Biohybrid Systems, N. Lepora, A. Mura, H. Krapp, P. Verschure, T. Prescott (Ed.s), Lecture notes in computer science, Springer, pp. 368-370. [pdf]
  • Cianchetti M (2013) Fundamentals on the Use of Shape Memory Alloys in Soft Robotics, in Interdisciplinary Mechatronics: Engineering Science and Research Development, edited by M. K. Habib and J. Paulo Davim, pp. 227-254, Wiley-ISTE. [pdf]
  • Cianchetti M, Ranzani T, Gerboni G, De Falco I, Laschi C, Menciassi A (2013) “STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module”, Conf Proc IEEE on Intelligent and Robotic Systems – IROS 2013, 3567-3581. [pdf]
  • Cianchetti M (2013) “The octopus as paradigm for soft robotics” Conf Proc IEEE and KROS Int Conf on Ubiquitous Robots and Ambient Intelligence (invited paper) – URAI 2013, 515-516. [pdf]
  • Ranzani T, Cianchetti M, Gerboni G, De Falco I, Petroni G, Menciassi A (2013) "A modular soft manipulator with variable stiffness" International Joint Workshop on New Technologies for Computer/Robot Assisted Surgery – CRAS 2013, Verona, Italy. [pdf]
  • Cianchetti M, Wurdemann H, Menciassi A, Althoefer K, Nanayakkara T (2013) “MR-compatible Bio-inspired Soft Manipulator with Stretchable Sensing Sleeve for RMIS”, International Workshop on Soft Robotics and Morphological Computation - SoftRobot2013, Ascona, Switzerland.
  • Cianchetti M, Ranzani T, Gerboni G, Laschi C, Menciassi A (2013) “Preliminary mechanical design of a soft manipulator for minimally invasive surgery”, International Workshop on Soft Robotics and Morphological Computation - SoftRobot2013, Ascona, Switzerland.
  • Licofonte A, Rogai F, Cianchetti M, Laschi C (2013) “Tactile Sensor for an Octopus-like Soft Robotic Arm” International Workshop on Soft Robotics and Morphological Computation - SoftRobot2013, Ascona, Switzerland.
  • Licofonte A, Rogai F, Cianchetti M, Laschi C (2013) “3D Shape Reconstruction of an Octopus-like arm” International Workshop on Soft Robotics and Morphological Computation - SoftRobot2013, Ascona, Switzerland.

 

2012

  • Follador M, Cianchetti M, Arienti A, Laschi C (2012) “A general method for the design and fabrication of shape memory alloy active spring actuators” Smart Materials and Structures, Vol.21, No.11, 115029. [pdf]
  • Renda F, Cianchetti M, Giorelli M, Arienti A, Laschi C (2012) “A 3D steady-state model of a tendon-driven continuum soft manipulator inspired by octopus arm” Bioinspiration & Biomimetics (Special issue: International Workshop on Bio-Inspired Robots) Vol. 7, 025005 [pdf]
  • Mazzolai B, Margheri L, Cianchetti M, Dario P, Laschi C (2012) “Soft robotic arm inspired by the octopus. II. From artificial requirements to innovative technological solutions” Bioinspiration & Biomimetics (Special issue: International Workshop on Bio-Inspired Robots) Vol. 7, 025005
  • Laschi C, Mazzolai B, Cianchetti M, Margheri L, Follador M, Dario P (2012) “A Soft Robot Arm Inspired by the Octopus”, Advanced Robotics (Special Issue on Soft Robotics), 26 (7) 709-727
  • Margheri L, Follador M, Cianchetti M, Mazzolai B, Laschi C (2012) “Bio-inspired Design of an Artificial Muscular-Hydrostat Unit for Soft Robotic Systems”, in Biomimetic and Biohybrid Systems, T. Prescott, N. Lepora, A. Mura, P. Verschure (Ed.s), Lecture notes in computer science, Springer, pp. 375-376.
  • Giorelli M, Renda F, Arienti A, Calisti M, Cianchetti M, Ferri G, Laschi C (2012) “Inverse and Direct Model of a Continuum Manipulator Inspired by the Octopus Arm” , in Biomimetic and Biohybrid Systems, T. Prescott, N. Lepora, A. Mura, P. Verschure (Ed.s), Lecture notes in computer science, Springer, pp. 347-348.
  • Cianchetti M, Renda F, Licofonte A, Laschi C (2012) “Sensorization of continuum soft robots for reconstructing their spatial configuration” Conf Proc IEEE on Biomedical Robotics and Biomechatronics – BioRob 2012, 634-639
  • Follador M, Cianchetti M, Laschi C (2012) “Development of the functional unit of a completely soft octopus-like robotic arm” Conf Proc IEEE on Biomedical Robotics and Biomechatronics – BioRob 2012, 640-645
  • Cianchetti M, Follador M, Mazzolai B, Dario P, Laschi C (2012) “Design and development of a soft robotic octopus arm exploiting embodied intelligence” Conf Proc IEEE on Robotics and Automation – ICRA 2012, 5271-5276
  • Guglielmino E, Zullo L, Cianchetti M, Follador M, Branson D, Caldwell DG (2012) “The Application of Embodiment Theory to the Design and Control of an Octopus-like Robotic Arm” Conf Proc IEEE on Robotics and Automation – ICRA 2012, 5277-5282
  • Zheng T, Branson DT, Kang R, Cianchetti M, Guglielmino E, Follador M, Medrano-Cerda GA, Godage IS, Caldwell DG (2012) “Dynamic Continuum arm Model for Use with Underwater Robotic Manipulators Inspired by Octopus vulgaris” Conf Proc IEEE on Robotics and Automation – ICRA 2012, 5289-5294
  • Li T, Nakajima K, Cianchetti M, Laschi C, Pfeifer R (2012) “Behavior Switching Using Reservoir Computing for a Soft Robotic Arm” Conf Proc IEEE on Robotics and Automation – ICRA 2012, 4918-4924. [pdf]

 

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