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Journal Articles

Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Vamsikrishna Guda, Stanley Mugisha, Christine Chevallereau, Matteo Zoppi, Rezia Molfino, Damien Chablat

J. Mechanisms Robotics. August 2022, 14(4): 041012.

Paper No: JMR-21-1534

DOI: https://doi.org/10.1115/1.4054509

Published Online: June 21, 2022

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Topics: Robots

Proceedings Papers

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Stanley Mugisha, Matteo Zoppi, Rezia Molfino, Vamsi Guda, Christine Chevallereau, Damien Chablat

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A007, August 17–19, 2021

Paper No: DETC2021-71518

DOI: https://doi.org/10.1115/DETC2021-71518

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Topics: Collaboration, Robots, Virtual reality, Haptics, Robotics, Algorithms, Collisions (Physics), End effectors, Mechanical admittance, Safety

Journal Articles

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

Shengnan Lu, Zeshan Ahmad, Matteo Zoppi, Xilun Ding, Dimiter Zlatanov, Rezia Molfino

J. Mech. Des. August 2016, 138(8): 085001.

Paper No: MD-15-1418

DOI: https://doi.org/10.1115/1.4033037

Published Online: June 16, 2016

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Topics: Design, Robots, Robotics, Testing, Stress, Engineering prototypes, Torque, Stiffness, Grasping

Proceedings Papers

A Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists

Cuong Trinh, Dimiter Zlatanov, Matteo Zoppi, Rezia Molfino

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A016, August 2–5, 2015

Paper No: DETC2015-47950

DOI: https://doi.org/10.1115/DETC2015-47950

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Topics: Kinematics, Robots, Architecture, Computation, End effectors, Manipulators

Journal Articles

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi

J. Mechanisms Robotics. April 2016, 8(2): 021008.

Paper No: JMR-15-1022

DOI: https://doi.org/10.1115/1.4031639

Published Online: November 24, 2015

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Topics: Linkages, Magnification

Journal Articles

Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

Loan Le, Matteo Zoppi, Michal Jilich, Han Bo, Dimiter Zlatanov, Rezia Molfino

J. Mechanisms Robotics. February 2015, 7(1): 011011.

Paper No: JMR-14-1267

DOI: https://doi.org/10.1115/1.4029292

Published Online: February 1, 2015

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Topics: Actuators, Design, Grippers, Stiffness, Robots

Proceedings Papers

Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi

Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A024, August 17–20, 2014

Paper No: DETC2014-35411

DOI: https://doi.org/10.1115/DETC2014-35411

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Topics: Approximation, Degrees of freedom, Shapes, Kinematic analysis, Linkages

Proceedings Papers

Design and Testing of a Novel Stepless Lockable Joint for Use in Reconfigurable Fixtures

Shengnan Lu, Matteo Zoppi, Dimiter Zlatanov, Zeshan Ahmad, Rezia Molfino

Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A025, August 17–20, 2014

Paper No: DETC2014-35428

DOI: https://doi.org/10.1115/DETC2014-35428

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Topics: Design, Testing, Assembly lines, Conceptual design, Engineering prototypes, Locks (Waterways), Stiffness, Stress, Torque, Welding

Proceedings Papers

Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling

Loan Le, Matteo Zoppi, Michal Jilich, Han Bo, Dimiter Zlatanov, Rezia Molfino

Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A022, August 17–20, 2014

Paper No: DETC2014-35396

DOI: https://doi.org/10.1115/DETC2014-35396

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Topics: Actuators, Design, Grippers, Robots, Stiffness, Degrees of freedom, Design engineering, Feedback, Grasping, Hydraulic drive systems

Proceedings Papers

Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling

Loan Le, Matteo Zoppi, Michal Jilich, Raffaello Camoriano, Dimiter Zlatanov, Rezia Molfino

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A013, August 4–7, 2013

Paper No: DETC2013-13150

DOI: https://doi.org/10.1115/DETC2013-13150

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Topics: Grippers, Design, Grasping, Textiles, Kinematics, Robotics, Robots, Shapes, Statics, Tactile sensors

Proceedings Papers

A Novel Deployable Mechanism With Two Decoupled Degrees of Freedom

Shengnan Lu, Dimiter Zlatanov, Xilun Ding, Rezia Molfino, Matteo Zoppi

Proc. ASME. IDETC-CIE2013, Volume 6B: 37th Mechanisms and Robotics Conference, V06BT07A014, August 4–7, 2013

Paper No: DETC2013-13187

DOI: https://doi.org/10.1115/DETC2013-13187

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Topics: Degrees of freedom, Kinematics, Linkages, Design, Engineering simulation, Geometry, Magnification, Mechanical admittance, Simulation

Proceedings Papers

Constraint and Singularity Analysis of the Exechon Tripod

Dimiter Zlatanov, Matteo Zoppi, Rezia Molfino

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 679-688, August 12–15, 2012

Paper No: DETC2012-71184

DOI: https://doi.org/10.1115/DETC2012-71184

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Topics: End effectors, Jacobian matrices, Kinematics, Machine tools, Machinery, Manipulators, Mechanical admittance, Parallel mechanisms, Screws

Proceedings Papers

Stiffness Estimation and Experiments for the Exechon Parallel Self-Reconfiguring Fixture Mechanism

Xiong Li, Dimiter Zlatanov, Matteo Zoppi, Rezia Molfino

Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 637-645, August 12–15, 2012

Paper No: DETC2012-70993

DOI: https://doi.org/10.1115/DETC2012-70993

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Topics: Stiffness, Modeling, Design, Finite element analysis, Kinematics, Machinery, Parallel mechanisms, Screws, Simulation, Virtual work principle

Proceedings Papers

Adaptable Fixturing Heads for Swarm Fixtures: Discussion of Two Designs

Serena Gagliardi, Xiong Li, Matteo Zoppi, Luis de Leonardo, Rezia Molfino

Proc. ASME. ESDA2012, Volume 4: Advanced Manufacturing Processes; Biomedical Engineering; Multiscale Mechanics of Biological Tissues; Sciences, Engineering and Education; Multiphysics; Emerging Technologies for Inspection and Reverse Engineering; Advanced Materials and Tribology, 99-106, July 2–4, 2012

Paper No: ESDA2012-82562

DOI: https://doi.org/10.1115/ESDA2012-82562

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Topics: Aircraft, Cycles, Design, End effectors, Fixturing, Fluids, Hydrostatic pressure, Manufacturing, Metals, Pistons

Proceedings Papers

Multi-Terrain Vehicle Active Suspension Control Modeling and Design

Jawad Masood, Matteo Zoppi, Rezia Molfino

Proc. ASME. IDETC-CIE2011, Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B, 599-605, August 28–31, 2011

Paper No: DETC2011-47468

DOI: https://doi.org/10.1115/DETC2011-47468

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Topics: Control modeling, Design, Vehicles, Excitation, Modeling, Position control, Robustness

Journal Articles

Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence

Matteo Zoppi, Paolo Trifiletti, Rezia Molfino

J. Med. Devices. March 2012, 6(1): 014501.

DOI: https://doi.org/10.1115/1.4005808

Published Online: March 13, 2012

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Topics: Endoscopes, Sensors, Surgery, Design, Instrumentation

Proceedings Papers

Kinematics Analysis of the Exechon Tripod

Matteo Zoppi, Dimiter Zlatanov, Rezia Molfino

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1381-1388, August 15–18, 2010

Paper No: DETC2010-28668

DOI: https://doi.org/10.1115/DETC2010-28668

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Topics: Kinematics, Design, Equations of motion, Kinematic analysis, Machine tools, Machinery, Manipulators, Parallel mechanisms

Journal Articles

Design of a Microrobotic Wrist for Needle Laparoscopic Surgery

Matteo Zoppi, Wiktor Sieklicki, Rezia Molfino

J. Mech. Des. October 2008, 130(10): 102306.

DOI: https://doi.org/10.1115/1.2965608

Published Online: September 9, 2008

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Topics: Design, Extruding, Needles, Surgery, End effectors, Manufacturing, Displacement, Mechanical admittance, Geometry

Journal Articles

ArmillEye: Flexible Platform for Underwater Stereo Vision

Matteo Zoppi, Rezia Molfino

J. Mech. Des. August 2007, 129(8): 808–815.

DOI: https://doi.org/10.1115/1.2735338

Published Online: August 8, 2006

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Topics: Extruding, Kinematics, End effectors

Journal citation

NARROW

Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface

Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

A Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists

Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom

Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper

Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom

Design and Testing of a Novel Stepless Lockable Joint for Use in Reconfigurable Fixtures

Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling

Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling

A Novel Deployable Mechanism With Two Decoupled Degrees of Freedom

Constraint and Singularity Analysis of the Exechon Tripod

Stiffness Estimation and Experiments for the Exechon Parallel Self-Reconfiguring Fixture Mechanism

Adaptable Fixturing Heads for Swarm Fixtures: Discussion of Two Designs

Multi-Terrain Vehicle Active Suspension Control Modeling and Design

Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence

Kinematics Analysis of the Exechon Tripod

Design of a Microrobotic Wrist for Needle Laparoscopic Surgery

ArmillEye: Flexible Platform for Underwater Stereo Vision

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