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Carmine Tommaso Recchiuto

Bio: Carmine Tommaso Recchiuto is an academic researcher from University of Genoa. The author has contributed to research in topics: Computer science & Humanoid robot. The author has an hindex of 12, co-authored 50 publications receiving 471 citations. Previous affiliations of Carmine Tommaso Recchiuto include Sant'Anna School of Advanced Studies.


Papers
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Journal ArticleDOI
TL;DR: In this paper, a silicon MEMS-based capacitive sensing array is presented, which has the ability to resolve forces in the sub mN range, provides directional response to applied loading and has the capability to differentiate between surface textures.

106 citations

Journal ArticleDOI
TL;DR: The development of a MEMS based capacitive tactile sensor intended to be incorporated into a tactile array as the core element of a biomimetic fingerpad was presented.
Abstract: This paper presents the development of a MEMS based capacitive tactile sensor intended to be incorporated into a tactile array as the core element of a biomimetic fingerpad. The use of standard microfabrication technologies in realising the device allowed a cost efficient fabrication involving only a few process steps. A low noise readout electronics system was developed for measuring the sensor response. The performance of both bare and packaged sensors was evaluated by direct probing of individual capacitive sensor units and characterising their response to load–unload indentation cycles.

93 citations

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TL;DR: A framework for cultural knowledge representation that relies on a three-layer ontology for storing concepts of relevance, culture-specific information and statistics, person- specific information and preferences and an algorithm for the acquisition of person-specific knowledge to drive the search is proposed.
Abstract: Culture, intended as the set of beliefs, values, ideas, language, norms and customs which compose a person’s life, is an essential element to know by any robot for personal assistance. Culture, intended as that person’s background, can be an invaluable source of information to drive and speed up the process of discovering and adapting to the person’s habits, preferences and needs. This article discusses the requirements posed by cultural competence on the knowledge management system of a robot. We propose a framework for cultural knowledge representation that relies on (i) a three-layer ontology for storing concepts of relevance, culture-specific information and statistics, person-specific information and preferences; (ii) an algorithm for the acquisition of person-specific knowledge, which uses culture-specific knowledge to drive the search; (iii) a Bayesian Network for speeding up the adaptation to the person by propagating the effects of acquiring one specific information onto interconnected concepts. We have conducted a preliminary evaluation of the framework involving 159 Italian and German volunteers and considering 122 among habits, attitudes and social norms.

58 citations

Journal ArticleDOI
TL;DR: This paper provides a review of the principal aspects related to search & rescue with unmanned aerial vehicles (UAVs), with particular interest in the phase of post‐disaster assessment (PDA).
Abstract: In this paper, we provide a review of the principal aspects related to search & rescue (SAR) with unmanned aerial vehicles (UAVs), with particular interest in the phase of post-disaster assessment (PDA). Some areas of interest related to this topic have been chosen for the analysis: the aerial platforms used in the field, multirobot software architectures, onboard sensors and simultaneous localization and mapping approaches, terrain coverage algorithms, autonomous navigation techniques, and human-swarm interfaces. All these aspects have been analyzed with respect to the state-of-the-art, and also in relation to the project PRISMA, which focuses on the development and deployment of robots and autonomous systems that can operate in emergency scenarios, with a specific reference to monitoring and real-time intervention.

39 citations

Journal ArticleDOI
TL;DR: A novel method for path definition in presence of obstacles, which describes a curve as the intersection of two surfaces is proposed along with a Cascaded control architecture and utilizing a nonlinear control technique for both control loops (position and attitude), creates a framework to manipulate the multicopters’ behaviors.
Abstract: Multirotors, among all aerial vehicles, are fundamental instruments in many situations, i.e. video recording of sport events, leisure, environmental monitoring before or after a disaster. In particular, in the context of environmental monitoring, the possibility of following a predetermined path while avoiding obstacles is extremely relevant. In this work, we propose a novel method for path definition in presence of obstacles, which describes a curve as the intersection of two surfaces. The planner, based on that path definition along with a Cascaded control architecture and utilizing a nonlinear control technique for both control loops (position and attitude), creates a framework to manipulate the multicopters’ behaviors. The method is demonstrated to be able to generate a safe path taking into account obstacles perceived in real-time and avoids collisions. These algorithms are embedded in a software package to control the flight of a fully autonomous AscTec Firefly hexacopter with two cameras and onboard processing capabilities.

30 citations


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Journal ArticleDOI
TL;DR: Electronic networks comprised of flexible, stretchable, and robust devices that are compatible with large-area implementation and integrated with multiple functionalities is a testament to the progress in developing an electronic skin akin to human skin.
Abstract: Human skin is a remarkable organ. It consists of an integrated, stretchable network of sensors that relay information about tactile and thermal stimuli to the brain, allowing us to maneuver within our environment safely and effectively. Interest in large-area networks of electronic devices inspired by human skin is motivated by the promise of creating autonomous intelligent robots and biomimetic prosthetics, among other applications. The development of electronic networks comprised of flexible, stretchable, and robust devices that are compatible with large-area implementation and integrated with multiple functionalities is a testament to the progress in developing an electronic skin (e-skin) akin to human skin. E-skins are already capable of providing augmented performance over their organic counterpart, both in superior spatial resolution and thermal sensitivity. They could be further improved through the incorporation of additional functionalities (e.g., chemical and biological sensing) and desired properties (e.g., biodegradability and self-powering). Continued rapid progress in this area is promising for the development of a fully integrated e-skin in the near future.

1,950 citations

Journal ArticleDOI
TL;DR: A flexible and sensitive textile-based pressure sensor is developed using highly conductive fibers coated with dielectric rubber materials that exhibits superior sensitivity, very fast response time, and high stability when applied to make smart gloves and clothes that can control machines wirelessly as human-machine interfaces.
Abstract: A flexible and sensitive textile-based pressure sensor is developed using highly conductive fibers coated with dielectric rubber materials. The pressure sensor exhibits superior sensitivity, very fast response time, and high stability, compared with previous textile-based pressure sensors. By using a weaving method, the pressure sensor can be applied to make smart gloves and clothes that can control machines wirelessly as human-machine interfaces.

884 citations

Journal ArticleDOI
TL;DR: This Review describes the state-of-the-art of wearable electronics (smart textiles) by comparing them with the conventional planar counterparts and discusses the main kinds of smart electronic textiles based on different functionalities.
Abstract: This Review describes the state-of-the-art of wearable electronics (smart textiles). The unique and promising advantages of smart electronic textiles are highlighted by comparing them with the conventional planar counterparts. The main kinds of smart electronic textiles based on different functionalities, namely the generation, storage, and utilization of electricity, are then discussed with an emphasis on the use of functional materials. The remaining challenges are summarized together with important new directions to provide some useful clues for the future development of smart electronic textiles.

430 citations

Journal ArticleDOI
TL;DR: In this paper, a bioinspired e-skin design of hierarchical micro-and nano-structured ZnO nanowire arrays in an interlocked geometry is suggested for the sensitive detection of both static and dynamic tactile stimuli through piezoresistive and piezoelectric transduction modes, respectively.
Abstract: The development of electronic skin (e-skin) is of great importance in human-like robotics, healthcare, wearable electronics, and medical applications. In this paper, a bioinspired e-skin design of hierarchical micro- and nano-structured ZnO nanowire (NW) arrays in an interlocked geometry is suggested for the sensitive detection of both static and dynamic tactile stimuli through piezoresistive and piezoelectric transduction modes, respectively. The interlocked hierarchical structures enable a stress-sensitive variation in the contact area between the interlocked ZnO NWs and also the efficient bending of ZnO NWs, which allow the sensitive detection of both static and dynamic tactile stimuli. The flexible e-skin in a piezoresistive mode shows a high pressure sensitivity (−6.8 kPa−1) and an ultrafast response time (<5 ms), which enables the detection of minute static pressure (0.6 Pa), vibration level (0.1 m s−2), and sound pressure (≈57 dB). The flexible e-skin in a piezoelectric mode is also demonstrated to be able to detect fast dynamic stimuli such as high frequency vibrations (≈250 Hz). The flexible e-skins with both piezoresistive and piezoelectric sensing capabilities may find applications requiring both static and dynamic tactile perceptions such as robotic hands for dexterous manipulations and various healthcare monitoring devices.

294 citations

Journal ArticleDOI
TL;DR: In this article, a flexible and multilayer capacitive microfluidic normal force sensor is developed with a 5 × 5 taxel array, which is shown to provide repeatable measurements of static uniaxial loads, and follows the loading and unloading phases of low-frequency dynamic loads.
Abstract: Robotic applications often require robust tactile sensing capabilities on curved surfaces, such as artificial fingertips. Flexible tactile sensors could be conformally wrapped around curved digits and could enhance grip by cushioning impacts and increasing the effective contact area during grasp. Flexible microfabricated devices that use thin film or solid electrical components are susceptible to failure due to cracking and fatigue. Conductive fluids have been used as transduction media, electrical connections, and in resistance-based pressure and bend sensors. In this work, a flexible and multilayer capacitive microfluidic normal force sensor is developed with a 5 × 5 taxel array. The sensor uses liquid metal-filled microfluidic channels as the capacitive plates and conductive interconnects. The sensor is microfabricated using soft lithography microfabrication techniques and consists of multiple layers of PDMS microchannels filled with the liquid metal alloy Galinstan and air pockets that modify the mechanical and electrical properties of the sensor. A single taxel is calibrated for normal forces ranging from 0 to 2.5 N, is shown to provide repeatable measurements of static uniaxial loads, and follows the loading and unloading phases of low-frequency dynamic loads (0.4–4 Hz). The sensor prototype has a spatial resolution on the order of 0.5 mm, performs reliably when wrapped around a surface having a curvature similar to that of a human finger (1.575 cm−1), and has been shown to tolerate curvatures as high as 6.289 cm−1. The deformable liquid capacitive plates and heterogeneous PDMS-air dielectric medium can be designed to tune the sensor's sensitivity and range. The sensor prototype provides greater sensitivity at low loads, a feature which can be exploited for robotic applications in which light touch is important.

243 citations