Luigi Pelliccia

TL;DR: In this paper, a digital model of a redundant manipulator (KUKA LBR iiwa) has been developed starting with kinematic modeling and then coupled with the real robot.

TL;DR: This work solves the main challenges of this task - high and stable forces during the milling process while simultaneously a very sensitive feedback is required - by using an industrial robot for the force output and the development of a novel massively parallel haptic rendering algorithm with support for material removal.

TL;DR: Three different Virtual Reality-based energy visualization methods and a comparison of them based on a short user survey to determine the advantages and disadvantages as well as improvement potential of the three visualization methods from the user's point of view are presented.

TL;DR: In this article, an algorithm for both human-like motion generation and joint torques computation for digital humans is addressed using techniques derived from robotics, in particular, the so-called augmented Jacobian has been used to solve the inverse kinematics problem with a single closed loop inverse Kinematics algorithm, and position control for the center of mass of the kinematic chain, and for its projection on the support plane (center of pressure), has been implemented to achieve easy posture control.

TL;DR: An innovative VR interface capable of visualizing the pressure values at the fingertips in a 3D environment is presented, providing an effective tool aimed at supporting the programming and the visualization of the gripper VR.