Journal Articles

Friedl et al. (2018) CLASH: Compliant Low cost Antagonistic Servo Hands. In: Proc. IEEE/RSJ Int Intelligent Robots and Systems (IROS) Conf, IROS 2018, 1.-5. Oktober 2018, Madrid.

Della Santina, Cosimo, Cristina Piazza, Giorgio Grioli, Manuel G. Catalano, and Antonio Bicchi, Towards Dexterous Manipulation with Augmented Adaptive Synergies: the Pisa/IIT SoftHand 2, IEEE Transactions on Robotics (2018).

Angelini, Franco, Cosimo Della Santina, Manolo Garabini, Matteo Bianchi, Gian Maria Gasparri, Giorgio Grioli, Manuel Giuseppe Catalano, and Antonio Bicchi, Decentralized trajectory tracking control for soft robots interacting with the environment, IEEE Transactions on Robotics (2018).

Della Santina, Cosimo, Robert K. Katzschmann, Antonio Bicchi, and Daniela Rus, Dynamic Control of Soft Robots Interacting with the Environment, Robosoft, IEEE international Conference on, IEEE, 2018.

Della Santina, Cosimo, Cristina Piazza, Gian Maria Gasparri, Manuel Bonilla, Manuel Giuseppe Catalano, Giorgio Grioli, Manolo Garabini, and Antonio Bicchi, The quest for natural machine motion: An open platform to fastprototyping articulated soft robots, IEEE Robotics & Automation Magazine 24, no. 1 (2017): 48-56.

Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martin-Martin, Arne Sieverling, Vincent Wall, Oliver Brock, Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015, Autonomous Robots. Springer US: 2018.

M. Pozzi, G. Salvietti, J. Bimbo, M. Malvezzi and D. Prattichizzo, The Closure Signature: A Functional Approach to Model Underactuated Compliant Robotic Hands, in IEEE Robotics and Automation Letters, vol. 3, no. 3, pp. 2206-2213, July 2018. doi: 10.1109/LRA.2018.2810946

G. Salvietti. Replicating Human Hand Synergies onto Robotic Hands: a Review on Software and Hardware Strategies. Frontiers in Neurorobotics, 2018.

Della Santina, Cosimo, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, and Antonio Bicchi, Estimating contact forces from postural measures in a class of under-actuated robotic hands, in Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pp. 2456-2463. IEEE, 2017.

G. Salvietti, I. Hussain, M. Malvezzi, D. Prattichizzo, Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking, IEEE Robotics and Automation Letters, 2(4):2008-2015, 2017.

Hannes Höppner, Maximilian Grosse-Dunker, Georg Stillfried, Justin Bayer, Patrick van der Smagt, Key insights into hand biomechanics: Human grip stiffness can be decoupled from force by cocontraction and predicted from electromyography, Frontiers in neurorobotics 11, 2017.

Paul Oh, Hannes Höppner, M Ani Hsieh, The 2017 IEEE RAS Technical Education Program activities: A Snapshot [Education]- in IEEE Robotics & Automation Magazine, vol. 24, no. 4, pp. 112-113, Dec. 2017, doi: 10.1109/MRA.2017.2761158.

Jonas Zehnder, Espen Knoop, Moritz Bächer, Bernhard Thomaszewski, MetaSilicone: Design and Fabrication of Composite Silicone with Desired Mechanical Properties, ACM Transactions on Graphics (Proc SIGGRAPH Asia 2017).

S. Fani, S. Ciotti, M.G. Catalano, G. Grioli, A. Tognetti, G. Valenza, A. Ajoudani, and M. Bianchi. Simplifying Telerobotics: Wearability and Teleimpedance Improves Human-Robot Interactions in Teleoperation. In: IEEE Robotics and Automation Magazine. 10.1109/MRA.2017.2741579

G. Averta, F. Angelini, M. Bonilla, M. Bianchi, and A. Bicchi. 2018. Incrementality and Hierarchies in the Enrollment of Multiple Synergies for Grasp Planning. In: IEEE Robotics and Automation Letters. PREPRINT VERSION. ACCEPTED APRIL, 2018.

Vittorio Megaro, Espen Knoop, Andrew Spielberg, David. Levin, Wojciech Matusik, Markus Gross, Bernhard Thomaszewski, Moritz Bächer, Designing cable-driven actuation networks for kinematic chains and trees, Symposium on Computer Animation (SCA) 2017.

Della Santina, Cosimo, Cristina Piazza, Gaspare Santaera, Giorgio Grioli, Manuel Catalano, and Antonio Bicchi, Estimating contact forces from postural measures in a class of under-actuated robotic hands, in Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on, pp. 2456-2463. IEEE, 2017.

C. Della Santina, M. Bianchi, G. Grioli, F. Angelini, M. Catalano, M. Garabini, and A. Bicchi. Controlling Soft Robots: Balancing Feedback and Feedforward Elements. In: IEEE ROBOTICS AND AUTOMATION MAGAZINE, vol. 24, p.75-83. doi: 10.1109/MRA.2016.2636360. 2017

G. Averta, C. Della Santina, E. Battaglia, F. Felici, M. Bianchi, and A. Bicchi. Unveiling the Principal Modes of Human Upper Limb Movements through Functional Analysis. In: Frontiers in Robotics and AI. 4. 37, 2017. https://doi.org/10.3389/frobt.2017.00037

C. Della Santina, M. Bianchi, G. Averta, S. Ciotti, V. Arapi, S. Fani, E. Battaglia, M.G. Catalano, M. Santello, and A. Bicchi. Postural Hand Synergies during Environmental Constraint Exploitation. In:Frontiers in Neurorobotics. 11, 41. 2017.10.3389/fnbot.2017.00041

V. Ruiz Garate, M. Pozzi, D. Prattichizzo, N. Tsagarakis, and A. Ajoudani, Grasp Stiffness Control in Robotic Hands through Coordinated Optimization of Pose and Joint Stiffness, IEEE Robotics and Automation Letters (RA-L), 2018, Submitted.

V. Ruiz Garate, M. Pozzi, D. Prattichizzo, and A. Ajoudani, A bio-inspired grasp stiffness control for robotic hands, Frontiers in Robotics and AI, 2018, Submitted.

Matteo Bianchi, Robert Haschke, Gereon Buscher, Simone Ciotti, Nicola Carbonaro, Alessandro Tognetti, A Multi-Modal Sensing Glove for Human Manual-Interaction Studies, Electronics, vol. 5, no. 3, 2016. Gold OA.

Raphael Deimel, Oliver Brock, A Novel Type of Compliant and Underactuated Robotic Hand for Dexterous Grasping, The International Journal of Robotics Research, vol. 35 no. 1-3, pp. 161-185, 2016. 10.1177/0278364915592961. Green OA.

Simone Ciotti, Edoardo Battaglia, Nicola Carbonaro, Antonio Bicchi, Alessandro Tognetti, Matteo Bianchi, A Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition, Sensors, vol. 16, no. 6, 2016. Gold OA.

Clemens Eppner, Raphael Deimel, Jose Alvarez-Ruiz, Marianne Maertens, Oliver Brock, Exploitation of Environmental Constraints in Human and Robotic Grasping, The International Journal of Robotics Research 34(7):1021-1038, 2015. Green OA.

Maria Pozzi, Monica Malvezzi, Domenico Prattichizzo. On Grasp Quality Measures: Grasp Robustness and Contact Force Distribution in Underactuated and Compliant Robotic Hands. IEEE Robotics and Automation Letters, Vol.2 No.1, pp. 329-336, January 2017.

Cristina Piazza, Cosimo Della Santina, Manuel Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi, SoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control, IEEE International Conference on Robotics and Automation 2016, pp. 3516 - 3523. Green OA.


Alessandro Moscatelli, Matteo Bianchi, Alessandro Serio, Alexnder Terekhov, Vincent Hayward, Marc Ernst, Antonio Bicchi, The Change in Fingertip Contact Area as a Novel Proprioceptive Cue, Current Biology, vol. 26 n. 9 pp. 1159–1163

Eder Miguel, Mathias Leputre, Bernd Bickel, Computational Design of Stable Planar-Rod Structures, Transactions on Graphics, In Press, 2016 

Edoardo Battaglia, Matteo Bianchi, Alessandro Altobelli, Griogio Grioli, Manuel Giuseppe Catalano, Alessandro Serio, Marco Santello, Antonio Bicchi. ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis, IEEE Transactions on Haptics, Vol.9 No.1, pp. 121-133, 2016

Monica Malvezzi, Guido Gioioso, Gionata Salvietti, Domenico Prattichizzo. SynGrasp: A Matlab Toolbox for Underactuated and Compliant HandsSynGrasp: A Matlab Toolbox for Underactuated and Compliant Hands  IEEE Robotics and Automation Magazine , 10.1109/MRA.2015.2408772 1070-9932.

Hamal Marino, Mirko Ferrati, Alessandro Settimi, Carlos Rosales, Marco Gabiccini, On the Problem of Moving Objects With Autonomous Robots: A Unifying High-Level Planning Approach, IEEE Robotics and Automation Letters, Vol.1 No. 1, 2016, pp. 469-476.

Ginata Salvietti, Leonardo Meli, Guido Gioioso, Monica Malvezzi, Domenico Prattichizzo. Multi-Contact Bilateral Telemanipulation with Kinematic Asymmetries. IEEE/ASME Transaction on Mechatronics, 2016.

Conference Proceedings

Raphael Deimel, Irmisch Patrick, Wall Vincent, Brock Oliver, Automated Co-Design of Soft Hand Morphology and Control Strategy for Grasping, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017. 10.1109/IROS.2017.8202294

R. Guseinov, E. Miguel, B. Bickel, CurveUps: Shaping Objects from Flat Plates with Tension-Actuated Curvature, ACM Transactions on Graphics (Proc. SIGGRAPH 2017). Link to the project website.

Sieverling Arne, Eppner Clemens, Wolff Felix, Brock Oliver, Interleaving Motion in Contact and in Free Space for Planning Under Uncertainty, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 DOI: 10.1109/IROS.2017.8206255.

Eppner Clemens, Brock Oliver, Visual Detection of Opportunities to Exploit Contact in Grasping Using Contextual Multi-Armed Bandits, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2017. 10.1109/IROS.2017.8202168

Ghazi-Zahedi Keyan, Deimel Raphael; Montùfar Guido; Wall Vincent; Brock Oliver, Morphological Computation: The Good, the Bad, and the Ugly, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017. 10.1109/IROS.2017.8202194

Knoop Espen, Wall Vincent; Bächer Moritz; Deimel Raphael; Brock Oliver; Beardsley Paul, Handshakiness: Benchmarking for Human-Robot Hand Interactions, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 DOI: 10.1109/IROS.2017.8206381.

Herreros, Ivan, Xerxes D. Arsiwalla, Cosimo Della Santina, Jordi-Ysard Puigbo, Antonio Bicchi, and Paul Verschure, Cerebellar-inspired learning rule for gain adaptation of feedback controllers, in Control and Automation (MED), 2017 25th Mediterranean Conference on, pp. 565-570. IEEE, 2017.

Sieverling Arne, Eppner Clemens, Wolff Felix, Brock Oliver, Interleaving Motion in Contact and in Free Space for Planning Under Uncertainty, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017. DOI: 10.1109/IROS.2017.8206255.

Wall Vincent, Zöller Gabriel, Brock Oliver, A Method for Sensorizing Soft Actuators and Its Application to the RBO Hand 2, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) 2017. https://doi.org/10.1109/ICRA.2017.7989577.

Clemens Eppner and Roberto Roberto Martin-Martin and Oliver Brock, Physics-Based Selection of Informative Actions for Interactive Perception, IEEE Transactions on Automation Science and Engineering, 2018.

Can Erdogan and Armin Schröder and Oliver Brock, Coordination of Intrinsic and Extrinsic Degrees of Freedom in Soft Robotic Grasping, Proceedings of the IEEE International Conference on Robotics and Automation, 2018.

Maria Pozzi and Eder Miguel and Raphael Deimel and Monica Malvezzi and Bernd Bickel and Oliver Brock and Domenico Prattichizzo, Efficient FEM-Based Simulation of Soft Robots Modeled as Kinematic Chains, Proceedings of the IEEE International Conference on Robotics and Automation, 2018.

M. Pozzi, E. Miguel, R. Deimel, M. Malvezzi, B. Bickel, O. Brock, and D. Prattichizzo, Efficient fem-based simulation of soft robots modeled as kinematic chains, ICRA, 2018.

Espen Knoop, Moritz Bächer, Vincent Wall, Raphael Deimel, Oliver Brock and Paul Beardsley, Handshakiness: Benchmarking for human-robot hand interactions, IROS 2017, Vancouver, Canada.

M. Bianchi, G. Averta, E. Battaglia, C. Rosales, M. Bonilla, A. Tondo, M. Poggiani, G. Santaera, S. Ciotti, M. Catalano, and A. Bicchi. Touch-Based Grasp Primitives for Soft Hands: Applications to Human-to-Robot Handover Tasks and Beyond. In: ICRA 2018. In press

E. Battaglia, M. Catalano, G. Grioli, M. Bianchi, and A. Bicchi. ExoSense: Measuring Manipulation in a Wearable Manner. In: ICRA 2018. In press

Roberto Martin-Martin, Oliver Brock, Cross-Modal Interpretation of Multi-Modal Sensor Streams in Interactive Perception Based on Coupled Recursion, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2017 10.1109/IROS.2017.8206165.

I. Hussain, G. Salvietti, M. Malvezzi and D. Prattichizzo, On the role of stiffness design for fingertip trajectories of underactuated modular soft hands, 2017 IEEE International Conference on Robotics and Automation (ICRA), Singapore, 2017, pp. 3096-3101. doi: 10.1109/ICRA.2017.7989354.

Roberto Martin-Martin, Oliver Brock, Building Kinematic and Dynamic Models of Articulated Objects with Multi-Modal Interactive Perception, AAAI Symposium on Interactive Multi-Sensory Object Perception for Embodied Agents, 2017.

Contact pressure distribution as an evaluation metric for human-robot hand interactions. Authors: Espen Knoop, Moritz Bächer and Paul Beardsley. Workshop: International Workshop on Reproducible HRI Experiments (ReHRI), 2017, at HRI 2017, Vienna, Austria.

G. Averta, C. Della Santina, E. Battaglia, S. Ciotti, V. Arapi, S. Fani, and M. Bianchi, From humans to robots: The role of cutaneous impairment in human environmental constraint exploitation to inform the design of robotic hands, in Proceedings on the 2017 9th International Congress on Ultra-Modern Telecommunications and Control Systems and Workshops (ICUMT). Best Student Paper Award and Best Paper in Session Robotics.

S. Casini, V. Tincani, G. Averta, M. Poggiani, C. Della Santina, E. Battaglia, M.G. Catalano, M. Bianchi, G. Grioli, A. Bicchi. Design of an Under-Actuated Wrist Based on Adaptive Synergies. In: International Conference on Robotics and Automation (ICRA). 2017

V. R. Garate, N. Tsagarakis, A. Bicchi, and A. Ajoudani, On the Common-Mode and Configuration-Dependent Stiffness Control of Multiple Degrees of Freedom Hands, IEEE International Conference on Humanoid Robots (Humanoids), 2017.

Rico Jonschkowski, Clemens Eppner, Sebastian Höfer, Roberto Martin-Martin, Oliver Brock, Probabilistic Multi-Class Segmentation for the Amazon Picking Challenge, Proc. International Conference on Intelligent Robots and Systems, Danjeon, Korea, 2016. Remark: The paper got nominated for the best paper award.

Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel, Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration, Proc. International Conference of Intelligent Robots and Systems, Danjeon, Korea, 2016.

Raphael Deimel and Oliver Brock, Mass Control of Pneumatic Soft Continuum Actuators with Commodity Components, International Conference on Intelligent Robots and Systems, Danjeon, Korea, 2016.

Gian Maria Gasparri, Filippo Fabiani, Manolo Garabini, Lucia Pallottino, Manuel Catalano, Giorgio Grioli, Riccardo Persichini, Antonio Bicchi, Robust Optimization of System Compliance for Physical Interaction in Uncertain Scenarios, IEEE International COnfer- ence on Humanoid Robotis (HUMANOIDS2016), to appear.

Steffen Puhlmann, Fabian Heinemann, Oliver Brock, Marianne Maertens, A Compact Representation of Human Single-Object Grasping, Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Deajeon, Korea, 2016. To appear.

Clemens Eppner, Sebastian Höfer, Rico Jonschkowski, Roberto Martin-Martin, Arne Sieverling, Vincent Wall, Oliver Brock, Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems. Proceedings of Robotics: Science and Systems, 2016. link. Best paper award.

Cristina Piazza, Cosimo Della Santina, Manuel G. Catalano, Giorgio Grioli, Manolo Garabini, Antonio Bicchi, Natural encoding of user intentions in a soft prosthesis using Dynamic Synergies, International Workshop on Human-Friendly Robotics, 2016.

Arash Ajoudani, Elif Hocaoglu, Alessandro Altobelli, Matteo Rossi, Edoardo Battaglia, Nikos Tsagarakis, Antonio Bicchi, Reflex Control of the Pisa/IIT SoftHand during Object SlippageIEEE International Conference on Robotics and Automation - IEEE 2016, pp. 1972 - 1979, 2016

Cosimo Della Santina, Giorgio Grioli, Manuel Giuseppe Catalano, Alberto Brando, Antonio Bicchi. Dexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+ in 15th IEEE RAS Humanoids Conference (HUMANOIDS2015), Seoul, Korea, November 3 - 5, 2015, pp.497-503 - Best Interactive Paper Award

Clemens Eppner and Oliver Brock. Planning Grasp Strategies That Exploit Environmental Constraints. IEEE International Conference on Robotics and Automation (ICRA) , 2015.

Maria Pozzi, Ashok M. Sundaram, Monica Malvezzi, Domenico Prattichizzo, Maximo A. Roa, Grasp Quality Evaluation in Underactuated Robotic Hands, In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, To appear, Deajeon, Korea, 2016.

Fabian Heinemann, Steffen Puhlmann, Clemens Eppner, Jose Alvarez-Ruiz, Marianne Maertens, and Oliver Brock.A Taxonomy of Human Grasping Behavior Suitable for Transfer to Robotic Hands. IEEE International Conference on Robotics and Automation (ICRA) , 2015.

Gionata Salvietti, Monica Malvezzi, Guido Gioioso, Domenico Prattichizzo. Modeling compliant grasps exploiting environmental constraints IEEE Proc. Int. Conf, on Robotics and Automation (ICRA2015), 10.1109/ICRA.2015.7139885, pp. 4941 - 4946 

Vincent Wall and Raphael Deimel and Oliver Brock. Selective Stiffening of Soft Actuators Based on JammingIEEE International Conference on Robotics and Automation (ICRA) , 2015.

Workshop Proceedings

Vincent Wall, Gabriel Zöller, Oliver Brock, Demonstration of the Sensorized RBO Hand 2 - Using Task Knowledge to Efficiently Sensorize Soft Actuators, RSS Workshop 2017 Revisiting Contact - Turning a problem into a solution. Workshop submission.

Elöd Páll, Arne Sieverling, Oliver Brock, Towards Motion Plans That React to Contact Events, RSS Workshop 2017 Revisiting Contact - Turning a problem into a solution.

Arne Sieverling, Clemens Eppner, Oliver Brock, Exploiting Contact for Efficient Motion Planning Under Uncertainty, RSS Workshop 2017 Revisiting Contact - Turning a problem into a solution.

Jessica Abele, Oliver Brock, First Analysis of Environment Design for Motion Planning with Contact, RSS Workshop 2017 Revisiting Contact - Turning a problem into a solution.

Clemens Eppner, Roberto Martin-Martin, Oliver Brock, Physics-Based Selection of Actions That Maximize Motion for Interactive Perception, RSS Workshop 2017 Revisiting Contact - Turning a problem into a solution.

Poster in Workshop / Conference

Raphael Deimel and Patrick Irmisch and VincentWall and Oliver Brock, Automated Co-Design of Soft Hand Morphology and Control Strategy for Grasping, Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics. IEEE International Conference on Robotics and Automation (ICRA), Singapore 2017 Scientific Community.

Keyan Ghazi-Zahedi, Raphael Deimel, Guido Montufar, Vincent Wall, Oliver Brock, Morphological Computation: The Good, the Bad, and the Ugly, Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics. IEEE International Conference on Robotics and Automation (ICRA), Singapore 2017 Scientific Community.

Vincent Wall, Raphael Deimel, Espen Knoop, Moritz Bächer, Paul Beardsley and Oliver Brock.Benchmarking Soft Actuators for Human-Robot Interactions. Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics, Workshop on Advanced Fabrication and Morphological Computation for Soft Robotics. IEEE International Conference on Robotics and Automation (ICRA), Singapore 2017. Scientific Community.

Poster Workshop "Exploiting contact and dynamics in manipulation"’ @ICRA 2016 "Contact Force Distribution and Grasp Robustness Evaluation in Underactuated and Com- pliant Hands"’, Maria Pozzi , Monica Malvezzi , and Domenico Prattichizzo. "A Compact Representation of Human Single-Object Grasping", Steffen Puhlmann Fabian Heinemann Oliver Brock Marianne Maertens. "WHISG - A wearable hand to investigate passive stiffness in grasping"’, Werner Friedl, Hannes Hoppner, Maximo A. Roa and Markus Grebenstein. "Dexterity augmentation on a synergistic hand"’, Cosimo Della Santina, Cristina Piazza, Giorgio Grioli, Manuel Catalano and Antonio Bicchi. "An Experimental Evaluation of Contact-Rich Grasping with Soft Hands"’, Clemens Eppner Jessica Abele Oliver Brock. "‘Proprioception for a Soft Hand"’, Gabriel Zoeller Vincent Wall Oliver Brock.

Poster Workshop "Evaluation and Benchmarking of Underactuated and Soft Robotic Hands" @IROS 2016 "ECE testbed - A hardware tool to benchmark fingers and hands on their capability to use environment constraints exploration", Werner Friedl, Hannes Höppner, Maximo A. Roa and Markus Grebenstein.  "Quantifying Morphological Computation of Soft Robotic Hands"’, Raphael Deimel, Keyan Ghazi-Zahedi, Oliver Brock "‘Performance metrics for robotic grasping systems", Rajkumar Muthusamy and Ville Kyrki "‘Grasp Quality Evaluation in Underactuated Robotic Hands", Maria Pozzi, Ashok M. Sun- daram, Monica Malvezzi, Domenico Prattichizzo and Maximo A. Roa "Systematic Evaluation of Compliant Under-actuated Soft Manipulators in an Industrial Context - The Ocado Use Case", Murilo Martins, Panagiotis Sotiropoulos, Michal Kowalik and Graham Deacon.

Book Chapters

Manuel G. Catalano, Giorgio Grioli, Edoardo Farnioli, Alessandro Serio, Manuel Bonilla, Manolo Garabini, Cristina Piazza, Marco Gabiccini, Antonio Bicchi, From Soft to Adaptive Synergies: The Pisa/IIT SoftHandin 'Human and Robot Hands’, vol. Springer Series on Touch and Haptic Systems, Springer, 2016. Green OA.

Raphael Deimel Oliver Brock. Soft Hands for Reliable Grasping Strategies. Soft Robotics. Springer-Verlag, chap. Soft Hands for Reliable Grasping Strategies, pp. 211–221, 2015.

Edited Books

Alessandro Moscatelli and Matteo Bianchi (Eds.) Human and Robot Hands - Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics, DOI: 10.1007/978-3-319-26706-7, ISSN: 978-3-319-26705-0, Springer Series on Touch and Haptic Systems, 2016  

Doctoral Thesis

"Soft robotic hands for compliant grasping" Raphael Deimel. 2017 URI: 10.14279/depositonce-6063