Research

My main research activities are focused on the design and development of soft robots. I am interested in covering all the phases of product design and development of soft robots: design and fabrication, modeling and simulation, planning and control, human-robot interaction. The research platforms I am interested in are: soft actuators, soft grippers, soft manipulators, flexible manipulators, soft exoskeletons.


Design and fabrication

Soft robots are innovative robots which can exhibit elastic behavior and complex motion, which is the results of the combination of their geometry and material as well as the interaction with the external environments. In my research I am interested in innovative design concepts with novel features such as increased motion capability and variable stiffness behavior, expecially for the execution of complex tasks. My research is also focused in investigating advanced manufacturing techniques for soft robots which make use of flexible, elastic and soft materials. From the mechatronic side, I am also interested in developing mechatronic modules for the actuation and control of pneumatic and tendon-based soft robots.


Modeling and simulation

Mathematical modeling of soft robots is complicated by the mechanical description of the continuously deformable three-dimensional shape that they assume when subject to actuation and external loads. My research is focused on advanced approaches for physical-based modeling of soft robots, which make use of Cosserat rod models, screw theory and differential geometry as well as finite element methods. From one side, the first objective is to provide accurate and computationally efficient simulations, and from another side the second objective is to develop control-oriented models of soft robots.


Planning and control

Soft robots are potentially able to perform complex tasks by exploiting the flexibility of their bodies and the contact interaction with the environment. Furthermore, being composed by soft materials, they are ideal candidate for human-robot interaction. In this respect, I am interested in developing model-based planning and control algorithms which exploit the shape adaptation of soft robots, for effective task execution in constrained spaces, by also exploiting the contact interaction with the external environments. I am also interested in control strategies for effective and safe human - soft robot interaction. Another aspect of great interest for me is the control of flexible manipulators, where feedforward and feedback control strategies are important for trajectory tracking and vibration compensation.


Human-robot interaction

Thanks to their compliance, soft robots are inherently safe for working in close collaboration with humans. One can think about soft manipulators and soft grippers, but also soft wearables for assistance of manufacturing or daily living tasks. I am interested in developing human robot interfaces for soft robots to enable intuitive collaboration with human beings, with either the robot being fixed in a workstation, deployed in a remote environment or even worn on the human body.



Soft robotic actuators

I am interested in developing soft robotic actuators which can contract/extend, bend, generate twist motions and even provide a variable stiffness behavior. The objective is to develop and characterize innovative soft robotic actuators which can be then used for the development of soft grippers, soft robots and even soft wearables.


Soft robotic grippers

Robotic grippers made of compliant structures and soft materials are ideal candidate for grasping and manipulation of delicate and fragile goods, as well as for automation of tasks which are difficult to be robotized with traditional robotic grippers, given their flexibility. I am interested in developing innovative soft robotic grippers with enhanced capabilities in terms of adaptability to complex objects and improved grasping power, achieved using variable stiffness mechanisms and/or mechanisms for adhesion on surfaces, to be used especially for agrifood and manufacturing applications.


Soft continuum robots

Inspired by biological structures such as elephant's trunks and tentacles, soft continuum robots are able to traverse confined spaces, manipulate objects in complex environments and conform their shape to nonlinear curvilinear paths. Furthermore, they are intrinsically safe for human-robot interaction. I am interested in developing innovative pneumatic and tendon-driven soft continuum robots to be deployed in confined and constrained spaces for remote inspection and maintenance as well as soft continuum robots for assistance of humans in manufacturing and service tasks.


Soft growing robots

Inspired by the growing process of plants and vines, soft growing robots are a special class of robots that achieve mobility though growth, by continuously everting new material from the tip. Given their nature, they are ideal candidate for tasks such as exploration of unknown environments and industrial inspection. However, they can be endowed with grippers and end-effectors to allow for manipulation tasks. I am interested in innovative design of soft growing robots that exploit the material elastic behavior to allow complex shapes with few actuation input as well as hybrid concepts in combination with grippers or even continuum robots.


Flexible manipulators

Flexible manipulators are a class of robotic systems which are composed of lightweight links. They are usually used as long-reach deployers for delivering tasks in complex environments: one can think about flexible long-reach flexible manipulators used for inspection and maintenance in space applications or flexible long-reach manipulators used for inspection and maintenance in nuclear applications. Since they usually transport large payloads, they are subject to deformations and undesired vibrations. If we think that these operations can be carried out inside nuclear reactors, the undesired behavior can lead to great damages and problems. In this area, I am interested in developing hardware and software solutions for enabling safe execution of remote inspection and maintenance using flexible long-reach manipulators.


Soft robotic exoskeletons

Robotic exoskeletons are traditionally designed using rigid elements and electric motors. This practice does not guarantee an intrinsically safe human-robot interaction. For this main reason, I am interested in developing robotic exoskeletons using soft robotic technologies for assistance of human movements, to be used for improving the workers' conditions in industrial settings or for developing innovative concepts for the non-invasive rehabilitation and therapy of patients.