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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041012.
Paper No: JMR-21-1534
https://doi.org/10.1115/1.4054509
Published Online: June 21, 2022
View Article titled, Motion Strategies for a Cobot in a Context of Intermittent Haptic Interface
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71518
https://doi.org/10.1115/DETC2021-71518
View Paper titled, Safe Collaboration Between Human and Robot in a Context of Intermittent Haptique Interface
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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
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. August 2016, 138(8): 085001.
Paper No: MD-15-1418
https://doi.org/10.1115/1.4033037
Published Online: June 16, 2016
View Article titled, Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47950
https://doi.org/10.1115/DETC2015-47950
View Paper titled, A Geometrical Approach to the Inverse Kinematics of 6R Serial Robots With Offset Wrists
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021008.
Paper No: JMR-15-1022
https://doi.org/10.1115/1.4031639
Published Online: November 24, 2015
View Article titled, Novel Deployable Mechanisms With Decoupled Degrees-of-Freedom
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2015, 7(1): 011011.
Paper No: JMR-14-1267
https://doi.org/10.1115/1.4029292
Published Online: February 1, 2015
View Article titled, Application of a Biphasic Actuator in the Design of the CloPeMa Robot Gripper
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Topics: Actuators, Design, Grippers, Stiffness, Robots
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35396
https://doi.org/10.1115/DETC2014-35396
View Paper titled, Application of a Biphasic Actuator in the Design of a Robot Gripper for Garment Handling
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Topics: Actuators, Design, Grippers, Robots, Stiffness, Degrees of freedom, Design engineering, Feedback, Grasping, Hydraulic drive systems
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35411
https://doi.org/10.1115/DETC2014-35411
View Paper titled, Approximation and Control of Curvilinear Shapes via Deployable Mechanisms With Two Degrees of Freedom
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-35428
https://doi.org/10.1115/DETC2014-35428
View Paper titled, Design and Testing of a Novel Stepless Lockable Joint for Use in Reconfigurable Fixtures
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Topics: Design, Testing, Assembly lines, Conceptual design, Engineering prototypes, Locks (Waterways), Stiffness, Stress, Torque, Welding
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13187
https://doi.org/10.1115/DETC2013-13187
View Paper titled, A Novel Deployable Mechanism With Two Decoupled Degrees of Freedom
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Topics: Degrees of freedom, Kinematics, Linkages, Design, Engineering simulation, Geometry, Magnification, Mechanical admittance, Simulation
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-13150
https://doi.org/10.1115/DETC2013-13150
View Paper titled, Development and Analysis of a New Specialized Gripper Mechanism for Garment Handling
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Topics: Grippers, Design, Grasping, Textiles, Kinematics, Robotics, Robots, Shapes, Statics, Tactile sensors
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-70993
https://doi.org/10.1115/DETC2012-70993
View Paper titled, Stiffness Estimation and Experiments for the Exechon Parallel Self-Reconfiguring Fixture Mechanism
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Topics: Stiffness, Modeling, Design, Finite element analysis, Kinematics, Machinery, Parallel mechanisms, Screws, Simulation, Virtual work principle
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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71184
https://doi.org/10.1115/DETC2012-71184
View Paper titled, Constraint and Singularity Analysis of the Exechon Tripod
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Topics: End effectors, Jacobian matrices, Kinematics, Machine tools, Machinery, Manipulators, Mechanical admittance, Parallel mechanisms, Screws
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
Publisher: American Society of Mechanical Engineers
Paper No: ESDA2012-82562
https://doi.org/10.1115/ESDA2012-82562
View Paper titled, Adaptable Fixturing Heads for Swarm Fixtures: Discussion of Two Designs
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47468
https://doi.org/10.1115/DETC2011-47468
View Paper titled, Multi-Terrain Vehicle Active Suspension Control Modeling and Design
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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
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2012, 6(1): 014501.
https://doi.org/10.1115/1.4005808
Published Online: March 13, 2012
View Article titled, Foldable Surgical Stereo Microendoscope With Continuously Adjustable Convergence
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28668
https://doi.org/10.1115/DETC2010-28668
View Paper titled, Kinematics Analysis of the Exechon Tripod
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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
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. October 2008, 130(10): 102306.
https://doi.org/10.1115/1.2965608
Published Online: September 9, 2008
View Article titled, Design of a Microrobotic Wrist for Needle Laparoscopic Surgery
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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
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2007, 129(8): 808–815.
https://doi.org/10.1115/1.2735338
Published Online: August 8, 2006
View Article titled, ArmillEye: Flexible Platform for Underwater Stereo Vision
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Topics: Extruding, Kinematics, End effectors