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Gianluca Palli
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Proceedings Papers

Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand

Mario Baggetta, Vazzoler Margherita, Gianluca Palli, Claudio Melchiorri, Giovanni Berselli
Proc. ASME. SMASIS2023, ASME 2023 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A001, September 11–13, 2023
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2023-110461
https://doi.org/10.1115/SMASIS2023-110461
View Paper titled, Conceptual Design and Virtual Prototyping of a Compliant, Low-Cost Prosthetic Hand
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Topics: Artificial limbs, Conceptual design, Design, Grasping, Springs, Tendons, Additive manufacturing, Control systems, Degrees of freedom, Electric motors
Proceedings Papers

Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation

Mario Baggetta, Giovanni Berselli, Gianluca Palli, Claudio Melchiorri
Proc. ASME. SMASIS2022, ASME 2022 Conference on Smart Materials, Adaptive Structures and Intelligent Systems, V001T03A014, September 12–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2022-92010
https://doi.org/10.1115/SMASIS2022-92010
View Paper titled, Mechatronic Design and Physical Prototyping of a Three-Fingered Gripper for Underwater Manipulation
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Topics: Design, Grippers, Autonomous underwater vehicles, Tendons, Degrees of freedom, Dimensions, Engineering prototypes, Mechanical structures, Mechatronics, Robotics
Journal Articles

Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects

Alaa Khalifa, Gianluca Palli
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. January 2022, 17(1): 011001.
Paper No: CND-21-1076
https://doi.org/10.1115/1.4052571
Published Online: October 29, 2021
View Article titled, Symplectic Integration for Multivariate Dynamic Spline-Based Model of Deformable Linear Objects
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Topics: Dynamic models, Simulation, Splines, Gravity (Force), Shapes, Matlab, Modeling, Potential energy, Robotics
Proceedings Papers

Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment

Pietro Bilancia, Giovanni Berselli, Umberto Scarcia, Gianluca Palli
Proc. ASME. SMASIS2018, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation, and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A013, September 10–12, 2018
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2018-8053
https://doi.org/10.1115/SMASIS2018-8053
View Paper titled, Design of a Beam-Based Variable Stiffness Actuator via Shape Optimization in a CAD/CAE Environment
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Topics: Actuators, Computer-aided design, Computer-aided engineering, Design, Shape optimization, Stiffness, Robots, Compliant mechanisms, Safety, Additive manufacturing
Proceedings Papers

Optimal Design of 3D Printed Spiral Torsion Springs

Umberto Scarcia, Giovanni Berselli, Claudio Melchiorri, Manuele Ghinelli, Gianluca Palli
Proc. ASME. SMASIS2016, Volume 2: Modeling, Simulation and Control; Bio-Inspired Smart Materials and Systems; Energy Harvesting, V002T03A020, September 28–30, 2016
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2016-9218
https://doi.org/10.1115/SMASIS2016-9218
View Paper titled, Optimal Design of 3D Printed Spiral Torsion Springs
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Topics: Additive manufacturing, Design, Springs, Torsion, Manufacturing, Manipulators, Alloy steel, Carbon, Chain, Deflection
Proceedings Papers

On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance

Gianluca Palli, Giovanni Berselli
Proc. ASME. SMASIS2013, Volume 1: Development and Characterization of Multifunctional Materials; Modeling, Simulation and Control of Adaptive Systems; Integrated System Design and Implementation, V001T03A042, September 16–18, 2013
Publisher: American Society of Mechanical Engineers
Paper No: SMASIS2013-3267
https://doi.org/10.1115/SMASIS2013-3267
View Paper titled, On the Control of a Dielectric Elastomer Artificial Muscle With Variable Impedance
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Topics: Elastomers, Muscle, Actuators, Biomimetics, Control equipment, Damping, Dielectric materials, Engineering simulation, Shapes, Simulation
Journal Articles

Design of a Variable Stiffness Actuator Based on Flexures

Gianluca Palli, Giovanni Berselli, Claudio Melchiorri, Gabriele Vassura
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2011, 3(3): 034501.
https://doi.org/10.1115/1.4004228
Published Online: July 19, 2011
View Article titled, Design of a Variable Stiffness Actuator Based on Flexures
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Topics: Actuators, Design, Stiffness, Engineering prototypes, Deflection, Human-robot interaction, Hinges, Torque, Optimization
Proceedings Papers

Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures

Gianluca Palli, Claudio Melchiorri, Giovanni Berselli, Gabriele Vassura
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 1069-1078, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28425
https://doi.org/10.1115/DETC2010-28425
View Paper titled, Design and Modeling of Variable Stiffness Joints Based on Compliant Flexures
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Topics: Design, Modeling, Stiffness, Robots, Collisions (Physics), Deflection, Human-robot interaction, Motion control, Vacuum