Methods and Sensors for Slip Detection in Robotics: A Survey

The perception of slip is one of the distinctive abilities of human tactile sensing. The sense of touch allows recognizing a wide set of properties of a grasped object, such as shape, weight and dimension. Based on such properties, the applied force can be accordingly regulated avoiding slip of the grasped object. Despite the great importance of tactile sensing for humans, mechatronic hands (robotic manipulators, prosthetic hands etc.) are rarely endowed with tactile feedback. The necessity to grasp objects relying on robust slip prevention algorithms is not yet corresponded in existing artificial manipulators, which are relegated to structured environments then. Numerous approaches regarding the problem of slip detection and correction have been developed especially in the last decade, resorting to a number of sensor typologies. However, no impact on the industrial market has been achieved. This paper reviews the sensors and methods so far proposed for slip prevention in artificial tactile perception, starting from more classical techniques until the latest solutions tested on robotic systems. The strengths and weaknesses of each described technique are discussed, also in relation to the sensing technologies employed. The result is a summary exploring the whole state of art and providing a perspective towards the future research directions in the sector

Electromagnetic Sensing Techniques for Non-Destructive Diagnosis of Civil Engineering Structures

Environmental policy & protocol

Chapter Electromagnetic Sensing Techniques for Non-Destructive Diagnosis of Civil Engineering Structures

Environmental policy & protocol

Multilevel control of an anthropomorphic prosthetic hand for grasp and slip prevention

The success of grasping and manipulation tasks of commercial prosthetic hands is mainly related to amputee visual feedback since they are not provided either with tactile sensors or with sophisticated control. As a consequence, slippage and object falls often occur. This article wants to address the specific issue of enhancing grasping and manipulation capabilities of existing prosthetic hands, by changing the control strategy. For this purpose, it proposes a multilevel control based on two distinct levels consisting of (1) a policy search learning algorithm combined with central pattern generators in the higher level and (2) a parallel force/position control managing slippage events in the lower level. The control has been tested on an anthropomorphic robotic hand with prosthetic features (the IH2 hand) equipped with force sensors. Bi-digital and tri-digital grasping tasks with and without slip information have been carried out. The KUKA-LWR has been employed to perturb the grasp stability inducing controlled slip events. The acquired data demonstrate that the proposed control has the potential to adapt to changes in the environment and guarantees grasp stability, by avoiding object fall thanks to prompt slippage event detection

How future surgery will benefit from SARS-COV-2-related measures: a SPIGC survey conveying the perspective of Italian surgeons

COVID-19 negatively affected surgical activity, but the potential benefits resulting from adopted measures remain unclear. The aim of this study was to evaluate the change in surgical activity and potential benefit from COVID-19 measures in perspective of Italian surgeons on behalf of SPIGC. A nationwide online survey on surgical practice before, during, and after COVID-19 pandemic was conducted in March-April 2022 (NCT:05323851). Effects of COVID-19 hospital-related measures on surgical patients' management and personal professional development across surgical specialties were explored. Data on demographics, pre-operative/peri-operative/post-operative management, and professional development were collected. Outcomes were matched with the corresponding volume. Four hundred and seventy-three respondents were included in final analysis across 14 surgical specialties. Since SARS-CoV-2 pandemic, application of telematic consultations (4.1% vs. 21.6%; p < 0.0001) and diagnostic evaluations (16.4% vs. 42.2%; p < 0.0001) increased. Elective surgical activities significantly reduced and surgeons opted more frequently for conservative management with a possible indication for elective (26.3% vs. 35.7%; p < 0.0001) or urgent (20.4% vs. 38.5%; p < 0.0001) surgery. All new COVID-related measures are perceived to be maintained in the future. Surgeons' personal education online increased from 12.6% (pre-COVID) to 86.6% (post-COVID; p < 0.0001). Online educational activities are considered a beneficial effect from COVID pandemic (56.4%). COVID-19 had a great impact on surgical specialties, with significant reduction of operation volume. However, some forced changes turned out to be benefits. Isolation measures pushed the use of telemedicine and telemetric devices for outpatient practice and favored communication for educational purposes and surgeon-patient/family communication. From the Italian surgeons' perspective, COVID-related measures will continue to influence future surgical clinical practice

Acute Delta Hepatitis in Italy spanning three decades (1991–2019): Evidence for the effectiveness of the hepatitis B vaccination campaign

Updated incidence data of acute Delta virus hepatitis (HDV) are lacking worldwide. Our aim was to evaluate incidence of and risk factors for acute HDV in Italy after the introduction of the compulsory vaccination against hepatitis B virus (HBV) in 1991. Data were obtained from the National Surveillance System of acute viral hepatitis (SEIEVA). Independent predictors of HDV were assessed by logistic-regression analysis. The incidence of acute HDV per 1-million population declined from 3.2 cases in 1987 to 0.04 in 2019, parallel to that of acute HBV per 100,000 from 10.0 to 0.39 cases during the same period. The median age of cases increased from 27 years in the decade 1991-1999 to 44 years in the decade 2010-2019 (p < .001). Over the same period, the male/female ratio decreased from 3.8 to 2.1, the proportion of coinfections increased from 55% to 75% (p = .003) and that of HBsAg positive acute hepatitis tested for by IgM anti-HDV linearly decreased from 50.1% to 34.1% (p < .001). People born abroad accounted for 24.6% of cases in 2004-2010 and 32.1% in 2011-2019. In the period 2010-2019, risky sexual behaviour (O.R. 4.2; 95%CI: 1.4-12.8) was the sole independent predictor of acute HDV; conversely intravenous drug use was no longer associated (O.R. 1.25; 95%CI: 0.15-10.22) with this. In conclusion, HBV vaccination was an effective measure to control acute HDV. Intravenous drug use is no longer an efficient mode of HDV spread. Testing for IgM-anti HDV is a grey area requiring alert. Acute HDV in foreigners should be monitored in the years to come

Global variations in diabetes mellitus based on fasting glucose and haemogloblin A1c

Fasting plasma glucose (FPG) and haemoglobin A1c (HbA1c) are both used to diagnose diabetes, but may identify different people as having diabetes. We used data from 117 population-based studies and quantified, in different world regions, the prevalence of diagnosed diabetes, and whether those who were previously undiagnosed and detected as having diabetes in survey screening had elevated FPG, HbA1c, or both. We developed prediction equations for estimating the probability that a person without previously diagnosed diabetes, and at a specific level of FPG, had elevated HbA1c, and vice versa. The age-standardised proportion of diabetes that was previously undiagnosed, and detected in survey screening, ranged from 30% in the high-income western region to 66% in south Asia. Among those with screen-detected diabetes with either test, the agestandardised proportion who had elevated levels of both FPG and HbA1c was 29-39% across regions; the remainder had discordant elevation of FPG or HbA1c. In most low- and middle-income regions, isolated elevated HbA1c more common than isolated elevated FPG. In these regions, the use of FPG alone may delay diabetes diagnosis and underestimate diabetes prevalence. Our prediction equations help allocate finite resources for measuring HbA1c to reduce the global gap in diabetes diagnosis and surveillance.peer-reviewe

Combining Sensors Information to Enhance Pneumatic Grippers Performance

The gripper is the far end of a robotic arm. It is responsible for the contacts between the robot itself and all the items present in a work space, or even in a social space. Therefore, to provide grippers with intelligent behaviors is fundamental, especially when the robot has to interact with human beings. As shown in this article, we built an instrumented pneumatic gripper prototype that relies on different sensors’ information. Thanks to such information, the gripper prototype was able to detect the position of a given object in order to grasp it, to safely keep it between its fingers and to avoid slipping in the case of any object movement, even very small. The gripper performance was evaluated by means of a generic grasping algorithm for robotic grippers, implemented in the form of a state machine. Several slip tests were carried out on the pneumatic gripper, which showed a very fast response time and high reliability. Objects of various size, shape and hardness were employed to reproduce different grasping scenarios. We demonstrate that, through the use of force, torque, center of pressure and proximity information, the behavior of the developed pneumatic gripper prototype outperforms the one of the traditional pneumatic gripping devices