Publications

Towards design and development of new joint modules for humanoid ergoCub 2.0*
The cases of musculoskeletal diseases in workplaces like industrial warehouses and healthcare units is rapidly increasing. The ergoCub …
Divya Shah, Ph.D., Marcello Savoldi, Alessandro Scalzo, Andrea Mura, Jacopo Losi, Valentina Gaggero, Luca Fiorio, Marco Maggiali
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Towards design and development of new joint modules for humanoid ergoCub 2.0*
Fabrication of Parallel Compliant Mechanisms via Additive Manufacturing
The manufacturing and assembly of small parallel mechanisms are often complex because of the required tolerances and high part count. …
Divya Shah, Ph.D., Giovanni Berselli, Alberto Parmiggiani
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Fabrication of Parallel Compliant Mechanisms via Additive Manufacturing
Design of Wrist and Forearm Mechanisms for Enhanced Humanoid Dexterity
The evolution in humanoid robots, aiming for extensive human-robot co-existence and collaboration, calls for an enhancement in the …
Divya Shah, Ph.D.
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Constant Length Tendon Routing Mechanism through Axial Joint
Tendon-driven mechanisms are gaining popularity in developing light weight, backdrivable robots for widespread use in safe human-robot …
Divya Shah, Ph.D., Alberto Parmiggiani, Yong-Jae Kim
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Constant Length Tendon Routing Mechanism through Axial Joint
A Comparison of Robot Wrist Implementations for the iCub Humanoid
This article provides a detailed comparative analysis of five orientational, two degrees of freedom (DOF), mechanisms whose envisioned …
Divya Shah, Ph.D., Yuanqing Wu, Alessandro Scalzo, Giorgio Metta, Alberto Parmiggiani
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A Comparison of Robot Wrist Implementations for the iCub Humanoid
Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms
In order to reduce the share of the motive power required to drive the robot’s links, with the aim of increasing its payload-to- …
Divya Shah, Ph.D., Giorgio Metta, Alberto Parmiggiani
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Comparison of Workspace Analysis for Different Spherical Parallel Mechanisms
Workspace Analysis and the Effect of Geometric Parameters on Parallel Mechanisms of the N-UU Class
N-UU class mechanisms, exemplified by the Omni-Wrist III, are compact parallel kinematic mechanisms (PKM) with large singularity free …
Divya Shah, Ph.D., Giorgio Metta, Alberto Parmiggiani
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Workspace Analysis and the Effect of Geometric Parameters on Parallel Mechanisms of the N-UU Class
Detection of bimanual gestures everywhere: why it matters, what we need and what is missing
Bimanual gestures are of the utmost importance for the study of motor coordination in humans and in everyday activities. A reliable …
Divya Shah, Ph.D., Ernesto Denicia, Tiago Pimentel, Barbara Bruno, Fulvio Mastrogiovanni
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Detection of bimanual gestures everywhere: why it matters, what we need and what is missing
Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process
This paper proposes a comprehensive methodology for the computer-aided design and optimization of a robotic workcell for the automated …
Divya Shah, Ph.D., Jiuchun Gao, Anatol Pashkevich, Stéphane Caro, Benoît Courtemanche
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Computer-Aided Design and Optimization of a Redundant Robotic System for Automated Fiber Placement Process
Increased Productivity of an Automated Tape Winding Process: SPIDE-TP Platform
Composite materials offer attractive properties compared to the traditional structural materials, such as high strength-to-weight …
Divya Shah, Ph.D.
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Increased Productivity of an Automated Tape Winding Process: SPIDE-TP Platform