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The development of robotic devices able to perform manipulation tasks mimicking the human hand has been assessed on large scale. This work stands in the challenging scenario where soft materials are combined with bio-inspired design in order to develop soft grippers with improved grasping and holding capabilities. We are going to show a low-cost, under-actuated and adaptable soft gripper, highlighting the design and the manufacturing process. In particular, a critical analysis is made among three versions of the gripper with same design and actuation mechanism, but based on different materials. A novel actuation principle has been implemented in both cases, in order to reduce the encumbrance of the entire system and improve its aesthetics. Grasping and holding capabilities have been tested for each device, with target objects varying in shape, size and material. Results highlight synergy between the geometry and the intrinsic properties of the soft material, showing the way to novel design principles for soft grippers.

The octopus is an interesting model for the development of soft robotics, due to its high deformability, dexterity and rich behavioural repertoire. To investigate the principles of octopus dexterity, we designed an eight-arm soft robot and evaluated its performance with focused experiments. The OCTOPUS robot presented here is a completely soft robot, which integrates eight arms extending in radial direction and a central body which contains the main processing units. The front arms are mainly used for elongation and grasping, while the others are mainly used for locomotion. The robotic octopus works in water and its buoyancy is close to neutral. The experimental results show that the octopus-inspired robot can walk in water using the same strategy as the animal model, with good performance over different surfaces, including walking through physical constraints. It can grasp objects of different sizes and shapes, thanks to its soft arm materials and conical shape.

Preterm infants, i.e. babies born after a gestation period shorter than 37 weeks, spend less time exploring objects. The quantitative measurement of grasping actions and forces in infants can give insights on their typical or atypical motor development. The aim of this work was to test a new tool, a kit of sensorized toys, to longitudinally measure, monitor and promote preterm infants manipulation capabilities with a purposive training in an ecological environment. This study presents preliminary analysis of grasping activity. Three preterm infants performed 4 weeks of daily training at home. Sensorized toys with embedded pressure sensors were used as part of the training to allow quantitative analysis of grasping (pressure and acceleration applied to toys while playing). Each toy was placed on the midline, while the infant was in supine position. Preliminary data show differences in the grasping parameters in relation to infants age and the performed daily training. Ongoing clinical trial will allow a full validation of this new tool for promoting object exploration in preterm infants.

Researches regarding neonatal imitation are of great clinical interest since they can provide evidences of an innate mechanism underlying action understanding; the study can be led through the analysis of infants' spontaneous movements, like grasping, that are recognized as markers of neural activity. To this aim, a portable and non-intrusive device has been designed and developed to measure infants' grasping during the presentation of specific visual stimuli. The device is composed of two soft handles with embedded pressure sensors. During trials action observation should produce an increase of the measured pressure exerted by the infant's hand, according to the imitation-based paradigm of the defined clinical protocol. The final prototype has been tested within a pilot study and it has been proved to be suitable for monitoring infants' imitation abilities, meeting all the clinical specifications in terms of size, weight, safety and sensitivity. Preliminary acquired results are a starting point to clarify mechanisms related to imitation and sensorimotor system growth. The present methodology could be employed to boosts investigation on the development of mirror neurons in infants.

The development of grasping is an important milestone that infants encounter during the first months of life. Novel approaches for measuring infants' manual actions are based on sensorized platform usable in natural settings, such as instrumented wireless toys that could be exploited for diagnosis and rehabilitation purposes. A new sensorized wireless toy has been designed and developed with embedded pressure sensors and audio-visual feedback. The fulfillment of clinical specifications has been proved through mechanical and electrical characterization. Infants showed a good grade of acceptance to such kind of tools, as confirmed by the results of preliminary tests that involved nine healthy infants: the dimensions fulfill infants' anthropometrics, the device is robust and safe, the acquired signals are in the expected range and the wireless communication is stable. Although achieved only through preliminary tests, such results confirm the hypothesis that this typology of instrumented toys could be useful for quantitative monitoring and measuring infants' motor development and ready to be evaluated for assessing motor skills through appropriate clinical trials.

Learning to grasp an object is an important milestone in neurological development during infancy. Several studies report development of reaching in infants but less attention is devoted to reaching with successful grasping and to development of grip force. This study investigates, in the first weeks of life, the development of palmar grasp both for assessment of unimanual/bimanual grasping actions in centrally and laterally placed objects and for measurement of exerted power grip force. We longitudinally examined ten infants from 18 weeks to 41 weeks, at 2-weeks intervals, with a toy placed in three positions (body midline, ipsilateral and contralateral shoulder). Our main aim was to study this development through an ecological approach. This was possible thanks to the use of the "biomechatronic gym", a new platform purposively developed for measuring reaching and grasping forces. These longitudinal trials showed a good level of acceptance and involvement by infants of the entire system. The results demonstrated a significant increase in unimanual power grip force between the 18th and 30th week followed by a flat period until the 41st week; we also ascertained an early tendency to play bimanually with centrally and laterally placed objects with a subsequent increase in all ages of unimanual successful power grasping both for central task and midline crossing. These developmental changes may be, in part, related to organism constraints such as maturation of the corticospinal tract., (Copyright © 2012 Elsevier Inc. All rights reserved.)

Currently the study of infants grasping development is purely clinical, based on functional scales or on the observation of the infant while playing; no quantitative variables are measured or known for diagnosis of eventually disturbed development. The aim of this work is to show the results of a longitudinal study achieved by using a "baby gym" composed by a set of instrumented toys, as a tool to measure and stimulate grasping actions, in infants from 4 to 9 months of life. The study has been carried out with 7 healthy infants and it was observed, during infants development, an increase of precision grasp and a reduction of power grasp with age. Moreover the forces applied for performing both precision and power grasp increase with age. The proposed devices represent a valid tool for continuous and quantitative measuring infants manual function and motor development, without being distressful for the infant and consequently it could be suitable for early intervention training during the first year of life. The same system, in fact, could be used with infants at high risk for developmental motor disorder in order to evaluate any potential difference from control healthy infants.

The study and measurement of grasping actions and forces in humans is important in a variety of contexts. In infants, it can give insights on the typical and atypical motor development, while it poses functional and operative requirements that are not fully matched by current sensing technology. Novel approaches for measuring infants' grasping actions are based on sensorized platform usable in natural settings. A new set of instrumented toys has been designed for the assessment/stimulation of upper limbs of infants between 4 and 9 months. A purposive biomechatronic gym has been developed by integrating pressure and force sensors and visual/auditory stimulations to the usual gym structure and hanging toys (cow, flower and ring puppets), so that the infants' actions on the gym can be monitored, measured and stimulated. With the developed system, a longitudinal clinical validation has been carried out with seven healthy infants. From data analysis it is possible to identify a trend in manual forces development and this result confirms the usefulness of the system proposed as a clinical tool for monitoring infants' grasping development.

The capability of grasping and lifting an object in a suitable, stable and controlled way is an outstanding feature for a robot, and thus far, one of the major problems to be solved in robotics. No robotic tools able to perform an advanced control of the grasp as, for instance, the human hand does, have been demonstrated to date. Due to its capital importance in science and in many applications, namely from biomedics to manufacturing, the issue has been matter of deep scientific investigations in both the field of neurophysiology and robotics. While the former is contributing with a profound understanding of the dynamics of real-time control of the slippage and grasp force in the human hand, the latter tries more and more to reproduce, or take inspiration by, the nature's approach, by means of hardware and software technology. On this regard, one of the major constraints robotics has to overcome is the real-time processing of a large amounts of data generated by the tactile sensors while grasping, which poses serious problems to the available computational power. In this paper a bio-inspired approach to tactile data processing has been followed in order to design and test a hardware-software robotic architecture that works on the parallel processing of a large amount of tactile sensing signals. The working principle of the architecture bases on the cellular nonlinear/neural network (CNN) paradigm, while using both hand shape and spatial-temporal features obtained from an array of microfabricated force sensors, in order to control the sensory-motor coordination of the robotic system. Prototypical grasping tasks were selected to measure the system performances applied to a computer-interfaced robotic hand. Successful grasps of several objects, completely unknown to the robot, e.g. soft and deformable objects like plastic bottles, soft balls, and Japanese tofu, have been demonstrated.