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In Sunyaev-Zeldovich (SZ) cluster cosmology, two tools are needed to be able to exploit data from large scale surveys in the millimeter-wave domain. An accurate description of the IntraCluster Medium (ICM) pressure profile is needed along with the scaling relation connecting the SZ brightness to the mass. With its high angular resolution and large field of view, The NIKA2 camera, operating at 150 and 260 GHz, is perfectly suited for precise cluster SZ mapping. The SZ Large Program (LPSZ) of the NIKA2 collaboration is dedicated to the observation of a sample of 38 SZ-selected clusters at intermediate to high redshift and observed both in SZ and X-ray. The current status is that all LPSZ clusters have been observed and the analysis toward the final results is ongoing. We present in detail how NIKA2-LPSZ will obtain a robust estimation of the SZ-Mass scaling relation and how it will be used to obtain cosmological constraints., Comment: 4 pages, 3 figures, contribution to the 2024 Cosmology session of the 58th Rencontres de Moriond

In rare earth nickelates (RENiO$_3$), electron-lattice coupling drives a concurrent metal-to-insulator and bond disproportionation phase transition whose microscopic origin has long been the subject of active debate. Of several proposed mechanisms, here we test the hypothesis that pairs of self-doped ligand holes spatially condense to provide local spin moments that are antiferromagnetically coupled to Ni spins. These singlet-like states provide a basis for long-range bond and spiral spin order. Using magnetic resonant X-ray scattering on NdNiO$_3$ thin films, we observe the chiral nature of the spin-disproportionated state, with spin spirals propagating along the crystallographic (101)$_\mathrm{ortho}$ direction. These spin spirals are found to preferentially couple to X-ray helicity, establishing the presence of a hitherto-unobserved macroscopic chirality. The presence of this chiral magnetic configuration suggests a potential multiferroic coupling between the noncollinear magnetic arrangement and improper ferroelectric behavior as observed in prior studies on NdNiO$_3$ (101)$_\mathrm{ortho}$ films and RENiO$_3$ single crystals. Experimentally constrained theoretical double-cluster calculations confirm the presence of an energetically stable spin-disproportionated state with Zhang-Rice singlet-like combinations of Ni and ligand moments., Comment: 6 pages, 4 figures

This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied participants is performed to compute the Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the skin in two forearm positions, with the goal of optimising vibrotactile actuator position to maximise perceptual response. Furthermore, system performance is validated and tested both with ten able-bodied participants and one prosthesis user considering three tasks. More specifically, in the Active Texture Identification, Slippage and Fragile Object Experiments, we investigate if the VIBES could enhance users' roughness discrimination and manual usability and dexterity. Finally, we test the effect of the vibrotactile system on prosthetic embodiment in a Rubber Hand Illusion (RHI) task. Results show the system's effectiveness in conveying contact and texture cues, making it a potential tool to restore sensory feedback and enhance the embodiment in prosthetic users.

The goal of the PolarKID project is testing a new method for the measurement of polarized sources, in order to identify all the possible instrumental systematic effects that could impact the detection of CMB B-modes of polarization. It employs the KISS (KIDs Interferometer Spectrum Survey) instrument coupled to a sky simulator and to sources such as point-like black bodies (simulating planets), a dipole (extended source) and a polarizer. We use filled-arrays Lumped Element Kinetic Inductance Detectors (LEKIDs) since they have multiple advantages when observing both in a photometry and in a polarimetry configuration, Comment: 8 pages, 1 figure, Proceeding of the SPIE conference Millimeter, Submillimeter, and Far-Infrared Detectors and Instrumentation for Astronomy XII, SPIE Astronomical Telescopes + Instrumentation 2024

We employ the Stabilizer Renyi Entropy (SRE) to characterize a quantum phase transition that has so far eluded any standard description and can thus now be explained in terms of the interplay between its non-stabilizer properties and entanglement. The transition under consideration separates a region with a unique ground state from one with a degenerate ground state manifold spanned by states with finite and opposite (intensive) momenta. We show that SRE has a jump at the crossing points, while the entanglement entropy remains continuous. Moreover, by leveraging on a Clifford circuit mapping, we connect the observed jump in SRE to that occurring between standard and generalized $W$-states with finite momenta. This mapping allows us to quantify the SRE discontinuity analytically., Comment: 8 pages including supplementary material, 3 figures

We consider the effects of the competition between different sources of frustration in 1D spin chains through the analysis of the paradigmatic ANNNI model, which possesses an extensive amount of frustration of local origin due to the competition between nearest and next-to-nearest neighbor interactions. An additional, non-extensive amount of topological frustration can be added by applying suitable boundary conditions, and we show that this seemingly subdominant contribution significantly affects the model. Choosing periodic boundary conditions with an {\it even} number of sites not divisible by 4 and using the entanglement entropy as a probe, we demonstrate that in one of the model's phases, the ground state can be characterized as hosting two (almost) independent excitations. Thus, not only do we show an intriguing interplay between different types of frustration, but also manage to propose a non-trivial quasi-particle interpretation for it., Comment: 7 pages of main text plus appendices, 13 figures

Modern astrophysics relies on intricate instrument setups to meet the demands of sensitivity, sky coverage, and multi-channel observations. An example is the CONCERTO project, employing advanced technology like kinetic inductance detectors and a Martin-Puplett interferometer. This instrument, installed at the APEX telescope atop the Chajnantor plateau, began commissioning observations in April 2021. Following a successful commissioning phase that concluded in June 2021, CONCERTO was offered to the scientific community for observations, with a final observing run in December 2022. CONCERTO boasts an 18.5 arcmin field of view and a spectral resolution down to 1.45 GHz in the 130-310 GHz electromagnetic band. We developed a comprehensive instrument model of CONCERTO inspired by Fourier transform spectrometry principles to optimize performance and address systematic errors. This model integrates instrument noises, subsystem characteristics, and celestial signals, leveraging both physical data and simulations. Our methodology involves delineating simulation components, executing on-sky simulations, and comparing results with real observations. The resulting instrument model is pivotal, enabling a precise error correction and enhancing the reliability of astrophysical insights obtained from observational data. In this work, we focus on the description of three white-noise noise components included in the instrument model that characterize the white-noise level: the photon, the generation-recombination, and the amplifier noises., Comment: 8 pages, 1 figure, Proceeding of the SPIE conference Millimeter, Submillimeter, and Far-Infrared Detectors and Instrumentation for Astronomy XII, SPIE Astronomical Telescopes + Instrumentation 2024

We present the data-processing algorithms and the performance of CONCERTO (CarbON CII line in post-rEionisation and ReionisaTiOn epoch) in continuum by analysing the data from the commissioning and scientific observations. The beam pattern is characterized by an effective FWHM of 31.9 $\pm$ 0.6" and 34.4 $\pm$ 1.0" for high-frequency (HF) and low-frequency (LF) bands. The main beam is slightly elongated with a mean eccentricity of 0.46. Two error beams of $\sim$65" and $\sim$130" are characterized, enabling the estimate of a main beam efficiency of $\sim$0.52. The field of view is accurately reconstructed and presents coherent distortions between the HF and LF arrays. LEKID parameters were robustly determined for 80% of the read tones. Cross-talks between LEKIDs are the first cause of flagging, followed by an excess of eccentricity for $\sim$10% of the LEKIDs, all located in a given region of the field of view. On the 44 scans of Uranus selected for the absolute photometric calibration, 72.5% and 78.2% of the LEKIDs are selected as valid detectors with a probability >70%. By comparing Uranus measurements with a model, we obtain calibration factors of 19.5$\pm$0.6 [Hz/Jy] and 25.6$\pm$0.9 [Hz/Jy] for HF and LF. The point-source continuum measurement uncertainties are 3.0% and 3.4% for HF and LF bands. The RMS of CONCERTO maps is verified to evolve as proportional to the inverse square root of integration time. The measured NEFDs for HF and LF are 115$\pm$2 mJy/beam$\cdot$s$^{1/2}$ and 95$\pm$1 mJy/beam$\cdot$s$^{1/2}$, obtained using CONCERTO data on the COSMOS field for a mean precipitable water vapour and elevation of 0.81 mm and 55.7 deg. CONCERTO demonstrates unique capabilities in fast dual-band spectral mapping with a $\sim$18.5' instantaneous field-of-view. CONCERTO's performance in continuum is perfectly in line with expectations., Comment: 23pages, 22 figures

For tendon-driven multi-fingered robotic hands, ensuring grasp adaptability while minimizing the number of actuators needed to provide human-like functionality is a challenging problem. Inspired by the Pisa/IIT SoftHand, this paper introduces a 3D-printed, highly-underactuated, five-finger robotic hand named the Tactile SoftHand-A, which features only two actuators. The dual-tendon design allows for the active control of specific (distal or proximal interphalangeal) joints to adjust the hand's grasp gesture. We have also developed a new design of fully 3D-printed tactile sensor that requires no hand assembly and is printed directly as part of the robotic finger. This sensor is integrated into the fingertips and combined with the antagonistic tendon mechanism to develop a human-hand-guided tactile feedback grasping system. The system can actively mirror human hand gestures, adaptively stabilize grasp gestures upon contact, and adjust grasp gestures to prevent object movement after detecting slippage. Finally, we designed four different experiments to evaluate the novel fingers coupled with the antagonistic mechanism for controlling the robotic hand's gestures, adaptive grasping ability, and human-hand-guided tactile feedback grasping capability. The experimental results demonstrate that the Tactile SoftHand-A can adaptively grasp objects of a wide range of shapes and automatically adjust its gripping gestures upon detecting contact and slippage. Overall, this study points the way towards a class of low-cost, accessible, 3D-printable, underactuated human-like robotic hands, and we openly release the designs to facilitate others to build upon this work. This work is Open-sourced at github.com/SoutheastWind/Tactile_SoftHand_A, Comment: 17 pages, 13 figures

The proliferation of Internet of Things (IoT) embedded devices is expected to reach 30 billion by 2030, creating a dynamic landscape where diverse devices must coexist. This presents challenges due to the rapid expansion of different architectures and platforms. Addressing these challenges requires a unifi ed solution capable of accommodating various devices while offering a broad range of services to connect them to the Internet effectively. This white paper introduces CROSSCON, a three-year Research and Innovation Action funded under Horizon Europe. CROSSCON aims to tackle current IoT challenges by developing a new open, modular, and universally compatible IoT security stack. This stack is designed to be highly portable and vendor-independent, enabling its deployment across different devices with heterogeneous embedded hardware architectures, including ARM and RISC-V. The CROSSCON consortium consists of 11 partners spanning 8 European countries. This consortium includes 4 academic institutions, 1 major industrial partner, and 5 small to medium-sized enterprises (SMEs).

The cosmic microwave background (CMB), a remnant of the Big Bang, provides unparalleled insights into the primordial universe, its energy content, and the origin of cosmic structures. The success of forthcoming terrestrial and space experiments hinges on meticulously calibrated data. Specifically, the ability to achieve an absolute calibration of the polarization angles with a precision of < 0.1 deg is crucial to identify the signatures of primordial gravitational waves and cosmic birefringence within the CMB polarization. We introduce the COSMOCal project, designed to deploy a polarized source in space for calibrating microwave frequency observations. The project aims to integrate microwave polarization observations from small and large telescopes, ground-based and in space, into a unified scale, enhancing the effectiveness of each observatory and allowing robust combination of data. To demonstrate the feasibility and confirm the observational approach of our project, we developed a prototype instrument that operates in the atmospheric window centered at 260 GHz, specifically tailored for use with the NIKA2 camera at the IRAM 30 m telescope. We present the instrument components and their laboratory characterization. The results of tests performed with the fully assembled prototype using a KIDs-based instrument, similar concept of NIKA2, are also reported. This study paves the way for an observing campaign using the IRAM 30m telescope and contributes to the development of a space-based instrument., Comment: 13 pages, 13 figures. Submitted to Astronomy and Astrophysics

Whilst holding great promise for low noise, ease of operation and networking, useful photonic quantum computing has been precluded by the need for beyond-state-of-the-art components, manufactured by the millions. Here we introduce a manufacturable platform for quantum computing with photons. We benchmark a set of monolithically-integrated silicon photonics-based modules to generate, manipulate, network, and detect photonic qubits, demonstrating dual-rail photonic qubits with $99.98\% \pm 0.01\%$ state preparation and measurement fidelity, Hong-Ou-Mandel quantum interference between independent photon sources with $99.50\%\pm0.25\%$ visibility, two-qubit fusion with $99.22\%\pm0.12\%$ fidelity, and a chip-to-chip qubit interconnect with $99.72\%\pm0.04\%$ fidelity, not accounting for loss. In addition, we preview a selection of next generation technologies, demonstrating low-loss silicon nitride waveguides and components, fabrication-tolerant photon sources, high-efficiency photon-number-resolving detectors, low-loss chip-to-fiber coupling, and barium titanate electro-optic phase shifters., Comment: 8 pages, 5 figures

Genetic Algorithms have established their capability for solving many complex optimization problems. Even as good solutions are produced, the user's understanding of a problem is not necessarily improved, which can lead to a lack of confidence in the results. To mitigate this issue, explainability aims to give insight to the user by presenting them with the knowledge obtained by the algorithm. In this paper we introduce Partial Solutions in order to improve the explainability of solutions to combinatorial optimization problems. Partial Solutions represent beneficial traits found by analyzing a population, and are presented to the user for explainability, but also provide an explicit model from which new solutions can be generated. We present an algorithm that assembles a collection of Partial Solutions chosen to strike a balance between high fitness, simplicity and atomicity. Experiments with standard benchmarks show that the proposed algorithm is able to find Partial Solutions which improve explainability at reasonable computational cost without affecting search performance., Comment: 9 pages, 4 figures. For source code, visit https://github.com/Giancarlo-Catalano/PS_Minimal_Showcase

Finding an optimal balance between risk and returns in investment portfolios is a central challenge in quantitative finance, often addressed through Markowitz portfolio theory (MPT). While traditional portfolio optimization is carried out in a continuous fashion, as if stocks could be bought in fractional increments, practical implementations often resort to approximations, as fractional stocks are typically not tradeable. While these approximations are effective for large investment budgets, they deteriorate as budgets decrease. To alleviate this issue, a discrete Markowitz portfolio theory (DMPT) with finite budgets and integer stock weights can be formulated, but results in a non-polynomial (NP)-hard problem. Recent progress in quantum processing units (QPUs), including quantum annealers, makes solving DMPT problems feasible. Our study explores portfolio optimization on quantum annealers, establishing a mapping between continuous and discrete Markowitz portfolio theories. We find that correctly normalized discrete portfolios converge to continuous solutions as budgets increase. Our DMPT implementation provides efficient frontier solutions, outperforming traditional rounding methods, even for moderate budgets. Responding to the demand for environmentally and socially responsible investments, we enhance our discrete portfolio optimization with ESG (environmental, social, governance) ratings for EURO STOXX 50 index stocks. We introduce a utility function incorporating ESG ratings to balance risk, return, and ESG-friendliness, and discuss implications for ESG-aware investors., Comment: 12 pages, 6 figures

The ASTRI Mini-Array project, led by the Italian National Institute for Astrophysics, aims to construct and operate nine Imaging Atmospheric Cherenkov Telescopes for high-energy gamma-ray source study and stellar intensity interferometry. Located at the Teide Astronomical Observatory in Tenerife, the project's software is essential for remote operation, emphasizing the need for prompt feedback on observations. This contribution introduces the Online Observation Quality System (OOQS) as part of the Supervisory Control And Data Acquisition (SCADA) software. OOQS performs real-time data quality checks on data from Cherenkov cameras and Intensity Interferometry instruments. It provides feedback to SCADA and operators, highlighting abnormal conditions and ensuring quick corrective actions for optimal observations. Results are archived for operator visualization and further analysis. The OOQS data quality pipeline prototype utilizes a distributed application with three main components to handle the maximum array data rate of 1.15 Gb/s. The first is a Kafka consumer that manages the data stream from the Array Data Acquisition System through Apache Kafka, handling the data serialization and deserialization involved in the transmission. The data stream is divided into batches of data written in files. The second component monitors new files and conducts analyses using the Slurm workload scheduler, leveraging its parallel processing capabilities and scalability. Finally, the process results are collected by the last component and stored in the Quality Archive., Comment: 4 pages, 2 figures, proceedings of the Astronomical Data Analysis Software & Systems XXXIII (ADASS 2023) conference, to appear in ASP Conference Serie

We develop a new framework to constrain the source redshift. The method jointly accounts for the detection/non-detection of spectral lines and the prior information from the photometric redshift and total infrared luminosity from spectral energy distribution analysis. The method uses the estimated total infrared luminosity to predict the line fluxes at given redshifts and generates model spectra. The redshift-dependent spectral models are then compared with the observed spectra to find the redshift. Results. We apply the aforementioned joint redshift analysis method to four high-z dusty star-forming galaxy candidates selected from the NIKA2 observations of the HLSJ091828.6+514223 (HLS) field, and further observed by NOEMA with blind spectral scans. These sources only have SPIRE/Herschel photometry as ancillary data. They were selected because of very faint or no SPIRE counterparts, as to bias the sample towards the highest redshift candidates. The method finds the spectroscopic redshift of 4 in the 5 NOEMA-counterpart detected sources, with z>3. Based on these measurements, we derive the CO/[CI] lines and millimeter continuum fluxes from the NOEMA data and study their ISM and star-formation properties. We find cold dust temperatures in some of the HLS sources compared to the general population of sub-millimeter galaxies, which might be related to the bias introduced by the SPIRE-dropout selection. Our sources, but one, have short gas depletion time of a few hundred Myrs, which is typical among high-z sub-millimeter galaxies. The only exception shows a longer gas depletion time, up to a few Gyrs, comparable to that of main-sequence galaxies at the same redshift. Furthermore, we identify a possible over-density of dusty star-forming galaxies at z=5.2, traced by two sources in our sample, as well as the lensed galaxy HLSJ091828.6+514223. (abridged), Comment: A&A in press

Our research investigates vibrotactile perception in four prosthetic hands with distinct kinematics and mechanical characteristics. We found that rigid and simple socket-based prosthetic devices can transmit tactile information and surprisingly enable users to identify the stimulated finger with high reliability. This ability decreases with more advanced prosthetic hands with additional articulations and softer mechanics. We conducted experiments to understand the underlying mechanisms. We assessed a prosthetic user's ability to discriminate finger contacts based on vibrations transmitted through the four prosthetic hands. We also performed numerical and mechanical vibration tests on the prostheses and used a machine learning classifier to identify the contacted finger. Our results show that simpler and rigid prosthetic hands facilitate contact discrimination (for instance, a user of a purely cosmetic hand can distinguish a contact on the index finger from other fingers with 83% accuracy), but all tested hands, including soft advanced ones, performed above chance level. Despite advanced hands reducing vibration transmission, a machine learning algorithm still exceeded human performance in discriminating finger contacts. These findings suggest the potential for enhancing vibrotactile feedback in advanced prosthetic hands and lay the groundwork for future integration of such feedback in prosthetic devices.

Semantic segmentation is a key prerequisite to robust image understanding for applications in \acrlong{ai} and Robotics. \acrlong{fss}, in particular, concerns the extension and optimization of traditional segmentation methods in challenging conditions where limited training examples are available. A predominant approach in \acrlong{fss} is to rely on a single backbone for visual feature extraction. Choosing which backbone to leverage is a deciding factor contributing to the overall performance. In this work, we interrogate on whether fusing features from different backbones can improve the ability of \acrlong{fss} models to capture richer visual features. To tackle this question, we propose and compare two ensembling techniques-Independent Voting and Feature Fusion. Among the available \acrlong{fss} methods, we implement the proposed ensembling techniques on PANet. The module dedicated to predicting segmentation masks from the backbone embeddings in PANet avoids trainable parameters, creating a controlled `in vitro' setting for isolating the impact of different ensembling strategies. Leveraging the complementary strengths of different backbones, our approach outperforms the original single-backbone PANet across standard benchmarks even in challenging one-shot learning scenarios. Specifically, it achieved a performance improvement of +7.37\% on PASCAL-5\textsuperscript{i} and of +10.68\% on COCO-20\textsuperscript{i} in the top-performing scenario where three backbones are combined. These results, together with the qualitative inspection of the predicted subject masks, suggest that relying on multiple backbones in PANet leads to a more comprehensive feature representation, thus expediting the successful application of \acrlong{fss} methods in challenging, data-scarce environments.

Matrix product states (MPSs) and matrix product operators (MPOs) are fundamental tools in the study of quantum many-body systems, particularly in the context of tensor network methods such as Time-Evolving Block Decimation (TEBD). However, constructing compact MPO representations for Hamiltonians with interactions beyond nearest-neighbors, such as those arising in AMO systems or in systems with ring geometry, remains a challenge. In this paper, we propose a novel approach for the direct construction of compact MPOs tailored specifically for the exponential of spin Hamiltonians. This approach allows for a more efficient time evolution, using TEBD, of spin systems with interactions beyond nearest-neighbors, such as long-range spin-chains, periodic systems and more complex cluster model, with interactions involving more than two spins.

Random probabilities are a key component to many nonparametric methods in Statistics and Machine Learning. To quantify comparisons between different laws of random probabilities several works are starting to use the elegant Wasserstein over Wasserstein distance. In this paper we prove that the infinite dimensionality of the space of probabilities drastically deteriorates its sample complexity, which is slower than any polynomial rate in the sample size. We propose a new distance that preserves many desirable properties of the former while achieving a parametric rate of convergence. In particular, our distance 1) metrizes weak convergence; 2) can be estimated numerically through samples with low complexity; 3) can be bounded analytically from above and below. The main ingredient are integral probability metrics, which lead to the name hierarchical IPM.

There are several new projects to survey the sky with millimetre eyes, the biggest being Simons Observatory and CMB-S4, in the Southern Hemisphere. The NIKA2 collaboration has acquired sufficient knowledge to build a large focal plane KID camera for a 15~m antenna. This would allow covering the whole Northern Hemisphere in five years at subarcminute resolution and with milliJansky point-source sensitivity. We describe the main scientific drivers for such a project: the SZ sky, the high-redshift millimetre Universe and the interstellar medium in our Galaxy and the nearby galaxies. We also show briefly the main difficulties (scientific, organisational, technical and financial)., Comment: 6 pages, 4 figures, to appear in Proc. of the mm Universe 2023 conference, Grenoble (France), June 2023, published by F. Mayet et al. (Eds), EPJ Web of conferences, EDP Sciences

Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the SoftFoot the idea of adapting a robotic foot to ground irregularities along the sagittal plane. Building on the previous results, we propose in this paper a novel robotic foot able to adapt both in the sagittal and frontal planes, similarly to the human foot. It features five parallel modules with intrinsic longitudinal adaptability that can be combined in many possible designs through optional rigid or elastic connections. By following a methodological design approach, we narrow down the design space to five candidate foot designs and implement them on a modular system. Prototypes are tested experimentally via controlled application of force, through a robotic arm, onto a sensorized plate endowed with different obstacles. Their performance is compared, using also a rigid foot and the previous SoftFoot as a baseline. Analysis of footprint stability shows that the introduction of the transverse arch, by elastically connecting the five parallel modules, is advantageous for obstacle negotiation, especially when obstacles are located under the forefoot. In addition to biped robots' locomotion, this finding might also benefit lower-limb prostheses design., Comment: Submitted to Frontiers in Robotics and AI

The Extreme Universe Space Observatory on a Super Pressure Balloon 1 (EUSO-SPB1) was launched in 2017 April from Wanaka, New Zealand. The plan of this mission of opportunity on a NASA super pressure balloon test flight was to circle the southern hemisphere. The primary scientific goal was to make the first observations of ultra-high-energy cosmic-ray extensive air showers (EASs) by looking down on the atmosphere with an ultraviolet (UV) fluorescence telescope from suborbital altitude (33~km). After 12~days and 4~hours aloft, the flight was terminated prematurely in the Pacific Ocean. Before the flight, the instrument was tested extensively in the West Desert of Utah, USA, with UV point sources and lasers. The test results indicated that the instrument had sensitivity to EASs of approximately 3 EeV. Simulations of the telescope system, telescope on time, and realized flight trajectory predicted an observation of about 1 event assuming clear sky conditions. The effects of high clouds were estimated to reduce this value by approximately a factor of 2. A manual search and a machine-learning-based search did not find any EAS signals in these data. Here we review the EUSO-SPB1 instrument and flight and the EAS search., Comment: 18 pages, 19 figures

Robot feet are crucial for maintaining dynamic stability and propelling the body during walking, especially on uneven terrains. Traditionally, robot feet were mostly designed as flat and stiff pieces of metal, which meets its limitations when the robot is required to step on irregular grounds, e.g. stones. While one could think that adding compliance under such feet would solve the problem, this is not the case. To address this problem, we introduced the SoftFoot, an adaptive foot design that can enhance walking performance over irregular grounds. The proposed design is completely passive and varies its shape and stiffness based on the exerted forces, through a system of pulley, tendons, and springs opportunely placed in the structure. This paper outlines the motivation behind the SoftFoot and describes the theoretical model which led to its final design. The proposed system has been experimentally tested and compared with two analogous conventional feet, a rigid one and a compliant one, with similar footprints and soles. The experimental validation focuses on the analysis of the standing performance, measured in terms of the equivalent support surface extension and the compensatory ankle angle, and the rejection of impulsive forces, which is important in events such as stepping on unforeseen obstacles. Results show that the SoftFoot has the largest equivalent support surface when standing on obstacles, and absorbs impulsive loads in a way almost as good as a compliant foot.

The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though physically present. The competition featured a unique requirement that judges would operate the avatars after less than one hour of training on the human-machine interfaces, and avatar systems were judged on both objective and subjective scoring metrics. This paper presents a unified summary and analysis of the competition from technical, judging, and organizational perspectives. We study the use of telerobotics technologies and innovations pursued by the competing teams in their avatar systems, and correlate the use of these technologies with judges' task performance and subjective survey ratings. It also summarizes perspectives from team leads, judges, and organizers about the competition's execution and impact to inform the future development of telerobotics and telepresence., Comment: 26 pages, preprint of article appearing in International Journal of Social Robotics

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user's skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (SoftHand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants' Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one SoftHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users' roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish., Comment: 6 pages, 8 figures, 2023 International Conference on Rehabilitation Robotics (ICORR)

One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of rehabilitation and support robotic devices, known as supernumerary robotic limbs, have been introduced. This work investigates how a surface electromyography (sEMG) based control strategy would improve their usability in rehabilitation, limited so far by input interfaces requiring to subjects some level of residual mobility. After briefly introducing the phenomena hindering post-stroke sEMG and its use to control robotic hands, we describe a framework to acquire and interpret muscle signals of the forearm extensors. We applied it to drive a supernumerary robotic limb, the SoftHand-X, to provide Task-Specific Training (TST) in patients with sub-acute stroke. We propose and describe two algorithms to control the opening and closing of the robotic hand, with different levels of user agency and therapist control. We experimentally tested the feasibility of the proposed approach on four patients, followed by a therapist, to check their ability to operate the hand. The promising preliminary results indicate sEMG-based control as a viable solution to extend TST to sub-acute post-stroke patients., Comment: 7 pages, 5 figures

In this work we extend the concept of out/in-branchings spanning the vertices of a digraph (also called directed spanning trees) to temporal graphs, which are digraphs where arcs are available only at prescribed times. While the literature has focused on minimum weight/earliest arrival time Temporal Out-Branchings (TOB), we solve the problem for other optimization criteria. In particular, we define five different types of TOBs based on the optimization of the travel duration (FT-TOB), of the departure time (LD-TOB), of the number of transfers (MT-TOB), of the total waiting time (MW-TOB), and of the travelling time (ST-TOB). For D$\in \{$LD,MT,ST$\}$, we provide necessary and sufficient conditions for the existence of a spanning D-TOB; when it does not exist, we characterize the maximum vertex set that a D-TOB can span. Moreover, we provide a log linear algorithm for computing such branchings. For D$\in \{$FT,MW$\}$, we prove that deciding the existence of a spanning D-TOB is NP-complete; we also show that the same results hold for optimal temporal in-branchings. Finally, we investigate the related problem of computing a spanning temporal subgraph with the minimum number of arcs and optimizing a chosen criterion D. This problem turns out to be NP-hard for any D. The hardness results are quite surprising, as computing optimal paths between nodes can always be done in polynomial time., Comment: 26 pages, figures 9, Conference version published at FCT 2023

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause of instability on uneven grounds. Soft robotic feet were recently proposed to tackle that issue; however, they lack consistent experimental validation. Therefore, this paper describes the experimental setup realized to test soft and rigid prosthetic feet with lower-limb prosthetic users. It includes a wooden walkway and differently shaped obstacles. It was preliminary validated with an able-bodied subject, the same subject walking on commercial prostheses through modified walking boots, and with a prosthetic user. They performed walking firstly on even ground, and secondly on even ground stepping on one of the obstacles. Results in terms of vertical ground reaction force and knee moments in both the sagittal and frontal planes show how the poor performance of commonly used prostheses is exacerbated in case of obstacles. The prosthetic user, indeed, noticeably relies on the sound leg to compensate for the stiff and unstable interaction of the prosthetic limb with the obstacle. Therefore, since the limitations of non-adaptive prosthetic feet in obstacle-dealing emerge from the experiments, as expected, this study justifies the use of the setup for investigating the performance of soft feet on uneven grounds and obstacle negotiation.