Journal Publications

  1. L. Kinnicutt, L. T. Gaeta, J. Rogatinsky, J. Lee, A. Cameron, A. J. Naik, D. T. Hess, T. Ranzani. “A Soft Robotic, Modular Laparoscopic Grasper for Atraumatic Retraction of the Small Intestine.” Device. 2024.
  2. L. T. Gaeta, D. Albayrak, L. Kinnicutt, S. Aufrichtig, P. Sultania, H. Schlegel, T.D. Ellis, T. Ranzani. “A magnetically controlled soft robotic glove for hand rehabilitation“. Device. 2024. Video.
  3. A. M. Moran, V. T. Vo, K. J Mcdonald, P. Sultania, E. Langenbrunner, J. C. Hong, A. Naik, L. Kinnicutt, J. Li, T. Ranzani. “An Electropermanent Magnet Valve for the Onboard Control of Multi-Degree of Freedom Pneumatic Soft Robots,” Nat. Commun. Eng. 2024. Video.
  4. J. Rogatinky, D. Recco, J. Feichtmeier, Y. Kang, N. Kneier, P. Hammer, E. O’Leary, D. Mah, D. Hoganson, N. V. Vasilyev, T. Ranzani. “A multifunctional soft robot for cardiac interventions.” Science Advances. 2023. Cover article. Video_1, Video_2, Video_3, Video_4, Video_5 .
  5. L. T. Gaeta, K. J. McDonald, L. Kinnicutt, M. Le, S. Wilkinson-Flicker, Y. Jiang, T. Atakuru, E. Samur, and T. Ranzani. “Magnetically Induced Stiffening for Soft Robotics,” Soft Matter, vol. 19, no. 14, pp. 2623–2636, 2023.
  6. J. Rogatinsky, K. Gomatam, Z. H. Lim, M. Lee, L Kinnicutt, C. Duriez, P. Thomson, K. McDonald, T. Ranzani. “A Collapsible Soft Actuator Facilitates Performance in Constrained Environments,” Advanced Intelligent Systems. 2022. Overview video. Supporting Information. Frontispiece.
  7. T. Amadeo, D. Van Lewen, T. Junke, T. Ranzani, A. Devaiah, U. Upadhyay, S. Russo. “Soft Robotic Deployable Origami Actuators for Neurosurgical Brain Retraction“, Front. Robot. AI – Soft Robotics, vol. 8. Special Issue: Rising stars in Biomedical Engineering. 2022.
  8. K. McDonald, L. Kinnicutt, A.M. Moran, T. Ranzani. “Modulation of Magnetorheological Fluid Flow in Soft Robots Using Electropermanent Magnets”. IEEE Robot. Autom. Lett., vol. 3766, no. c, pp. 1–1, 2022. DOI: 10.1109/LRA.2022.3147873
    DOI: 10.1109/LRA.2022.3147873. Overview video.
  9. K. McDonald and T. Ranzani “Hardware Methods for Onboard Control of Fluidically Actuated Soft Robots“.Front. Robot. AI. 2021. Special Issue Rising Stars in Soft Robotics 8:720702. doi: 10.3389/frobt.2021.720702
  10. H. Wang, P. York, Y. Chen, S. Russo, T. Ranzani, C. Walsh, R. Wood. “Biologically-inspired electrostatic artificial muscles for insect-sized robots“. International Journal of Robotics Research. 2021. 10.1177/02783649211002545
  11. K. McDonald, A. Rendos, S. Woodman, K. A. Brown, T. Ranzani. “Magnetorheological Fluid‐Based Flow Control for Soft Robots“. Advanced Intelligent Systems. 2000139 (2020). doi:10.1002/aisy.202000139 Video 1, Video 2, Video 3. Inside Back Cover.
  12. A. Rendos, S. Woodman, K. McDonald, T. Ranzani, K. Brown. “Shear thickening prevents slip in magnetorheological fluid“, Smart Materials and Structures. 29, 07LT02 (2020)
  13. A. Yin, H. C. Lin, J. Thelen, B. Maher, T. Ranzani, “Combining locomotion and grasping functionalities in soft robots“. Advanced Intelligent Systems. https://doi.org/10.1002/aisy.201900089. Inside Back Cover.
  14. T. Ranzani, S. Russo, N. Bartlett, M. Wehner, R. J. Wood. “Increasing the dimensionality of soft microstructures through injection induced self-folding“, Advanced Materials 2018, 1802739. https://doi.org/10.1002/adma.201802739 SI, Video. Cover Article.
  15. N.R. Sinatra, T. Ranzani, V. Joost, K.K. Parker, R. J. Wood. “Nanober-Reinforced Soft Micro-Actuators”, Journal of Micromechanics and Microengineering: Special Issue on Soft Robotics and Smart System Technologies. 28(8), 084002. https://doi.org/10.1088/1361-6439/aab373 Video
  16. S. Russo, T. Ranzani, C. J. Walsh, R. J. Wood. “An additive millimeter-scale fabrication method for soft bio-compatible actuators and sensors”, Advanced Materials Technologies. 1700135, 2017. Video_1, Video_2, Video_3
  17. T. Ranzani, M. Cianchetti, G. Gerboni, I. De Falco, A. Menciassi. “A Soft Modular Manipulator for Minimally Invasive Surgery: Design and Characterization of a Single Module”, IEEE Transactions on Robotics 32(1), 2016. Video
  18. T. Ranzani, G. Gerboni, M. Cianchetti, A. Menciassi. “A bioinspired soft manipulator for minimally invasive surgery”, Bioinspiration & Biomimetics 10, 2015. Included in the “Highlights of 2015” collection. Video_1, Video_2
  19. M. Cianchetti*, T. Ranzani*, G. Gerboni, T. Nanayakkara, K. Althoefer, P. Dasgupta, A. Menciassi. “Soft robotics technologies to address shortcomings in today’s minimally invasive surgery: the STIFF-FLOP approach”, Soft Robotics. 1(2): 122-131, 2014. Featured article (*Shared first author)
  20. J. Gafford, T. Ranzani, S. Russo, A. Degirmenci, S. Kesner, R. Howe, R. J. Wood, C. J. Walsh. “Towards Medical Devices with Integrated Mechanisms, Sensors and Actuators via Printed-Circuit MEMS”, Journal of Medical Devices. 11(1):011007-011007-12, 2017.
  21. M. Li, T. Ranzani, S. Sareh, L. Seneviratne, P. Dasgupta, H. Wurdemann, K. Althoefer. “Multi-Fingered Haptic Palpation utilizing Granular Jamming Stiffness Feedback Actuators”, Smart Materials and Structures 23 095007, 2014. Included in the “Highlights of 2014” collection
  22. S. Russo, T. Ranzani, H. Liu, N-M. Samia, K. Althoefer, A. Menciassi. “Soft and Stretchable Sensor using Biocompatible Electrodes and Liquid for Medical Applications”, Soft Robotics. 2(4): 146-154, 2015
  23. S. Sareh, Y. Noh, M. Li, T. Ranzani, H. Liu, K. Althoefer (2015) “Macrobend optical sensing for pose measurement in soft robot arms”, Smart Materials and Structures. 24 125024, 2015
  24. G. Gerboni, T. Ranzani, A. Diodato, G. Ciuti, M. Cianchetti, A. Menciassi. “Modular soft mechatronic manipulator for minimally invasive surgery (MIS): overall architecture and development of a full integrated soft module”, Meccanica. 50(11): 2865-2878, 2015
  25. T. Ranzani*, G. Ciuti*, G. Tortora, A. Arezzo, S. Arolfo, M. Morino, A. Menciassi. “A Novel Device for Measuring Forces in Endoluminal Procedures”, International Journal of Advanced Robotic Systems. 12:116, 2015. (*Shared first author)
  26. Y. Elsayed, C. Lekakou, T. Ranzani, M. Cianchetti, M. Morino, A. Arezzo, A. Menciassi, T. Geng, C. Saaj. “Crimped braided sleeves for soft, actuating arm in robotic abdominal surgery”, Minimally invasive therapy & allied technologies (MITAT). 6:1-7, 2015
  27. Y. Elsayed, A. Vincenzi, C. Lekakou, T. Geng, C. Saaj, T. Ranzani, M. Cianchetti, A. Menciassi. “Finite element analysis (FEA) and design optimisation of a pneumatically actuating silicone module for robotic surgery applications”, Soft Robotics. 1(4): 255-262, 2014. Featured article
  28. A. Jiang, T. Ranzani, G. Gerboni, L. Lekstutyte, K. Althoefer, P. Dasgupta, T. Nanayakkara. “Robotic Granular Jamming: Does the Membrane Matter?”, Soft Robotics. 1(3): 192-201, 2014
  29. G. Tortora, T. Ranzani, I. De Falco, P. Dario, A. Menciassi. “A Miniature Robot for Retraction Tasks under Vision Assistance in Minimally Invasive Surgery’‘, Robotics. 3(1): 70-82, 2014. Video.
  30. M. Zimmermann, T. Ranzani, A. Menciassi, B. Kellner. “Development of a Cable Actuated Joint for a Surgical Robotic Flexible Arm”, Biomedical Engineering / Biomedizinische Technik. ISSN (Online) 1862-278X, ISSN (Print) 0013-5585, 2013
  31. M. Silvestri, T. Ranzani, A. Argiolas, M. Vatteroni, A. Menciassi. “A multi-point of view 3D camera system for minimally invasive surgery”, Sensors and Actuators A: Phys.. 202: 204-210, 2013
  32. S. Russo, K. Harada, T. Ranzani, L. Manfredi, C. Stefanini, A. Menciassi, P. Dario. “Design of a Robotic Module for Autonomous Exploration and Multimode Locomotion”, IEEE/ASME Transactions on Mechatronics. 18(6): 1757-1766, 2013

Conference Proceedings and Presentation

  1. G. Zungor, C. B. Akkaya, T. Ranzani, E. Samur. “A Soft and Magnetic Capsule Robot for Drug Delivery”. 40th Anniversary of the IEEE Conference on Robotics and Automation (ICRA@40).
  2. J. Rogatinsky, D. Recco, E. O’Leary, D. Mah, D. Hoganson, T. Ranzani. “A Soft Robot Guides Pacemaker Lead Placement”.  The Hamlyn Symposium on Medical Robotics, 2024, London UK.
  3. J. Rogatinsky, T. Ranzani. “An Expandable Soft Manipulator Enables High Dexterity and Force Generation in Complex Environments”. Society of Engineering Science Technical Meeting (SES). 2023
  4. L. Gaeta, T. Ranzani. “Magnetically Induced Stiffening for Soft Robotics” Material Research Society (MRS) Fall meeting. 2023.
  5. L. Kinnicutt, J. Lee, J. Oden, L. Gaeta, S. Carroll, A. Rathi, Z H Lim, M. Lee, C. Orakwue, K. McDonald, D. Hess, T. Ranzani. “A Soft Laparoscopic Grasper for Retraction of the Small Intestine“. The Hamlyn Symposium on Medical Robotics, 2023, London UK.
  6. C. Taglietti, L. Kinnicutt, J. Rogatinsky, L Z Heng, K. McDonald, J. Siracuse, T. Ranzani. “Minimally Invasive Soft Robotic Prototypes Provide Variable Occlusion In Simplified Aortic Flow Model”. American Heart Association, Resuscitation Science Symposium (ReSS). 2022, Chicago.
  7. A. Gupte, L. Kinnicutt, K. McDonald, T. Ranzani. “A Soft Ionic Sensor for Simultaneous Pressure and Strain Measurements” The 2020 IEEE International Conference on Soft Robotics, (RoboSoft 2020).
  8. S. Becker, T. Ranzani, S. Russo, R. J. Wood. “Pop-Up Tissue Retraction Mechanism for Endoscopic Surgery”, The 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017). Video.
  9. T. Ranzani, S. Russo, F. Schwab, C. J. Walsh, R. J. Wood. “Deployable stabilization mechanisms for endoscopic procedures”, Proceedings of Robotics and Automation (ICRA), 2017 IEEE International Conference on. Video.
  10. S. Russo, T. Ranzani, J. Gafford, C. J. Walsh, R. J. Wood. “Soft pop-up mechanisms for micro surgical tools: design and characterization of compliant millimeter-scale articulated structures”, Proceedings of Robotics and Automation (ICRA), 2016 IEEE International Conference on. 750-757, 2016. Video.
  11. J. Gafford, T. Ranzani, S. Russo, H. Aihara, R. J. Wood, C. J. Walsh, C. Thompson. “Snap-On Robotic Wrist Module for Enhanced Dexterity in Endoscopy”, Proceedings of Robotics and Automation (ICRA), 2016 IEEE International Conference on. 4398-4405, 2016. Video.
  12. M. Cianchetti, T. Ranzani, G. Gerboni, I. De Falco, C. Laschi, A. Menciassi “STIFF-FLOP Surgical Manipulator: mechanical design and experimental characterization of the single module”, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 3576-3581, 2013
  13. T. Ranzani, M. Silvestri, A. Argiolas, M. Vatteroni, A. Menciassi, “A novel trocar-less, multi-point of view, magnetic actuated laparoscope”, Proceedings of Robotics and Automation (ICRA), 2013 IEEE International Conference on. 1199-1204, 2013. Video.
  14.  C. Di Natali, T. Ranzani, M. Simi, A. Menciassi and P. Valdastri, “Trans-abdominal Active Magnetic Linkage for robotic surgery: Concept definition and model assessment”, Proceedings of Robotics and Automation (ICRA), 2012 IEEE International Conference on. 695-700, 2012
  15. K. Becker, A. Cruz, T. Ranzani, R. J. Wood, A.A. Biewener, “Exploration of Infundibular Morphology Design Parameters for Optimal Sucker Strength in Cephalopods”, SICB Annual Meeting, San Francisco, CA, January 2018
  16. T. Ranzani, S. Russo, C. J. Walsh, R. J. Wood. “A soft suction-based end effector for endoluminal tissue manipulation”, in Proc. of 6th Hamlyn Symposium on Medical Robotics, London, UK, June 2016
  17. S. Russo, T. Ranzani, C. J. Walsh, R. J. Wood. “A soft pop-up proprioceptive actuator for minimally invasive surgery”, in Proc. of 6th Hamlyn Symposium on Medical Robotics, London, UK, June 2016. Best Poster.
  18. S. Sareh, Y. Noh, T. Ranzani, H. A. Wurdemann, H. Liu, K. Althoefer “A 7.5mm Steiner chain fiber-optic system for multi-segment flex sensing”, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2336-2341, 2015
  19. S. Sareh, Y. Noh, T. Ranzani, H. Wurdemann, H. Liu, K. Althoefer “Modular fiber-optic shape sensor for articulated surgical instruments”, in Proc. of 5th Hamlyn Symposium on Medical Robotics, London, UK, June 2015
  20. B. Quinlivan, A. T. Asbeck, D. Wagner, T. Ranzani, S. Russo, C. J. Walsh. “Force Transfer Characterization of a Soft Exosuit for Gait Assistance”, in Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2015). Boston, USA, 2015
  21. G. Gerboni, T. Ranzani, G. Ciuti, M. Cianchetti, A. Menciassi. “A new strategy to build a fully modular soft manipulator for MIS”, 4rd Joint Workshop on Computer/Robot Assisted Surgery. 14-16, Genoa, Italy, October 2014
  22. L. Ricotti, T. Ranzani, V. Calarota, A. Menciassi. “Thin and Flexible Contact/Deformation Sensors Based on Piezoelectric Nanocomposites”, SENSORS, 2014 IEEE . 2070-2073, 2014
  23. T. Manwell, T. Vítek, T. Ranzani, A. Menciassi, K. Althoefer and H. Liu. “Elastic mesh braided worm robot for locomotive endoscopy”, 36th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 848-851, Chicago, USA, 2014
  24. X. Wang, T. Geng, Y. Elsayed, T. Ranzani, C. Saaj and C. Lekakou, “A new coefficient-adaptive orthonormal basis function model structure for identifying a class of pneumatic soft actuators”, 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 530-535, 2014
  25. Y. Noh, S. Sareh, J. Back, H.A. Wurdemann, Ranzani T, E.L. Secco, A. Faragasso, H. Liu, K. Althoefer. “A Three Axial Body Force Sensor for Flexible Manipulator”, Proceedings of Robotics and Automation (ICRA), 2014 IEEE International Conference on. 6388-6393, 2014
  26. T. Ranzani, M. Cianchetti, G. Gerboni, I. De Falco, G. Petroni, A. Menciassi. “A modular soft manipulator with variable stiffness”, 3rd Joint Workshop on New Technologies for Computer/Robot Assisted Surgery, Verona, Italy 11-13 September 2013
  27. M. Salerno, T. Mazzocchi, T. Ranzani, F. Mulana, P. Dario, A. Menciassi. “Safety systems in magnetic driven wireless capsule endoscopy”, 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 3090-3095, 2013
  28. G.  Tortora, M. Salerno, T. Ranzani, S. Tognarelli, P. Dario, A. Menciassi. “A modular magnetic platform for natural orifice transluminal endoscopic surgery”, 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 6265-6268, 2013
  29. A. Argiolas, M. Silvestri, T. Ranzani, M. Vatteroni, A. Menciassi. “A video acquisition system for autostereoscopic multi-views displays for minimally invasive surgery”, Procedia Engineering. 47:1211-1214, 2012
  30. A. Argiolas, M. Silvestri, T. Ranzani, M. Vatteroni, P. Dario, A. Menciassi. “A video acquisition system for autostereoscopic multi-views displays for minimally invasive surgery”, Computer Assisted Radiology and Surgery (CARS), Pisa, Italy, June, 2012
  31. K. Harada, S. Russo, T. Ranzani, A. Menciassi, P. Dario. “Design of Scout Robot as a robotic module for symbiotic multi-robot organisms”, Micro-NanoMechatronics and Human Science (MHS), 2011 International Symposium on. 511-513, 2011
  32. T. Ranzani, C. Di Natali, M. Simi, A. Menciassi, P. Dario, P. Valdastri. “A novel surgical robotic platform minimizing access trauma”, in Proc. of 4th Hamlyn Symposium on Medical Robotics, London, UK, June 2011. Best Presentation.
  33. A. Ruffini, T. Ranzani, C. Cristallini, N. Barbani, F. Ciardelli and P. Giusti. “Nanoparticles from Templated Complexes: Novel Materials for Biomedical Applications”, the 8th World Biomaterial Congress, Amsterdam, May 28 – June 01, 2008