Author

Fanny Ficuciello

3 papers indexed here

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Open access 2026

Disturbance-Observer-Enhanced Adaptive Fast Terminal Sliding Mode Control for High-Precision Industrial Manipulation

High-precision robotic manipulation in industrial cyber–physical systems requires control strategies capable of maintaining smooth, disturbance-resilient motion under model uncertainties, payload variations, and external perturbations. This need is especially pronounced in automated liquid-handling workflows such as re...

Shifa Sulaiman, Francesco Schetter, T. Jensen et al. · IEEE Access · 0 citations

Preprint Sep 2026

Learning Geometry-Aware Virtual Fixtures From Sparse Demonstrations

In many teleoperation applications, collecting a large number of demonstrations as required for traditional probabilistic learning from demonstration (LfD) approaches may not be feasible. To still give operators the ability to intuitively create trajectories as Virtual Fixtures (VFs), we propose to leverage a motion pr...

Maximilian Mühlbauer, Marcella Piacentino, R. Mancino et al. · 0 citations

Conference Aug 2026

Using a Surgical Physics Simulator as the Predictive Model in Model Predictive Path Integral Control for Soft-Tissue Manipulation

Tissue manipulation is a fundamental and frequently performed sub-task in robotic surgery, but its automation remains challenging because soft tissue exhibits nonlinear deformation and complex contact interactions with rigid instruments. This work presents a simulator-in-the-loop, samplingbased MPC framework that uses...

Sajjad Hussain, Mahdi Tavakoli, Bruno Siciliano et al. · International Conference on... · 0 citations