02025nas a2200205 4500008004100000022001400041245010300055210006900158300001400227490000700241520141600248653001201664653001301676100001301689700001501702700001801717700001901735700001601754856004901770 2018 eng d a1939-141200aW-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality0 aWFYD a Wearable Fabricbased Display for Haptic MultiCue Delivery a304 - 3160 v113 a

Despite the importance of softness, there is no evidence of wearable haptic systems able to deliver controllable softness cues. Here, we present the Wearable Fabric Yielding Display (W-FYD), a fabric-based display for multi-cue delivery that can be worn on user's finger and enables, for the first time, both active and passive softness exploration. It can also induce a sliding effect under the finger-pad. A given stiffness profile can be obtained by modulating the stretching state of the fabric through two motors. Furthermore, a lifting mechanism allows to put the fabric in contact with the user's finger-pad, to enable passive softness rendering. In this paper, we describe the architecture of W-FYD, and a thorough characterization of its stiffness workspace, frequency response and softness rendering capabilities. We also computed device Just Noticeable Difference in both active and passive exploratory conditions, for linear and non-linear stiffness rendering as well as for sliding direction perception. The effect of device weight was also considered. Furthermore, performance of participants and their subjective quantitative evaluation in detecting sliding direction and softness discrimination tasks are reported. Finally, applications of W-FYD in tactile augmented reality for open palpation are discussed, opening interesting perspectives in many fields of human-machine interaction.

10aHaptics10aRobotics1 aFani, S.1 aCiotti, S.1 aBattaglia, E.1 aMoscatelli, A.1 aBianchi, M. uhttp://ieeexplore.ieee.org/document/8003491/00587nas a2200193 4500008004100000245011000041210006900151260001200220490000700232653001200239653001300251100001100264700001300275700001700288700001300305700001100318700001500329856004900344 2017 eng d00aAsymmetric Bimanual Coordinate Control of Dual-Arm Exoskeleton Robots for Human Cooperative Manipulations0 aAsymmetric Bimanual Coordinate Control of DualArm Exoskeleton Ro c11/20170 v3410aHaptics10aRobotics1 aLi, Z.1 aChen, Z.1 aAjoudani, A.1 aYang, C.1 aSu, C.1 aBicchi, A. uhttps://ieeexplore.ieee.org/document/810334001632nas a2200241 4500008003900000245006600039210006500105260004000170520094200210653001201152653001301164100001501177700001501192700001501207700001701222700001801239700001801257700002001275700001601295700001501311700001501326856004901341 2017 d00aDesign of an Under-Actuated Wrist Based on Adaptive Synergies0 aDesign of an UnderActuated Wrist Based on Adaptive Synergies aSingapore, 29 May-3 June 2017bIEEE3 a

An effective robotic wrist represents a key enabling element in robotic manipulation, especially in prosthetics. In this paper, we propose an under-actuated wrist system, which is also adaptable and allows to implement different under-actuation schemes. Our approach leverages upon the idea of soft synergies - in particular the design method of adaptive synergies - as it derives from the field of robot hand design. First we introduce the design principle and its implementation and function in a configurable test bench prototype, which can be used to demonstrate the feasibility of our idea. Furthermore, we report on results from preliminary experiments with humans, aiming to identify the most probable wrist pose during the pre-grasp phase in activities of daily living. Based on these outcomes, we calibrate our wrist prototype accordingly and demonstrate its effectiveness to accomplish grasping and manipulation tasks.

10aHaptics10aRobotics1 aCasini, S.1 aTincani, V1 aAverta, G.1 aPoggiani, M.1 aDella Santina1 aBattaglia, E.1 aCatalano, M. G.1 aBianchi, M.1 aGrioli, G.1 aBicchi, A. uhttp://ieeexplore.ieee.org/document/7989789/01691nas a2200205 4500008004100000245008100041210006900122260001200191300001600203490000600219520111000225653001201335653001301347100001601360700001101376700001701387700001701404700001501421856004901436 2017 eng d00a Enhancing Adaptive Grasping Through a Simple Sensor-Based Reflex Mechanism 0 aEnhancing Adaptive Grasping Through a Simple SensorBased Reflex  c07/2017 a1664 - 16710 v23 a

This paper presents an approach to achieve adaptive grasp of unknown objects whose position is only approximately known via point-cloud data. We exploit the adaptability of a soft robotic hand which can autonomously conform to the shape of a grasped object if properly approached. Once a grasp approach has been preliminarily planned based only on rough estimates of the object position, the hand is shaped to a pregrasp configuration. Before closing the hand, a sensor-based algorithm is applied that corrects the relative hand-object posture so as to enhance the probability that the object is uniformly approached by all fingers, thus avoiding undesired premature contacts. The algorithm minimizes the distance between the hand's fingerpads and the object by continuously controlling both the wrist pose and orientation and the hand closure. Experimental studies with a Kuka-LWR arm and a Pisa/IIT Softhand illustrate the benefit of the developed technique and the improvement in grasping performance with respect to open-loop execution of grasps planned on the basis of prior RGB-D cues only.

10aHaptics10aRobotics1 aLuberto, E.1 aWu, Y.1 aSantaera, G.1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/document/7875417/01904nas a2200241 4500008004100000022001400041245007700055210006900132260001200201300001600213490000700229520121800236653001201454653001301466100001901479700001801498700001801516700001601534700001301550700001501563700001601578856006801594 2017 eng d a1534-432000aGrasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study0 aGrasp Performance of a Soft SynergyBased Prosthetic Hand A Pilot c12/2017 a2407 - 24170 v253 a

Current prosthetic hands are frequently rejected in part due to limited functionality and versatility. We assessed the feasibility of a novel prosthetic hand, the SoftHand Pro (SHP), whose design combines soft robotics and hand postural synergies. Able-bodied subjects (n = 23) tracked cursor motion by opening and closing the SHP and performed a grasp-lift-hold-release (GLHR) task with a sensorized cylindrical object of variable weight. The SHP control was driven by electromyographic (EMG) signals from two antagonistic muscles. Although the time to perform the GLHR task was longer for the SHP than native hand for the first few trials (10.2 ± 1.4 s and 2.13 ± 0.09 s, respectively), performance was much faster on subsequent trials (~5 s). The SHP steady-state grip force was significantly modulated as a function of object weight (p <; 0.001). For the native hand, however, peak and steady-state grip forces were modulated to a greater extent (+68% and +91%, respectively). These changes were mediated by the modulation of EMG amplitude and co-contraction. These data suggest that the SHP has a promise for prosthetic applications and point-to-design modifications that could improve the SHP.

10aHaptics10aRobotics1 aGailey, A., S.1 aGodfrey, S.B.1 aBreighner, R.1 aAndrews, K.1 aZhao, K.1 aBicchi, A.1 aSantello, M uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=809424601991nas a2200265 4500008004100000022001400041245010900055210006900164260001200233300001200245490000700257520121600264653001201480653001301492100002101505700001701526700001601543700001801559700001801577700001701595700001401612700001501626700002001641856006401661 2017 eng d a1939-141200aAn Integrated Approach to Characterize the Behavior of a Human Fingertip in Contact with a Silica Window0 aIntegrated Approach to Characterize the Behavior of a Human Fing c01/2017 a123-1290 v103 a

Understanding the mechanisms of human tactual perception represents a challenging task in haptics and humanoid robotics. A classic approach to tackle this issue is to accurately and exhaustively characterize the mechanical behavior of human fingertip. The output of this characterization can then be exploited to drive the design of numerical models, which can be used to investigate in depth the mechanisms of human sensing. In this work, we present a novel integrated measurement technique and experimental set up for in vivo characterization of the deformation of the human fingertip at contact, in terms of contact area, force, deformation, and pressure distribution. The device presented here compresses the participant's fingertip against a flat surface, while the aforementioned measurements are acquired and experimental parameters such as velocity, finger orientation, and displacement (indentation) controlled. Experimental outcomes are then compared and integrated with the output of a 3D finite element (FE) model of the human fingertip, built upon existing validated models. The agreement between numerical and experimental data represents a validation for our approach.

10aHaptics10aRobotics1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aD'Imperio, M.1 aBattaglia, E.1 aPoggiani, M.1 aRossi, G.1 aBicchi, A.1 aCaldwell, D. G. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=757958202059nas a2200193 4500008004100000245007500041210006900116260001200185300001200197490000600209520150800215653001201723653001301735100001301748700001701761700001501778700002301793856004901816 2017 eng d00aOnline Model Based Estimation of Complete Joint Stiffness of Human Arm0 aOnline Model Based Estimation of Complete Joint Stiffness of Hum c01/2018 a84 - 910 v33 a

The endpoint stiffness of the human arm has been long recognized as a key component ensuring the quasi-static stability of the arm physical interactions with the external world. Similarly, the understanding of the joint stiffness behavior can provide complementary insights, e.g., on the underlying stiffness regulation principles across different joints including the nullspace stiffness profiles. Traditionally, the experimental modeling and estimation of the human arm joint stiffness is achieved by the transformation of the identified arm endpoint stiffness to the joint coordinates. Due to the underlying kinematic redundancy, the obtained joint stiffness matrix is rank-deficient which implies that the information in the joint stiffness matrix is incomplete. While in robotics applications this issue can be addressed by designing a desired nullspace stiffness behavior through appropriate projections, the use of a similar technique in the identification of human joint stiffness profile is meaningless. Hence, the first objective of this work is to address this issue by developing a novel technique to identify the complete and physiologically meaningful joint stiffness of human arm. Second, we present a model-based online estimation technique to estimate the seven-dimensional complete joint stiffness in various arm poses and activation levels of the two dominant arm muscles that correspond to the geometric and volume modifications of the joint stiffness profile, respectively.

10aHaptics10aRobotics1 aFang, C.1 aAjoudani, A.1 aBicchi, A.1 aTsagarakis, N., G. uhttp://ieeexplore.ieee.org/document/7990237/02408nas a2200241 4500008004100000245007300041210006900114260001200183520171500195653001201910653001301922100001801935700001601953700001501969700001501984700001401999700001302013700001802026700002002044700001602064700001502080856007102095 2017 eng d00aPostural Hand Synergies during Environmental Constraint Exploitation0 aPostural Hand Synergies during Environmental Constraint Exploita c08/20173 a

Humans are able to intuitively exploit the shape of an object and environmental constraints to achieve stable grasps and perform dexterous manipulations. In doing that, a vast range of kinematic strategies can be observed. However, in this work we formulate the hypothesis that such ability can be described in terms of a synergistic behavior in the generation of hand postures, i.e., using a reduced set of commonly used kinematic patterns. This is in analogy with previous studies showing the presence of such behavior in different tasks, such as grasping. We investigated this hypothesis in experiments performed by six subjects, who were asked to grasp objects from a flat surface. We quantitatively characterized hand posture behavior from a kinematic perspective, i.e., the hand joint angles, in both pre-shaping and during the interaction with the environment. To determine the role of tactile feedback, we repeated the same experiments but with subjects wearing a rigid shell on the fingertips to reduce cutaneous afferent inputs. Results show the persistence of at least two postural synergies in all the considered experimental conditions and phases. Tactile impairment does not alter significantly the first two synergies, and contact with the environment generates a change only for higher order Principal Components. A good match also arises between the first synergy found in our analysis and the first synergy of grasping as quantified by previous work. The present study is motivated by the interest of learning from the human example, extracting lessons that can be applied in robot design and control. Thus, we conclude with a discussion on implications for robotics of our findings.

10aHaptics10aRobotics1 aDella Santina1 aBianchi, M.1 aAverta, G.1 aCiotti, S.1 aArapi, V.1 aFani, S.1 aBattaglia, E.1 aCatalano, M. G.1 aSantello, M1 aBicchi, A. uhttps://www.frontiersin.org/articles/10.3389/fnbot.2017.00041/full01625nas a2200181 4500008003900000245008500039210006900124260007100193520094800264653001201212100001801224700001801242700001601260700002001276700001501296700002101311856011101332 2017 d00aThe Rice Haptic Rocker: skin stretch haptic feedback with the Pisa/IIT SoftHand 0 aRice Haptic Rocker skin stretch haptic feedback with the PisaIIT aFürstenfeldbruck (Munich), Germany, June 6-9, 2017bIEEEc06/20173 a

Myoelectric prostheses have seen increased application in clinical practice and research, due to their potential for good functionality and versatility. Yet, myoelectric prostheses still suffer from a lack of intuitive control and haptic feedback, which can frustrate users and lead to abandonment. To address this problem, we propose to convey proprioceptive information for a prosthetic hand with skin stretch using the Rice Haptic Rocker. This device was integrated with the myo-controlled version of Pisa/IIT SoftHand and a size discrimination test with 18 able bodied subjects was performed to evaluate the effectiveness of the proposed approach. Results show that the Rice Haptic Rocker can be successfully used to convey proprioceptive information. A Likert survey was also presented to the experiment participants, who evaluated the integrated setup as easy to use and effective in conveying proprioception.

10aHaptics1 aBattaglia, E.1 aClark, J., P.1 aBianchi, M.1 aCatalano, M. G.1 aBicchi, A.1 aO'Malley, M., K. uhttp://615830.rige.asia/publications/rice-haptic-rocker-skin-stretch-haptic-feedback-pisaiit-softhand.html02276nas a2200229 4500008004100000022001400041245008300055210006900138260001200207300001200219490000600231520166100237653001201898100001601910700001601926700001401942700001401956700001701970700001501987700002002002856002402022 2017 eng d a1875-479100aOn the Role of Affective Properties in Hedonic and Discriminant Haptic Systems0 aRole of Affective Properties in Hedonic and Discriminant Haptic  c01/2017 a87–950 v93 a

Common haptic devices are designed to effectively provide kinaesthetic and/or cutaneous discriminative inputs to the users by modulating some physical parameters. However, in addition to this behavior, haptic stimuli were proven to convey also affective inputs to the brain. Nevertheless, such affective properties of touch are often disregarded in the design (and consequent validation) of haptic displays. In this paper we present some preliminary experimental evidences about how emotional feelings, intrinsically present while interacting with tactile displays, can be assessed. We propose a methodology based on a bidimensional model of elicited emotions evaluated by means of simple psychometric tests and statistical inference. Specifically, affective dimensions are expressed in terms of arousal and valence, which are quantified through two simple one-question psychometric tests, whereas statistical inference is based on rank-based non-parametric tests. In this work we consider two types of haptic systems: (i) a softness display, FYD-2, which was designed to convey purely discriminative softness haptic stimuli and (ii) a system designed to convey affective caress-like stimuli (by regulating the velocity and the strength of the “caress”) on the user forearm. Gender differences were also considered. In both devices, the affective component clearly depends on the stimuli and it is gender-related. Finally, we discuss how such outcomes might be profitably used to guide the design and the usage of haptic devices, in order to take into account also the emotional component, thus improving system performance.

10aHaptics1 aBianchi, M.1 aValenza, G.1 aLanata, A1 aGreco, A.1 aNardelli, M.1 aBicchi, A.1 aScilingo, E. P. uhttp://rdcu.be/ugoW00686nas a2200217 4500008004100000022001400041245011700055210006900172260001200241653001200253653001300265100001400278700002000292700001900312700001400331700001500345700001600360700001300376700001500389856006400404 2017 eng d a1070-993200aThe SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working 0 aSoftHand ProH A Hybrid BodyControlled Electrically Powered Hand  c11/201710aHaptics10aRobotics1 aPiazza, C1 aCatalano, M. G.1 aGodfrey, S. B.1 aRossi, M.1 aGrioli, G.1 aBianchi, M.1 aZhao, K.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=811063402026nas a2200193 4500008003900000245008300039210006900122260007100191520131600262653001201578100001601590700001901606700001501625700002201640700001701662700001901679700001501698856011901713 2017 d00aTactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions0 aTactile Slip and Hand Displacement Bending Hand Motion with Tact aFürstenfeldbruck (Munich), Germany, June 6-9, 2017bIEEEc06/20173 a

Touch provides an important cue to perceive the physical properties of the external objects. Recent studies showed that tactile sensation also contributes to our sense of hand position and displacement in perceptual tasks. In this study, we tested the hypothesis that, sliding our hand over a stationary surface, tactile motion may provide a feedback for guiding hand trajectory. We asked participants to touch a plate having parallel ridges at different orientations and to perform a self-paced, straight movement of the hand. In our daily-life experience, tactile slip motion is equal and opposite to hand motion. Here, we used a well-established perceptual illusion to dissociate, in a controlled manner, the two motion estimates. According to previous studies, this stimulus produces a bias in the perceived direction of tactile motion, predicted by tactile flow model. We showed a systematic deviation in the movement of the hand towards a direction opposite to the one predicted by tactile flow, supporting the hypothesis that touch contributes to motor control of the hand. We suggested a model where the perceived hand motion is equal to a weighted sum of the estimate from classical proprioceptive cues (e.g., from musculoskeletal system) and the estimate from tactile slip.

10aHaptics1 aBianchi, M.1 aMoscatelli, A.1 aCiotti, S.1 aBettelani, G., C.1 aFioretti, F.1 aLacquaniti, F.1 aBicchi, A. uhttp://615830.rige.asia/publications/tactile-slip-and-hand-displacement-bending-hand-motion-tactile-illusions.html02880nas a2200229 4500008004100000245015000041210006900191260001200260490000700272520216800279653001202447653001302459100001302472700001602485700001302501700001802514700001402532700001502546700001502561700001602576856005802592 2016 eng d00aAssessment of Myoelectric Controller Performance and Kinematic Behavior of a Novel Soft Synergy-inspired Robotic Hand for Prosthetic Applications0 aAssessment of Myoelectric Controller Performance and Kinematic B c10/20160 v103 a

Myoelectric-artificial limbs can significantly advance the state of the art in prosthetics, since they can be used to control mechatronic devices through muscular activity in a way that mimics how the subjects used to activate their muscles before limb loss. However, surveys indicate that dissatisfaction with the functionality of terminal devices underlies the widespread abandonment of prostheses. We believe that one key factor to improve acceptability of prosthetic devices is to attain human-likeness of prosthesis movements, a goal which is being pursued by research on social and human-robot interactions. Therefore, to reduce early abandonment of terminal devices, we propose that controllers should be designed such as to ensure effective task accomplishment in a natural fashion. In this work, we have analyzed and compared the performance of three types of myoelectric controller algorithms based on surface electromyography to control an under-actuated and multi-degrees of freedom prosthetic hand, the SoftHand Pro. The goal of the present study was to identify the myoelectric algorithm that best mimics the native hand movements. As a preliminary step, we first quantified the repeatability of the SoftHand Pro finger movements and identified the electromyographic recording sites for able-bodied individuals with the highest signal-to-noise ratio from two pairs of muscles, i.e. flexor digitorum superficialis/extensor digitorum communis, and flexor carpi radialis/extensor carpi ulnaris. Able-bodied volunteers were then asked to execute reach-to-grasp movements, while electromyography signals were recorded from flexor digitorum superficialis/extensor digitorum communis as this was identified as the muscle pair characterized by high signal-to-noise ratio and intuitive control. Subsequently, we tested three myoelectric controllers that mapped electromyography signals to position of the SoftHand Pro. We found that a differential electromyography-to-position mapping ensured the highest coherence with hand movements. Our results represent a first step towards a more effective and intuitive control of myoelectric hand prostheses.

10aHaptics10aRobotics1 aFani, S.1 aBianchi, M.1 aJain, S.1 aNeto, Pimenta1 aBoege, S.1 aGrioli, G.1 aBicchi, A.1 aSantello, M uhttps://www.ncbi.nlm.nih.gov/pmc/articles/PMC5066092/02143nas a2200229 4500008004100000245007100041210006700112260001200179300001600191490000700207520149200214653001201706653001301718100001901731700001601750700001401766700001701780700001601797700001401813700001501827856007101842 2016 eng d00aThe Change in Fingertip Contact Area as a Novel Proprioceptive Cue0 aChange in Fingertip Contact Area as a Novel Proprioceptive Cue c05/2016 a1159–11630 v263 a

Humans, many animals, and certain robotic hands have deformable fingertip pads. Deformable pads have the advantage of conforming to the objects that are being touched, ensuring a stable grasp for a large range of forces and shapes. Pad deformations change with finger displacements during touch. Pushing a finger against an external surface typically provokes an increase of the gross contact area, potentially providing a relative motion cue, a situation comparable to looming in vision. The rate of increase of the area of contact also depends on the compliance of the object. Because objects normally do not suddenly change compliance, participants may interpret an artificially induced variation in compliance, which coincides with a change in the gross contact area, as a change in finger displacement, and consequently they may misestimate their finger’s position relative to the touched object. To test this, we asked participants to compare the perceived displacements of their finger while contacting an object varying pseudo-randomly in compliance from trial to trial. Results indicate a bias in the perception of finger displacement induced by the change in compliance, hence in contact area, indicating that participants interpreted the altered cutaneous input as a cue to proprioception. This situation highlights the capacity of the brain to take advantage of knowledge of the mechanical properties of the body and of the external environment.

10aHaptics10aRobotics1 aMoscatelli, A.1 aBianchi, M.1 aSerio, A.1 aTerekhov, A.1 aHayward, V.1 aErnst, M.1 aBicchi, A. uhttp://www.sciencedirect.com/science/article/pii/S096098221630134800907nas a2200301 4500008004100000245012600041210006900167260001200236300000900248490000700257653001200264653001300276100001600289700001600305700001700321700001700338700001700355700002000372700001400392700001900406700001700425700001500442700002100457700002200478700001900500700001500519856007100534 2016 eng d00aHand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands0 aHand synergies Integration of robotics and neuroscience for unde c07/2016 a1-230 v1710aHaptics10aRobotics1 aSantello, M1 aBianchi, M.1 aGabiccini, M1 aRicciardi, E1 aSalvietti, G1 aPrattichizzo, D1 aErnst, M.1 aMoscatelli, A.1 aJorntell, H.1 aKappers, A1 aKyriakopulos, K.1 aAlbu-Schaeffer, A1 aCastellini, C.1 aBicchi, A. uhttp://www.sciencedirect.com/science/article/pii/S157106451600026902566nas a2200157 4500008004100000020002200041245010300063210006900166260001300235520205000248653001202298653001302310100001602323700001902339856005002358 2016 eng d a978-3-319-26706-700aHuman and Robot Hands - Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics0 aHuman and Robot Hands Sensorimotor Synergies to Bridge the Gap B bSpringer3 a

This book looks at the common problems both human and robotic hands encounter when controlling the large number of joints, actuators and sensors required to efficiently perform motor tasks such as object exploration, manipulation and grasping. The authors adopt an integrated approach to explore the control of the hand based on sensorimotor synergies that can be applied in both neuroscience and robotics.  Hand synergies are based on goal-directed, combined muscle and kinematic activation leading to a reduction of the dimensionality of the motor and sensory space, presenting a highly effective solution for the fast and simplified design of artificial systems.

Presented in two parts, the first part, Neuroscience, provides the theoretical and experimental foundations to describe the synergistic organization of the human hand. The second part, Robotics, Models and Sensing Tools, exploits the framework of hand synergies to better control and design robotic hands and haptic/sensing systems/tools, using a reduced number of control inputs/sensors, with the goal of pushing their effectiveness close to the natural one.

Human and Robot Hands provides a valuable reference for students, researchers and designers who are interested in the study and design of the artificial hand.

10aHaptics10aRobotics1 aBianchi, M.1 aMoscatelli, A. uhttp://www.springer.com/us/book/978331926705001722nas a2200181 4500008004100000245006900041210006500110490000700175520120200182653001201384100001601396700001601412700001701428700001501445700001801460700001701478856004501495 2016 eng d00aA Multi-Modal Sensing Glove for Human Manual-Interaction Studies0 aMultiModal Sensing Glove for Human ManualInteraction Studies0 v 53 a

We present an integrated sensing glove that combines two of the most visionary wearable sensing technologies to provide both hand posture sensing and tactile pressure sensing in a unique, lightweight, and stretchable device. Namely, hand posture reconstruction employs Knitted Piezoresistive Fabrics that allows us to measure bending. From only five of these sensors (one for each finger) the full hand pose of a 19 degrees of freedom (DOF) hand model is reconstructed leveraging optimal sensor placement and estimation techniques. To this end, we exploit a-priori information of synergistic coordination patterns in grasping tasks. Tactile sensing employs a piezoresistive fabric allowing us to measure normal forces in more than 50 taxels spread over the palmar surface of the glove. We describe both sensing technologies, report on the software integration of both modalities, and describe a preliminary evaluation experiment analyzing hand postures and force patterns during grasping. Results of the reconstruction are promising and encourage us to push further our approach with potential applications in neuroscience, virtual reality, robotics and tele-operation.

10aHaptics1 aBianchi, M.1 aHaschke, R.1 aBüscher, G.1 aCiotti, S.1 aCarbonaro, N.1 aTognetti, A. uhttp://www.mdpi.com/2079-9292/5/3/42/pdf02465nas a2200217 4500008004500000245006700045210006600112260002800178300001600206520181400222653001202036653001302048100001702061700001702078700001702095700001402112700001802126700002002144700001502164856006802179 2016 engldsh 00aReflex Control of the Pisa/IIT SoftHand during Object Slippage0 aReflex Control of the PisaIIT SoftHand during Object Slippage aStockholm, SwedenbIEEE a1972 - 19793 a

In this work, to guarantee the Pisa/IIT SoftHand’s

grasp robustness against slippage, three reflex control modes,

namely Current, Pose and Impedance, are implemented and

experimentally evaluated. Towards this objective, ThimbleSense

fingertip sensors are designed and integrated into the thumb

and middle fingers of the SoftHand for real-time detection and

control of the slippage. Current reflex regulates the restoring

grasp forces of the hand by modulating the motor’s current

profile according to an update law. Pose and Impedance reflex

modes instead replicate this behaviour by implementing an

impedance control scheme. The difference between the two

latter is that the stiffness gain in Impedance reflex mode is

being varied in addition to the hand pose, as a function of

the slippage on the fingertips. Experimental setup also includes

a seven degrees-of-freedom robotic arm to realize consistent

trajectories (e.g. lifting) among three control modes for the sake

of comparison. Different test objects are considered to evaluate

the efficacy of the proposed reflex modes in our experimental

setup. Results suggest that task-appropriate restoring forces

can be achieved using Impedance reflex due to its capability

in demonstrating instantaneous and rather smooth reflexive

behaviour during slippage. Preliminary experiments on five

healthy human subjects provide evidence on the similarity of the

control concepts exploited by the humans and the one realized

by the Impedance reflex, highlighting its potential in prosthetic

applications.

10aHaptics10aRobotics1 aAjoudani, A.1 aHocaoglu, E.1 aAltobelli, A1 aRossi, M.1 aBattaglia, E.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=748734401531nas a2200277 4500008004100000022002200041245007600063210006900139260003800208300001200246490000700258520073400265653001200999653001301011100001901024700001601043700001301059700002001072700001801092700001501110700001601125700001501141700001601156700001501172856006601187 2016 eng d a978-3-319-46668-200aThe SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype0 aSoftHand Pro Translation from Robotic Hand to Prosthetic Prototy bSpringer International Publishing a469-4730 v153 a

This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.

10aHaptics10aRobotics1 aGodfrey, S. B.1 aBianchi, M.1 aZhao, K.1 aCatalano, M. G.1 aBreighner, R.1 aTheuer, A.1 aAndrews, K.1 aGrioli, G.1 aSantello, M1 aBicchi, A. uhttp://link.springer.com/chapter/10.1007/978-3-319-46669-9_7801929nas a2200205 4500008003900000245012300039210006900162260003900231300001600270520124500286653001201531653001301543100001401556700001801570700002001588700001501608700001701623700001501640856006801655 2016 d00aSoftHand Pro-D: Matching Dynamic Content of Natural User Commands with Hand Embodiment for Enhanced Prosthesis Control0 aSoftHand ProD Matching Dynamic Content of Natural User Commands  aStockholm, Sweden, May 16-21bIEEE a3516 - 35233 a

State of the art of hand prosthetics is divided between simple and reliable gripper-like systems and sophisticate hi-tech poly-articular hands which tend to be complex both in their design and for the patient to operate. In this paper, we introduce the idea of decoding different movement intentions of the patient using the dynamic frequency content of the control signals in a natural way. We move a step further showing how this idea can be embedded in the mechanics of an underactuated soft hand by using only passive damping components.

In particular we devise a method to design the hand hardware to obtain a given desired motion. This method, that we call of the dynamic synergies, builds on the theory of linear descriptor systems, and is based on the division of the hand movement in a slow and a fast components. We use this method to evolve the design of the Pisa/IIT SoftHand in a prototype prosthesis which, while still having 19 degrees of freedom and just one motor, can move along two different synergistic directions of motion (and combinations of the two), to perform either a pinch or a power grasp. Preliminary experimental results are presented, demonstrating the effectiveness of the proposed design

10aHaptics10aRobotics1 aPiazza, C1 aDella Santina1 aCatalano, M. G.1 aGrioli, G.1 aGarabini, M.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=748753201917nas a2200181 4500008004100000245008600041210006900127490000700196520137800203653001201581100001501593700001801608700001801626700001501644700001701659700001601676856004301692 2016 eng d00aA Synergy-Based Optimally Designed Sensing Glove for Functional Grasp Recognition0 aSynergyBased Optimally Designed Sensing Glove for Functional Gra0 v163 a

Achieving accurate and reliable kinematic hand pose reconstructions represents a challenging task. The main reason for this is the complexity of hand biomechanics, where several degrees of freedom are distributed along a continuous deformable structure. Wearable sensing can represent a viable solution to tackle this issue, since it enables a more natural kinematic monitoring. However, the intrinsic accuracy (as well as the number of sensing elements) of wearable hand pose reconstruction (HPR) systems can be severely limited by ergonomics and cost considerations. In this paper, we combined the theoretical foundations of the optimal design of HPR devices based on hand synergy information, i.e., the inter-joint covariation patterns, with textile goniometers based on knitted piezoresistive fabrics (KPF) technology, to develop, for the first time, an optimally-designed under-sensed glove for measuring hand kinematics. We used only five sensors optimally placed on the hand and completed hand pose reconstruction (described according to a kinematic model with 19 degrees of freedom) leveraging upon synergistic information. The reconstructions we obtained from five different subjects were used to implement an unsupervised method for the recognition of eight functional grasps, showing a high degree of accuracy and robustness.

10aHaptics1 aCiotti, S.1 aBattaglia, E.1 aCarbonaro, N.1 aBicchi, A.1 aTognetti, A.1 aBianchi, M. uhttp://www.mdpi.com/1424-8220/16/6/81102077nas a2200253 4500008004100000022001400041245007300055210006900128260001200197300001200209490000600221520137200227653001201599653001301611100001801624700001601642700001701658700001501675700002001690700001401710700001601724700001501740856006801755 2016 eng d a1939-141200aThimbleSense: a fingertip-wearable tactile sensor for grasp analysis0 aThimbleSense a fingertipwearable tactile sensor for grasp analys c03/2016 a121-1330 v93 a

Accurate measurement of contact forces between hand and grasped objects is crucial to study sensorimotor control during grasp and manipulation. In this work we introduce ThimbleSense, a prototype of individual-digit wearable force/torque sensor based on the principle of intrinsic tactile sensing. By exploiting the integration of this approach with an active marker-based motion capture system, the proposed device simultaneously measures absolute position and orientation of the fingertip, which in turn yields measurements of contacts and force components expressed in a global reference frame. The main advantage of this approach with respect to more conventional solutions is its versatility. Specifically, ThimbleSense can be used to study grasping and manipulation of a wide variety of objects, while still retaining complete force/torque measurements. Nevertheless, validation of the proposed device is a necessary step before it can be used for experimental purposes. In this work we present the results of a series of experiments designed to validate the accuracy of ThimbleSense measurements and evaluate the effects of distortion of tactile afferent inputs caused by the device’s rigid shells on grasp forces.

10aHaptics10aRobotics1 aBattaglia, E.1 aBianchi, M.1 aAltobelli, A1 aGrioli, G.1 aCatalano, M. G.1 aSerio, A.1 aSantello, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=729470202024nas a2200181 4500008003900000245006600039210006200105260004600167520136700213653001201580653001301592100001601605700001801621700001701639700001501656700001501671856015601686 2016 d00aA Wearable Fabric-based Display for Haptic Multi-Cue Delivery0 aWearable Fabricbased Display for Haptic MultiCue Delivery aPhiladelphia, USA, April 8-11, 2016bIEEE3 a

Softness represents one of the most informative

haptic properties, which plays a fundamental role in both

everyday tasks and more complex procedures. Thus, it is not

surprising that much effort has been devoted to designing haptic

systems able to suitably reproduce this information. At the

same time, wearability has gained an increasing importance as

a novel paradigm to enable a more effective and naturalistic

human robot interaction. Capitalizing upon our previous works

on grounded softness devices, in this paper we present the

Wearable Fabric Yielding Display (W-FYD), a fabric-based

tactile display for multi-cue delivery that can be worn by

user’s finger. W-FYD enables to implement both passive and

active tactile exploration. Different levels of stiffness can be

reproduced by modulating the stretching state of a fabric

through two DC motors. An additional vertical degree of

freedom is implemented through a lifting mechanism, which

enables to convey softness stimuli to the user’s finger pad.

Furthermore, a sliding effect on the finger can be also induced.

Experiments with humans show the effectiveness of W-FYD for

haptic multi-cue delivery.

10aHaptics10aRobotics1 aBianchi, M.1 aBattaglia, E.1 aPoggiani, M.1 aCiotti, S.1 aBicchi, A. uhttp://ieeexplore.ieee.org/search/searchresult.jsp?queryText=A%20Wearable%20Fabric-based%20Display%20for%20Haptic%20Multi-Cue%20Delivery&newsearch=true04167nas a2200229 4500008004500000245007700045210006900122260003400191300001000225520347300235653001203708653001303720100001503733700002103748700001703769700001603786700001303802700001503815700002003830700001903850856006803869 2015 engldsh 00aCharacterization of Nonlinear Finger Pad Mechanics for Tactile Rendering0 aCharacterization of Nonlinear Finger Pad Mechanics for Tactile R aChicago, USA, 22-25 June 2015 a63-683 a

The computation of skin forces and deformations for tactile rendering requires an accurate model of the extremely nonlinear behavior of the skin. In this work, we investigate the characterization of fingermechanics with the goal of designing accurate nonlinear models for tactile rendering. First, we describe a measurement setup that enables the acquisition of contact force and contact area in the context of controlled finger indentation experiments. Second, we describe an optimization procedure that estimates the parameters of strain-limiting deformation models that match best the acquired data. We show that the acquisition setup allows the measurement of force and area information with high repeatability, and the estimation method reaches nonlinear models that match the measured data with high accuracy.

10aHaptics10aRobotics1 aMiguel, E.1 aD'Angelo, M., L.1 aCannella, F.1 aBianchi, M.1 aMemeo, M1 aBicchi, A.1 aCaldwell, D. G.1 aOtaduy, M., A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=717769202104nas a2200157 4500008004100000245006700041210006600108300001200174490000600186520159500192653001201787653001301799100001601812700001401828856010401842 2015 eng d00aDesign and Characterization of a Fabric-based Softness Display0 aDesign and Characterization of a Fabricbased Softness Display a152-1630 v83 a

To enable a realistic tactile interaction with remote or virtual objects, softness information represents a fundamental property to be rendered via haptic devices. What is challenging is to reduce the complexity of such an information as it arises from contact mechanics and to find suitable simplifications that can lead an effective development of softness displays. A possible approach is to surrogate detailed tactile cues with information on the rate of spread of the contact area between the object and the finger as the contact force increases, i.e. force/area relation. This paradigm is called contact area spread rate. In this paper we discuss how such a paradigm has inspired the design of a tactile device (hereinafter referred to as Fabric Yielding Display, FYD-2), which exploits the elasticity of a fabric to mimic different levels of stiffness, while the contact area on the finger indenting the fabric is measured. In this manner, the FYD-2 can be controlled to reproduce force-area characteristics. In this work, we describe the FYD-2 architecture and report a psychophysical characterization. FYD-2 is shown to be able to accurately reproduce force-area curves of typical objects and to enable a reliable softness discrimination in human users.

10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A. uhttp://615830.rige.asia/publications/design-and-characterization-fabric-based-softness-display.html01545nas a2200193 4500008003900000245007300039210006900112260004500181300001400226520093500240653001201175653001301187100001801200700001501218700002001233700001501253700001501268856006801283 2015 d00aDexterity augmentation on a synergistic hand: the Pisa/IIT SoftHand+0 aDexterity augmentation on a synergistic hand the PisaIIT SoftHan aSeoul, Korea, November 3 - 5, 2015bIEEE a497 - 5033 a
Soft robotics and under-actuation were recently demonstrated as good approaches for the implementation of humanoid robotic hands. Nevertheless, it is often difficult to increase the number of degrees of actuation of heavily under-actuated hands without compromising their intrinsic simplicity. In this paper we analyze the Pisa/IIT SoftHand and its underlying logic of adaptive synergies, and propose a method to double its number of degree of actuation, with a very reduced impact on its mechanical complexity. This new design paradigm is based on constructive exploitation of friction phenomena.
Based on this method, a novel prototype of under-actuated robot hand with two degrees of actuation is proposed, named Pisa/IIT SoftHand+. A preliminary validation of the prototype follows, based on grasping and manipulation examples of some objects.
10aHaptics10aRobotics1 aDella Santina1 aGrioli, G.1 aCatalano, M. G.1 aBrando, A.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=736359501921nas a2200181 4500008003900000245007200039210006900111260004900180300001600229520133600245653001201581653001301593100001901606700001701625700001401642700001501656856006801671 2015 d00aEffect of Homogenous Object Stiffness on Tri-digit Grasp Properties0 aEffect of Homogenous Object Stiffness on Tridigit Grasp Properti a Milano, Italy, August 25th-29th, 2015bIEEE a6704 - 67073 a
This paper presents experimental findings on how humans modulate their muscle activity while grasping objects of varying levels of compliance. We hypothesize that one of the key abilities that allows humans to successfully cope with uncertainties while grasping compliant objects is the ability to modulate muscle activity to control both grasp force and stiffness in a way that is coherent with the task. To that end, subjects were recruited to perform a grasp and lift task with a tripod-grasp device with contact surfaces of variable compliance. Subjects performed the task under four different compliance conditions while surface EMG from the main finger flexor and extensor muscles was recorded along with force and torque data at the contact points. Significant increases in the extensor muscle (the antagonist in the task) and co-contraction levels were found with increasing compliance at the contact points. These results suggest that the motor system may employ a strategy of increasing cocontraction, and thereby stiffness, to counteract the decreased stability in grasping compliant objects. Future experiments will examine the extent to which this phenomenon is also related to specific task features, such as precision versus power grasp and object weight.
 
10aHaptics10aRobotics1 aGodfrey, S. B.1 aAltobelli, A1 aRossi, M.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=731993105694nas a2200193 4500008004500000245008600045210006900131260004300200300001200243520507000255653001205325653001305337100001405350700001705364700001905381700001705400700001505417856006805432 2015 engldsh 00aElectromyographic Mapping of Finger Stiffness in Tripod Grasp: a Proof of Concept0 aElectromyographic Mapping of Finger Stiffness in Tripod Grasp a  aSingapore, 11 – 14 August 2015bIEEE a181-1863 a

Effective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the finger motion and stiffnesstrajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the concept of hand synergies. While the exploitation of this concept in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human fingers and establish initial steps towards a real-time and effective modelling of the finger stiffness in a tripod grasp. To achieve this goal, the endpoint stiffness of the thumb, index and middle fingers of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of thestiffness ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses' axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair.

10aHaptics10aRobotics1 aRossi, M.1 aAltobelli, A1 aGodfrey, S. B.1 aAjoudani, A.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=728119600659nas a2200205 4500008003900000245006700039210006500106260004800171300001600219653001200235653001300247100001800260700001600278700002100294700001800315700001700333700002000350700001500370856006800385 2015 d00aA Finite Element Model of Tactile Flow for Softness Perception0 aFinite Element Model of Tactile Flow for Softness Perception aMilano, Italy, August 25th-29th, 2015bIEEE a2430 - 243310aHaptics10aRobotics1 aBattaglia, E.1 aBianchi, M.1 aD'Angelo, M., L.1 aD'Imperio, M.1 aCannella, F.1 aScilingo, E. P.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=731888400700nas a2200169 4500008003900000245007500039210006900114260006000183300001400243653001200257653001300269100001500282700001600297700001700313700001500330856018500345 2015 d00aGrasp Planning with Soft Hands using Bounding Box Object Decomposition0 aGrasp Planning with Soft Hands using Bounding Box Object Decompo aHamburg, Germany, September 28 - October 02, 2015bIEEE a518 - 52310aHaptics10aRobotics1 aBonilla, M1 aResasco, D.1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=7353421&queryText=Grasp%20Planning%20with%20Soft%20Hands%20using%20Bounding%20Box%20Object%20Decomposition&newsearch=true06962nas a2200181 4500008004500000245008700045210006900132260004000201300001000241520637400251653001206625653001306637100001606650700001706666700001406683700001506697856006806712 2015 engldsh 00aA Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks0 aNovel Tactile Display for Softness and Texture Rendering in Tele aChicago, USA, 22-25 June 2015bIEEE a49-563 a

Softness and texture high-frequency information represent fundamental haptic properties for every day life activities and environment tactual exploration. While several displays have been produced to convey either softness or high-frequency information, there is no or little evidence of systems that are able to reproduce both these properties in an integrated fashion. This aspect is especially crucial in medical tele-operated procedures, where roughness and stiffness of human tissues are both important to correctly identify given pathologies through palpation (e.g. in tele-dermatology). This work presents a fabric yielding display (FYD-pad), a fabric-based tactile display for softness and texture rendering. The system exploits the control of two motors to modify both the stretching state of the elastic fabric forsoftness rendering and to convey texture information on the basis of accelerometer-based data. At the same time, the measurement of the contact area can be used to control remote or virtual robots. In this paper, we discuss the architecture of FYD-pad and the techniques used for softness and texturereproduction as well as for synthesizing probe-surface interactions from real data. Tele-operationexamples and preliminary experiments with humans are reported, which show the effectiveness of the device in delivering both softness and texture information.

10aHaptics10aRobotics1 aBianchi, M.1 aPoggiani, M.1 aSerio, A.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=717769000610nas a2200157 4500008003900000245010700039210006900146260003000215300001600245653001200261653001300273100001600286700001700302700001500319856011800334 2015 d00aOptimal Contact Force Distribution for Compliant Humanoid Robots in Whole-Body Loco-Manipulation Tasks0 aOptimal Contact Force Distribution for Compliant Humanoid Robots aSeattle, USA, 25 - 30 May a5675 - 568110aHaptics10aRobotics1 aFarnioli, E1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/optimal-contact-force-distribution-compliant-humanoid-robots-whole-body-loco02477nas a2200181 4500008004500000245010600045210006900151260004900220300001600269520185200285653001202137653001302149100001702162700001302179700002002192700001502212856006802227 2015 engldsh 00aA Reduced-Complexity Description of Arm Endpoint Stiffness with Applications to Teleimpedance Control0 aReducedComplexity Description of Arm Endpoint Stiffness with App aHamburg, Germany, 28 Sept - 2 Oct 2015bIEEE a1017 - 10233 a

Effective and stable execution of a remote task in an uncertain environment requires that the task force and position trajectories of the slave robot be appropriately commanded. To achieve this goal, in teleimpedance control, a reference command which consists of the stiffness and position profiles of the master is computed and realized by the compliant slave robot in real-time. This highlights the need for a suitable and computationally efficient tracking of the human limb stiffness profile in real-time. In this direction, based on the observations in human neuromotor control which give evidence on the predominant use of the arm configuration in directional adjustments of the endpoint stiffness profile, and the role of muscular co-activations which contribute to a coordinated stiffening of the task stiffness in all directions, we propose a novel and computationally efficient model of the arm endpoint stiffness behaviour. With the purpose of real-time tracking of the human arm kinematics, an arm triangle is introduced using three body markers at the shoulder, elbow and wrist joints. In addition, a co-contraction index is defined using muscular activities of a dominant antagonistic muscle pair. Calibration and identification of the model parameters are carried out experimentally, using perturbation-based arm endpoint stiffness measurements in different arm configurations and co-contraction levels of the chosen muscles. Results of this study suggest that the proposed model enables the master to naturally execute a remote task by modulating the direction of the major axes of the endpoint stiffness and its volume using arm configuration and the co-ativation of the involved muscles, respectively.

10aHaptics10aRobotics1 aAjoudani, A.1 aFang, C.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=735349500549nas a2200169 4500008003900000245005900039210005900098260002300157300001700180653001200197653001300209100001500222700001700237700001700254700001500271856009300286 2014 d00aActive gathering of frictional properties from objects0 aActive gathering of frictional properties from objects aChicago, USAbIEEE a3982 - 3987 10aHaptics10aRobotics1 aRosales, C1 aAjoudani, A.1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/active-gathering-frictional-properties-objects.html00620nas a2200193 4500008004100000245007500041210006900116300001400185490000700199653001200206653001300218100002000231700001500251700001600266700001400282700001400296700001500310856010100325 2014 eng d00aAdaptive Synergies for the Design and Control of the Pisa/IIT SoftHand0 aAdaptive Synergies for the Design and Control of the PisaIIT Sof a768–7820 v3310aHaptics10aRobotics1 aCatalano, M. G.1 aGrioli, G.1 aFarnioli, E1 aSerio, A.1 aPiazza, C1 aBicchi, A. uhttp://615830.rige.asia/publications/adaptive-synergies-design-and-control-pisaiit-softhand.html00866nas a2200241 4500008003900000245009000039210006900129260005200198300001200250490008500262653001200347653001300359100001900372700001600391700001400407700001500421700001300436700001700449700001600466700001400482700001500496856011300511 2014 d00aA change in the fingertip contact area induces an illusory displacement of the finger0 achange in the fingertip contact area induces an illusory displac aVersailles, France), June 2014bSpringer-Verlag a72 - 790 vLNCS - Free Preview Haptics: Neuroscience, Devices, Modeling, and Applications10aHaptics10aRobotics1 aMoscatelli, A.1 aBianchi, M.1 aSerio, A.1 aAtassi, Al1 aFani, S.1 aTerekhov, A.1 aHayward, V.1 aErnst, M.1 aBicchi, A. uhttp://615830.rige.asia/publications/change-fingertip-contact-area-induces-illusory-displacement-finger.html00727nas a2200217 4500008003900000245009400039210006900133260001600202300001500218653001200233653001300245100001600258700001600274700001400290700001400304700001300318700001700331700002000348700001500368856012600383 2014 d00aDesign and preliminary affective characterization of a novel fabric-based tactile display0 aDesign and preliminary affective characterization of a novel fab aHouston, TX a 591 - 59610aHaptics10aRobotics1 aBianchi, M.1 aValenza, G.1 aSerio, A.1 aLanata, A1 aGreco, L1 aNardelli, M.1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/design-and-preliminary-affective-characterization-novel-fabric-based-tactile-display00715nas a2200193 4500008003900000245010500039210006900144260004000213653001200253653001300265100001600278700001800294700001800312700001600330700001500346700001700361700001700378856012600395 2014 d00aExploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition0 aExploiting hand kinematic synergies and wearable undersensing fo aNovember 3–5, 2014 Athens, Greece10aHaptics10aRobotics1 aBianchi, M.1 aCarbonaro, N.1 aBattaglia, E.1 aLorussi, F.1 aBicchi, A.1 aDe Rossi, D.1 aTognetti, A. uhttp://615830.rige.asia/publications/exploiting-hand-kinematic-synergies-and-wearable-under-sensing-hand-functional-grasp00564nas a2200181 4500008003900000245005600039210005500095260001600150653001200166653001300178100001900191700001700210700001600227700002000243700001500263700001500278856008900293 2014 d00aExploring haptic feedback for the Pisa/IIT SoftHand0 aExploring haptic feedback for the PisaIIT SoftHand aHouston, TX10aHaptics10aRobotics1 aGodfrey, S. B.1 aAjoudani, A.1 aBianchi, M.1 aCatalano, M. G.1 aGrioli, G.1 aBicchi, A. uhttp://615830.rige.asia/publications/exploring-haptic-feedback-pisaiit-softhand.html00647nas a2200205 4500008004100000245009600041210006900137300001400206490000600220653001200226653001300238100001700251700001900268700002000287700001600307700001500323700002000338700001500358856006800373 2014 eng d00aExploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand0 aExploring Teleimpedance and Tactile Feedback for Intuitive Contr a203 - 2150 v710aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aBianchi, M.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=675555401675nas a2200205 4500008004100000022002200041245005100063210004800114260002000162300001400182490004800196520106700244653001201311653001301323100001601336700001401352700002001366700001501386856006801401 2014 eng d a978-1-4471-6532-300aA Fabric-based Approach for Softness Rendering0 aFabricbased Approach for Softness Rendering bSpringer-Verlag a219 - 2400 vSpringer Series on Touch and Haptic Systems3 a

In this chapter we describe a softness display based on the contact area spread rate (CASR) paradigm. This device uses a stretchable fabric as a substrate that can be touched by users, while contact area is directly measured via an optical system. By varying the stretching state of the fabric, different stiffness values can be conveyed to users. We describe a first technological implementation of the display and compare its performance in rendering various levels of stiffness with the one exhibited by a pneumatic CASR-based device. Psychophysical experiments are reported and discussed. Afterwards, we present a new technological implementation for the fabric-based display, with reduced dimensions and faster actuation, which enables rapid changes in the fabric stretching state. These changes are mandatory to properly track typical force/area curves of real materials. System performance in mimicking force-area curves obtained from real objects exhibits a high degree of reliability, also in eliciting overall discriminable levels of softness.

10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://link.springer.com/chapter/10.1007%2F978-1-4471-6533-0_1102519nas a2200229 4500008003900000245002900039210002900068260003600097300001400133520187600147653001202023653001302035100001502048700001602063700001402079700002002093700001502113700001702128700001702145700001502162856011202177 2014 d00aGrasping with Soft Hands0 aGrasping with Soft Hands aMadrid, Spain, November 18 - 20 a581 - 5873 a

Despite some prematurely optimistic claims, the ability of robots to grasp general objects in unstructured environments still remains far behind that of humans. This is not solely caused by differences in the mechanics of hands: indeed, we show that human use of a simple robot hand (the Pisa/IIT SoftHand) can afford capabilities that are comparable to natural grasping. It is through the observation of such human-directed robot hand operations that we realized how fundamental in everyday grasping and manipulation is the role of hand compliance, which is used to adapt to the shape of surrounding objects. Objects and environmental constraints are in turn used to functionally shape the hand, going beyond its nominal kinematic limits by exploiting structural softness. In this paper, we set out to study grasp planning for hands that are simple — in the sense of low number of actuated degrees of freedom (one for the Pisa/IIT SoftHand) — but are soft, i.e. continuously deformable in an infinity of possible shapes through interaction with objects. After general considerations on the change of paradigm in grasp planning that this setting brings about with respect to classical rigid multi-dof grasp planning, we present a procedure to extract grasp affordances for the Pisa/IIT SoftHand through physically accurate numerical simulations. The selected grasps are then successfully tested in an experimental scenario.

10aHaptics10aRobotics1 aBonilla, M1 aFarnioli, E1 aPiazza, C1 aCatalano, M. G.1 aGrioli, G.1 aGarabini, M.1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?tp=&arnumber=7041421&queryText%3DGrasping+with+Soft+Hands01908nas a2200265 4500008004100000245008800041210006900129300001200198490000700210520109000217653001201307653001301319100001701332700001501349700001601364700002001380700001401400700001601414700001701430700001501447700001801462700002001480700002001500856012201520 2014 eng d00aHANDS.DVI: A DeVice-Independent programming and control framework for robotic HANDS0 aHANDSDVI A DeViceIndependent programming and control framework f a197-2150 v943 a

The scientific goal of HANDS.DVI consists of developing a common
framework to programming robotic hands independently from their kinematics,
mechanical construction, and sensor equipment complexity. Recent results on the
organization of the human hand in grasping and manipulation are the inspiration
for this experiment. The reduced set of parameters that we effectively use to control
our hands is known in the literature as the set of synergies. The synergistic
organization of the human hand is the theoretical foundation of the innovative approach
to design a unified framework for robotic hands control. Theoretical tools
have been studied to design a suitable mapping function of the control action (decomposed
in its elemental action) from a human hand model domain onto the
articulated robotic hand co-domain. The developed control framework has been
applied on an experimental set up consisting of two robotic hands with dissimilar
kinematics grasping an object instrumented with force sensors.

10aHaptics10aRobotics1 aSalvietti, G1 aGioioso, G1 aMalvezzi, M1 aPrattichizzo, D1 aSerio, A.1 aFarnioli, E1 aGabiccini, M1 aBicchi, A.1 aSarakoglou, I1 aTsagarakis, N G1 aCaldwell, D. G. uhttp://615830.rige.asia/publications/handsdvi-device-independent-programming-and-control-framework-robotic-hands.html00533nas a2200169 4500008003900000245006400039210006400103260002600167300001600193653001200209653001300221100002100234700001800255700001500273700002000288856005500308 2014 d00aHaptic Exploration of Unknown Surfaces with Discontinuities0 aHaptic Exploration of Unknown Surfaces with Discontinuities aChicago, USAc09/2014 a1255 - 126010aHaptics10aRobotics1 aJamisola, R., S.1 aKormushev, P.1 aBicchi, A.1 aCaldwell, D. G. uhttp://kormushev.com/papers/Jamisola_IROS-2014.pdf02577nas a2200241 4500008003900000245009300039210006900132260004200201300001400243520183800257653001202095653001302107100001702120700001102137700001402148700001602162700001902178700001502197700002002212700001502232700002002247856006802267 2014 d00aManipulation Framework for Compliant Humanoid COMAN: Application to a Valve Turning Task0 aManipulation Framework for Compliant Humanoid COMAN Application  aMadrid, Spain, November 18 - 20bIEEE a664 - 6703 a

With the purpose of achieving a desired interaction performance for our compliant humanoid robot (COMAN), in this paper we propose a semi-autonomous control framework and evaluate it experimentally in a valve turning setup. The control structure consists of various modules and interfaces to identify the valve, locate the robot in front of it and perform the manipulation. The manipulation module implements four motion primitives (Reach, Grasp, Rotate and Disengage) and realizes the corresponding desired impedance profile for each phase to accomplish the task. In this direction, to establish a stable and compliant contact between the valve and the robot hands, while being able to generate the sufficient rotational torques depending on the valve's friction, Rotate incorporates a novel dual-arm impedance control technique to plan and realize a task-appropriate impedance profile. Results of the implementation of the proposed control framework are firstly evaluated in simulation studies using Gazebo. Subsequent experimental results highlight the efficiency of the proposed impedance planning and control in generation of the required interaction forces to accomplish the task.

10aHaptics10aRobotics1 aAjoudani, A.1 aLee, J1 aRocchi, A1 aFerrati, M.1 aHoffman, Mingo1 aSettimi, A1 aCaldwell, D. G.1 aBicchi, A.1 aTsagarakis, N G uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=704143402710nas a2200193 4500008003900000245011400039210007100153260004700224300001600271520205600287653001202343653001302355100001702368700002002385700001102405700001702416700001502433856006802448 2014 d00aNatural Redundancy Resolution in Dual-Arm Manipulation using Configuration Dependent Stiffness (CDS) Control0 aNatural Redundancy Resolution in DualArm Manipulation using Confi aHong Kong, May 31 2014-June 7 2014 bIEEE a1480 - 14863 a

Incorporation of human motor control principles in the motion control architectures for humanoid robots or assistive and prosthesis devices will permit these systems not only to look anthropomorphic and natural at the body ware level but also to generate natural motion profiles resembling those executed by humans during manipulation and locomotion. In this work, relying on the observations on human bimanual coordination, a novel realtime motion control strategy is proposed to regulate the desired Cartesian stiffness profile during the execution of bimanual tasks. The novelty of the proposed control scheme relies on the use of common mode stiffness (CMS) and configuration dependent stiffness (CDS) to regulate the size and directionality of the task space stiffness ellipsoid. Thanks to the CDS control, the proposed scheme is not only proved to be effective in regulating the desired stiffness ellipsoid but also permits to resolve the manipulator redundancy in a natural manner. The effectiveness of the controller is evaluated in an experimental setup in which two cooperating robotic arms are executing an assembly task. Experimental results demonstrate that the proposed dual-arm CDS-CMS controller is effective in tracking the desired stiffness ellipsoids as well as in producing human-like natural motions for the two robotic arms.

10aHaptics10aRobotics1 aAjoudani, A.1 aTsagarakis, N G1 aLee, J1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=694525202213nas a2200217 4500008003900000245007700039210006900116260001700185300001600202520152500218653001201743653001301755100001401768700001701782700001701799700001801816700001701834700002001851700001501871856010901886 2014 d00aThe Patched Intrinsic Tactile Object: a Tool to Investigate Human Grasps0 aPatched Intrinsic Tactile Object a Tool to Investigate Human Gra aChicago, USA a1261 - 12683 a

In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and the lightweight construction of the sensor which would have, otherwise, degraded its accuracy. To assess the performances of the calibration methods, a comparison is reported with respect to the measurements obtained with a commercial force/torque sensor considered as ground truth (ATI Delta). Thanks to the modular design and the possibility to cover the sensitive faces with surface patches of different geometry, a variety of sensorized objects with different shapes can be realized. The peculiar feature that all the components of the contact wrench can be measured on each face with high accuracy, renders it a unique tool in the study of grasp force distribution in humans, with envisioned use both in neuroscience investigations and robotic applications.

10aHaptics10aRobotics1 aSerio, A.1 aRiccomini, E1 aTartaglia, V1 aSarakoglou, I1 aGabiccini, M1 aTsagarakis, N G1 aBicchi, A. uhttp://615830.rige.asia/publications/patched-intrinsic-tactile-object-tool-investigate-human-grasps.html00492nas a2200145 4500008004100000245006300041210006300104653001200167653001300179100001500192700001500207700001600222700001300238856009500251 2014 eng d00aSpecial Issue on the Mechanics and Design of Robotic Hands0 aSpecial Issue on the Mechanics and Design of Robotic Hands10aHaptics10aRobotics1 aDollar, A.1 aBicchi, A.1 aCutkosky, M1 aHowe, D. uhttp://615830.rige.asia/publications/special-issue-mechanics-and-design-robotic-hands.html00406nas a2200157 4500008003900000245002400039210002000063260001600083653001200099653001300111100001400124700001600138700001700154700001500171856006200186 2014 d00aThe tactile toolbox0 atactile toolbox aHouston, TX10aHaptics10aRobotics1 aSerio, A.1 aBianchi, M.1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/tactile-toolbox.html00649nas a2200193 4500008003900000245007900039210006900118260001600187653001200203653001300215100001800228700001500246700002000261700001600281700001400297700001600311700001500327856011300342 2014 d00aThimbleSense: A new wearable tactile device for human and robotic fingers 0 aThimbleSense A new wearable tactile device for human and robotic aHouston, TX10aHaptics10aRobotics1 aBattaglia, E.1 aGrioli, G.1 aCatalano, M. G.1 aBianchi, M.1 aSerio, A.1 aSantello, M1 aBicchi, A. uhttp://615830.rige.asia/publications/thimblesense-new-wearable-tactile-device-human-and-robotic-fingers.html01920nas a2200193 4500008003900000245009300039210006900132260004400201300001700245520128700262653001201549653001301561100001801574700001501592700002001607700001601627700001501643856006801658 2014 d00aThimbleSense: An Individual-Digit Wearable Tactile Sensor for Experimental Grasp Studies0 aThimbleSense An IndividualDigit Wearable Tactile Sensor for Expe a Hong Kong, May 31 - June 7, 2014bIEEE a2728 - 2735 3 a

Measuring contact forces applied by a hand to a grasped object is a necessary step to understand the mysteries that still hide in the unparalleled human grasping ability. Nevertheless, simultaneous collection of information about the position of contacts and about the magnitude and direction of forces is still an elusive task. In this paper we introduce a wearable device that addresses this problem, and can be used to measure generalized forces during grasping. By assembling two supports around a commercial 6-axis force/torque sensor we obtain a thimble that can be easily positioned on a fingertip. The device is used in conjunction with an active marker-based motion capture system to simultaneously obtain absolute position and orientation of the thimbles, without requiring any assumptions on the kinematics of the hand. Finally, using the contact centroid algorithm, introduced in [1], position of contact points during grasping are determined. This paper shows the design and implementation of the device, as well as some preliminary experimental validation.

10aHaptics10aRobotics1 aBattaglia, E.1 aGrioli, G.1 aCatalano, M. G.1 aSantello, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=690725001589nas a2200205 4500008003900000245011500039210006900154260004300223300001400266520091400280653001201194653001301206100001701219700001601236700001401252700001701266700001701283700001501300856006801315 2014 d00a Three-digit grasp haptic device with variable contact stiffness for rehabilitation and human grasping studies0 aThreedigit grasp haptic device with variable contact stiffness f aPalermo, Italy, 16-19 June 2014 bIEEE a346 - 3503 a

This paper describes an haptic system designed to vary the stiffness of three contact points in an independent and controllable fashion, by suitably regulating the inner pressure of three pneumatic tactile displays. At the same time, the contact forces exerted by the user are measured by six degree-of-freedom force sensors placed under each finger. This device might be profitably used in hand rehabilitation and human grasping studies. We report and discuss preliminary results on device validation as well as some illustrative measurement examples.

10aHaptics10aRobotics1 aAltobelli, A1 aBianchi, M.1 aSerio, A.1 aBaud-Bovy, G1 aGabiccini, M1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=696139501718nas a2200241 4500008003900000245009900039210006900138260004500207300001600252520097600268653001201244653001301256100001201269700001601281700001501297700001501312700002001327700001501347700001301362700001801375700001501393856006801408 2014 d00aVelvet Fingers: Grasp Planning and Execution for an Underactuated Gripper with Active Surfaces0 aVelvet Fingers Grasp Planning and Execution for an Underactuated aHong Kong, May 31 2014-June 7 2014bIEEE a3669 - 36753 a

In this work we tackle the problem of planning grasps for an underactuated gripper which enable it to retrieve target objects from a cluttered environment. Furthermore, we investigate how additional manipulation capabilities of the gripping device, provided by active surfaces on the inside of the fingers, can lead to performance improvement in the grasp execution process. To this end, we employ a simple strategy, in which the target object is `pulled-in' towards the palm during grasping which results in firm enveloping grasps. We show the effectiveness of the suggested methods by means of experiments conducted in a real-world scenario.

10aHaptics10aRobotics1 aKrug, R1 aStoyanov, T1 aBonilla, M1 aTincani, V1 aVaskeviciusz, N1 aFantoni, G1 aBirkz, A1 aLilienthal, A1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=690739000653nas a2200169 4500008003900000245012800039210006900167260001700236300001600253653001200269653001300281100001700294700001800311700001400329700001600343856012400359 2013 d00aA data-driven kinematic model of the human hand with soft-tissue artifact compensation mechanism for grasp synergy analysis0 adatadriven kinematic model of the human hand with softtissue art aTokyo, Japan a3738 - 374510aHaptics10aRobotics1 aGabiccini, M1 aStillfried, G1 aMarino, H1 aBianchi, M. uhttp://615830.rige.asia/publications/data-driven-kinematic-model-human-hand-soft-tissue-artifact-compensation-mechanism00564nas a2200169 4500008004100000245006900041210006900110260001200179300001600191490000700207653001200214653001300226100001700239700001600256700001500272856010700287 2013 eng d00aGrasp Analysis Tools for Synergistic Underactuated Robotic Hands0 aGrasp Analysis Tools for Synergistic Underactuated Robotic Hands c11/2013 a1553 - 15760 v3210aHaptics10aRobotics1 aGabiccini, M1 aFarnioli, E1 aBicchi, A. uhttp://615830.rige.asia/publications/grasp-analysis-tools-synergistic-underactuated-robotic-hands.html00582nas a2200193 4500008004100000245009500041210006900136300001600205653001200221653001300233100001500246700001500261700002000276700001700296700001400313700001500327700001500342856003100357 2013 eng d00aImplementation and Control of the Velvet Fingers: a Dexterous Gripper with Active Surfaces0 aImplementation and Control of the Velvet Fingers a Dexterous Gri a2744 - 275010aHaptics10aRobotics1 aTincani, V1 aGrioli, G.1 aCatalano, M. G.1 aGarabini, M.1 aGrechi, S1 aFantoni, G1 aBicchi, A. u10.1109/ICRA.2013.6630955 02739nas a2200193 4500008004100000245009800041210006900139260001200208300001700220490000700237520208200244653001202326653001302338100002002351700001602371700001702387700001502404856012602419 2013 eng d00aOn Motion and Force Controllability of Precision Grasps with Hands Actuated by Soft Synergies0 aMotion and Force Controllability of Precision Grasps with Hands  c12/2013 a1440 - 1456 0 v293 a

To adapt to many different objects and tasks, hands are very complex systems with many degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at the cost of size and weight of the hardware of devices, but it strongly affects also the ease of their programming. A possible approach to simplification consists in coupling some of the DOFs, thus affording a reduction of the number of effective inputs, and eventually leading to more efficient, simpler, and reliable designs. Such coupling can be at the software level, to achieve faster, more intuitive programmability or at the hardware level, through either rigid or compliant physical couplings between joints. Physical coupling between actuators and simplification of control through the reduction of independent inputs is also an often-reported interpretation of human hand movement data, where studies have demonstrated that few “postural synergies” explain most of the variance in hand configurations used to grasp different objects. Together with beneficial simplifications, the reduction of the number of independent inputs to a few coupled motions or “synergies” has also an impact on the ability of the hand to dexterously control grasp forces and in-hand manipulation. This paper aims to develop tools that establish how many synergies should be involved in a grasp to guarantee stability and efficiency, depending on the task and on the hand embodiment. Through the analysis of a quasi-static model, grasp structural properties related to contact force and object motion controllability are defined. Different compliant sources are considered, for a generalization of the discussion. In particular, a compliant model for synergies assumed, referred to as “soft synergies,” is discussed. The controllable internal forces and motions of the grasped object are related to the actuated inputs. This paper investigates to what extent a hand with many joints can ex- loit postural synergies to control force and motion of the grasped object.

10aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/motion-and-force-controllability-precision-grasps-hands-actuated-soft-synergies.html01459nas a2200157 4500008004100000022001400041245008500055210006900140300001600209490000700225520091000232653001201142653001301154100001301167856012101180 2013 eng d a0018-946400aA Permanent-Magnet Exciter for Magneto-Rheological Fluid-Based Haptic Interfaces0 aPermanentMagnet Exciter for MagnetoRheological FluidBased Haptic a1390–14010 v493 a

This paper describes an innovative haptic interface device based on magneto-rheological fluid (MRF). A system of permanent magnets and coils is designed in order to produce a proper distribution of a magnetic field inside the fluid. This distribution, with its spatial resolution, causes the MRF to assume prescribed shapes and softness profiles that can be directly felt and explored by hand. The device is designed using a 3-D finite-elements code taking into account the B-H functions of the nonlinear materials (MRF, permanent magnets, ferromagnetic materials). In order to validate the finite-element model, some experimental magnetic measurements are taken on a simplified prototype. Furthermore, the maps of the flux density and those of the shear stress inside the fluid are carefully analyzed. Finally, the interaction between the operator's hand and the MRF is numerically investigated.

10aHaptics10aRobotics1 aRizzo, R uhttp://615830.rige.asia/publications/permanent-magnet-exciter-magneto-rheological-fluid-based-haptic-interfaces.html00512nas a2200181 4500008004100000245005200041210004900093260003500142300001000177653001200187653001300199100001900212700001700231700002000248700001500268700001500283856003200298 2013 eng d00aA synergy-driven approach to a myoelectric hand0 asynergydriven approach to a myoelectric hand aJune 24-26, 2013, Seattle, WA. a1 - 610aHaptics10aRobotics1 aGodfrey, S. B.1 aAjoudani, A.1 aCatalano, M. G.1 aGrioli, G.1 aBicchi, A. u10.1109/ICORR.2013.6650377 00650nas a2200193 4500008004100000245006700041210006600108260003100174300001600205653001200221653001300233100001700246700001900263700002000282700001500302700002000317700001500337856010400352 2013 eng d00aTeleimpedance Control of a Synergy-Driven Anthropomorphic Hand0 aTeleimpedance Control of a SynergyDriven Anthropomorphic Hand aTokyo, JapancNovember 3-7 a1985 - 199110aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttp://615830.rige.asia/publications/teleimpedance-control-synergy-driven-anthropomorphic-hand.html00677nas a2200181 4500008004100000024003600041245011600077210006900193300001400262490000700276653001200283653001300295100002000308700001600328700001700344700001500361856011900376 2012 eng d aAvailable online 17 August 201100aOn the Manipulability Ellipsoids of Underactuated Robotic Hands with Compliance Robotics and Autonomous Systems0 aManipulability Ellipsoids of Underactuated Robotic Hands with Co a337 - 3460 v6010aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/manipulability-ellipsoids-underactuated-robotic-hands-compliance-robotics-and00497nas a2200109 4500008004100000245011100041210006900152653001200221653001300233100001600246856012500262 2012 eng d00aOn the Role of Haptic Synergies in Modelling the Sense of Touch and in Designing Artificial Haptic Systems0 aRole of Haptic Synergies in Modelling the Sense of Touch and in 10aHaptics10aRobotics1 aBianchi, M. uhttp://615830.rige.asia/publications/role-haptic-synergies-modelling-sense-touch-and-designing-artificial-haptic-systems00628nas a2200181 4500008004100000245007900041210006900120260003500189300001200224653001200236653001300248100001600261700001500277700001300292700001800305700001500323856010800338 2012 eng d00aOn the Use of Postural Synergies to Improve Human Hand Pose Reconstruction0 aUse of Postural Synergies to Improve Human Hand Pose Reconstruct aVancouver, CanadacMarch 4 - 7 a91 - 9810aHaptics10aRobotics1 aBianchi, M.1 aSalaris, P1 aTurco, A1 aCarbonaro, N.1 aBicchi, A. uhttp://615830.rige.asia/publications/use-postural-synergies-improve-human-hand-pose-reconstruction.html00508nas a2200157 4500008004100000245005500041210005500096300001400151653001200165653001300177100001600190700001800206700001800224700001700242856009100259 2011 eng d00aCharacterization of an Air Jet Haptic Lump Display0 aCharacterization of an Air Jet Haptic Lump Display a3467-347010aHaptics10aRobotics1 aBianchi, M.1 aGwilliam, J C1 aDegirmenci, A1 aOkamura, A M uhttp://615830.rige.asia/publications/characterization-air-jet-haptic-lump-display.html00620nas a2200157 4500008004100000245010200041210006900143260003100212300001600243653001200259653001300271100001700284700001800301700001500319856012800334 2011 eng d00aDynamic Optimization of Tendon Tensions in Biomorphically Designed Hands with Rolling Constraints0 aDynamic Optimization of Tendon Tensions in Biomorphically Design aShangai, ChinacMay 9 - 13 a2698 - 270410aHaptics10aRobotics1 aGabiccini, M1 aBranchetti, M1 aBicchi, A. uhttp://615830.rige.asia/publications/dynamic-optimization-tendon-tensions-biomorphically-designed-hands-rolling-constraints00451nas a2200169 4500008004100000245002200041210001800063260003400081653001200115653001300127100001400140700002000154700001500174700001700189700001500206856006000221 2011 eng d00aThe Hand Embodied0 aHand Embodied aPisa, ItalycSeptember, 7 - 910aHaptics10aRobotics1 aSerio, A.1 aCatalano, M. G.1 aGrioli, G.1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/hand-embodied.html00538nas a2200145 4500008004100000245006800041210006700109260003400176653001200210653001300222100001600235700002000251700001500271856010600286 2011 eng d00aHaptic interfaces: new strategies to convey tactile information0 aHaptic interfaces new strategies to convey tactile information aPisa, ItalycSeptember, 7 - 910aHaptics10aRobotics1 aBianchi, M.1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/haptic-interfaces-new-strategies-convey-tactile-information.html00504nas a2200157 4500008004100000245005700041210005700098300001600155490000800171653001200179653001300191100001500204700001700219700001600236856009400252 2011 eng d00aModeling Natural and Artificial Hands with Synergies0 aModeling Natural and Artificial Hands with Synergies a3153 - 31610 v36610aHaptics10aRobotics1 aBicchi, A.1 aGabiccini, M1 aSantello, M uhttp://615830.rige.asia/publications/modeling-natural-and-artificial-hands-synergies.html00565nas a2200169 4500008004100000245007500041210006800116300001400184490000700198653001200205653001300217100001700230700001500247700002000262700001600282856009700298 2011 eng d00aOn the Role of Hand Synergies in the Optimal Choice of Grasping Forces0 aRole of Hand Synergies in the Optimal Choice of Grasping Forces a235 - 2520 v3110aHaptics10aRobotics1 aGabiccini, M1 aBicchi, A.1 aPrattichizzo, D1 aMalvezzi, M uhttp://615830.rige.asia/publications/role-hand-synergies-optimal-choice-grasping-forces.html00583nas a2200157 4500008004100000245007900041210006900120260003400189653001200223653001300235100001700248700001600265700001600281700001500297856011300312 2011 eng d00aStructural Properties of Compliant Grasps with Underactuated Robotic Hands0 aStructural Properties of Compliant Grasps with Underactuated Rob aBologna, ItalycSeptember, 1210aHaptics10aRobotics1 aGabiccini, M1 aFarnioli, E1 aMalvezzi, M1 aBicchi, A. uhttp://615830.rige.asia/publications/structural-properties-compliant-grasps-underactuated-robotic-hands.html00553nas a2200145 4500008004100000245008200041210006900123260002600192653001200218653001300230100002000243700001600263700001500279856011300294 2010 eng d00aOn motion and force controllability of grasping hands with postural synergies0 amotion and force controllability of grasping hands with postural aZaragoza, SpaincJune10aHaptics10aRobotics1 aPrattichizzo, D1 aMalvezzi, M1 aBicchi, A. uhttp://615830.rige.asia/publications/motion-and-force-controllability-grasping-hands-postural-synergies.html00547nas a2200181 4500008004100000024001800041245004000059210003800099260004400137300001400181653001200195653001300207100001600220700001400236700002000250700001500270856008000285 2010 eng d app. 108 - 11200aA new fabric based softness display0 anew fabric based softness display aWaltham,Massachusetts, USAcMarch 25-16 a108 - 11210aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/new-fabric-based-softness-display.html00613nas a2200169 4500008004100000245009700041210006900138300001400207490000600221653001200227653001300239100002000252700001600272700001500288700001500303856012500318 2010 eng d00aRendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device0 aRendering Softness Integration of kinaesthetic and cutaneous inf a109 - 1180 v310aHaptics10aRobotics1 aScilingo, E. P.1 aBianchi, M.1 aGrioli, G.1 aBicchi, A. uhttp://615830.rige.asia/publications/rendering-softness-integration-kinaesthetic-and-cutaneous-information-haptic-device00504nas a2200133 4500008004100000245007500041210006800116260003000184653001200214653001300226100001700239700001500256856009900271 2010 eng d00aOn the Role of Hand Synergies in the Optimal Choice of Grasping Forces0 aRole of Hand Synergies in the Optimal Choice of Grasping Forces aZaragoza, SpaincJune, 2710aHaptics10aRobotics1 aGabiccini, M1 aBicchi, A. uhttp://615830.rige.asia/publications/role-hand-synergies-optimal-choice-grasping-forces.html-000800nas a2200205 4500008004100000024006600041245011000107210006900217260004600286300001400332490001400346653001200360653001300372100001600385700001500401700002000416700001600436700001500452856012700467 2010 eng d aVol. 6192/2012 Lecture Notes in Computer Science, pp. 136-14300aValidation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position0 aValidation of a Virtual Reality Environment to Study Anticipator aAmsterdam (The Netherlands)cJuly, 8 - 10 a136 - 1430 v6192/201010aHaptics10aRobotics1 aBianchi, M.1 aGrioli, G.1 aScilingo, E. P.1 aSantello, M1 aBicchi, A. uhttp://615830.rige.asia/publications/validation-virtual-reality-environment-study-anticipatory-modulation-digit-forces-and00770nas a2200181 4500008004100000245005400041210005100095260004000146300001400186520020700200653001200407653001300419100001600432700001400448700002000462700001500482856009100497 2009 eng d00aA new softness display based on bi-elastic fabric0 anew softness display based on bielastic fabric aSalt Lake City, USAcMarch, 18 - 20 a382 - 3833 a

Haptic perception allows to explore and recognize an object by conveying several physical information to mechano-receptors and thermo-receptors lying into our skin throughout the body. The term

10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/new-softness-display-based-bi-elastic-fabric.html00532nas a2200157 4500008004100000245005400041210005300095260004300148653001200191653001300203100001600216700001400232700002000246700001500266856009300281 2009 eng d00aRendering softness: a new fabric yielding display0 aRendering softness a new fabric yielding display aSestri levante (Ge), ItalycDecember 310aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/rendering-softness-new-fabric-yielding-display.html00422nas a2200121 4500008004100000245005700041210005500098300001000153653001200163653001300175100001500188856009700203 2008 eng d00aMacchine e Mani: Immagini, Immaginazione e Creazione0 aMacchine e Mani Immagini Immaginazione e Creazione a13-2110aHaptics10aRobotics1 aBicchi, A. uhttp://615830.rige.asia/publications/macchine-e-mani-immagini-immaginazione-e-creazione.html00526nas a2200157 4500008004100000245006500041210006200106260001000168653001200178100001300190700001600203700002000219700001500239700001300254856010100267 2008 eng d00aA Permanent Magnets Exciter for MRFs-based Haptic Interfaces0 aPermanent Magnets Exciter for MRFsbased Haptic Interfaces aAtene10aHaptics1 aRizzo, R1 aMusolino, A1 aScilingo, E. P.1 aBicchi, A.1 aRaugi, M uhttp://615830.rige.asia/publications/permanent-magnets-exciter-mrfs-based-haptic-interfaces.html04308nas a2200181 4500008004100000245007300041210006800114260003300182490001200215520371700227653001203944653001303956100001503969700001203984700001403996700001204010856010404022 2008 eng d00aThe Sense of Touch and its Rendering: Progresses in Haptics Research0 aSense of Touch and its Rendering Progresses in Haptics Research aBerlin, HeidelbergbSpringer0 v45/20083 a

Preface: It is no coincidence that in many languages, deeply involving emotions and feelings are described as "touching". Touch appears indeed to be the most direct, less intellectually mediated sense. As such, it should be a fundamental ingredient of any system aimed at providing compelling sensations of remote presence. Generation of high-definition haptic feedback will be crucially important for driving a sense of Presence in next generation immersive VR and teleoperation systems. The perspective in which this book is conceived is that of understanding and enabling an experience of presence not limited to "being there", but extended to "being in touch" with the virtual or remote surroundings. Despite of numerous technological advances in this field it appears that the development of fully immersive haptic displays cannot proceed by technological innovations alone but requires a deep understanding and utilization of the psychophysical mechanisms of human haptic perception. On one hand, technological innovations are needed to increase the richness and accuracy of physically generated haptic stimuli. The generation of a one-to-one copy of the real world seems, however, to be unfeasible due to the inherent complexity of the necessary devices and stringent physiological and mechanical constraints. On the other hand, advances in the understanding of the information processing of the multidimensional sense of touch contribute to overcome these fundamental technological constraints. Limitations of the human perceptual system can be exploited to provide a realistic haptic sensation without getting all the physical parameters completely right. Perceptual limitations already helped in the design of advanced visual and auditory displays. This book summarizes main results of the TOUCH-HapSys research project financially supported by the 5th Framework IST Programme of the European Union. It provides an important contribution towards a new generation of high-fidelity haptic display technologies. The uniqueness of this book is its interdisciplinary approach highlighting the field of haptic research from a neuropsychological as well as a technological point of view. It provides readers with recent advances in the study of human haptic (kinesthetic, tactile, temperature) and mul-timodal (visual, auditory, haptic) perception mechanisms and with innovations in the field of haptic display technology. It shows that both lines of research are intimately connected, not only because biological sciences inspire and enable technology improvement, but also because novel devices offer new facilities for the experimental testing of psychophysical hypotheses. This book is structured in two parts: A. Fundamental Psychophysical and Neuropsychological Research and B. Technology and Applications. Chapters in part A. concentrate on the study of the basic mechanisms of touch, involving neurophysiology, psychophysics, and functional mappings in the brain. In-depth study of the psychophysiology of the sense of touch establishes connections between haptic fundamental perception and virtual-reality oriented technology. Part B. addresses new technologies to significantly improve haptic and multimodal feedback systems. These include novel actuator designs, software solutions for haptic rendering, and applications. The two parts are not however separated, and the many connections and synergies between the two complementary domains of research are highlighted in the text. Finally the editors would like to thank all the authors for their valuable contributions to this book. The quality and freshness found in each chapter are due to the excellent work carried out by the authors.

10aHaptics10aRobotics1 aBicchi, A.1 aBuss, M1 aErnst, M.1 aPeer, A uhttp://615830.rige.asia/publications/sense-touch-and-its-rendering-progresses-haptics-research.html01603nas a2200229 4500008004100000245007300041210006800114260003300182300001200215490001200227520089600239653001201135653001301147100002001160700001901180700001501199700001501214700001201229700001401241700001201255856010601267 2008 eng d00aThe Sense of Touch and its Rendering: Progresses in Haptics Research0 aSense of Touch and its Rendering Progresses in Haptics Research aBerlin, HeidelbergbSpringer a39 - 600 v45/20083 a

Dynamic stimuli in visual and tactile sensory modalities share fundamental psychophysical features that can be explained by similar computational models. In vision, information about relative motion between objects and the observer are mainly processed by optic flow, which is a 2D field of velocities associated with variation of brightness patterns in the image plane. It provides important information about cues for region and boundary segmentation, shape recovery, and so on. For instance, radial patterns of optic flow are often used to estimate time before contact with an approaching object. We put forward the hypothesis that a similar behavior can be present in the tactile domain, in which an analogous paradigm to optic flow might exist. Moreover, as optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect and Ouchi

10aHaptics10aRobotics1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A.1 aBicchi, A.1 aBuss, M1 aErnst, M.1 aPeer, A uhttp://615830.rige.asia/publications/sense-touch-and-its-rendering-progresses-haptics-research.html-001537nas a2200241 4500008004100000245007300041210006800114260003300182300001200215490001200227520080500239653001201044653001301056100001901069700002001088700001301108700001501121700001501136700001201151700001401163700001201177856010601189 2008 eng d00aThe Sense of Touch and its Rendering: Progresses in Haptics Research0 aSense of Touch and its Rendering Progresses in Haptics Research aBerlin, HeidelbergbSpringer a155-1780 v45/20083 a

In this work we investigate the possibility of mimicking haptic perception by using rheological materials. An analysis of the rheological behaviour of some "smart fluids", such as Electro-rheological Fluids (ERFs) and Magneto-rheological Fluids (MRFs), is provided to design new haptic interfaces capable of reproducing shape and compliance of some virtual objects. Some theoretical design considerations are discussed and supported by magnetic simulations implemented by means of a numerical code. Several prototypes were designed and realized through a progressive enhancement of performance up to a final 3D immersive device. Furthermore, to assess performance a set of psychophysical tests was carried out and experimental results in terms of softness and shape recognition are reported.

10aHaptics10aRobotics1 aSgambelluri, N1 aScilingo, E. P.1 aRizzo, R1 aBicchi, A.1 aBicchi, A.1 aBuss, M1 aErnst, M.1 aPeer, A uhttp://615830.rige.asia/publications/sense-touch-and-its-rendering-progresses-haptics-research.html-102155nas a2200337 4500008004100000245010800041210006900149300001200218490000700230520114700237653001201384653001301396100001501409700001501424700001501439700001701454700001701471700001401488700001501502700001501517700001901532700002001551700001901571700001601590700002201606700001501628700001601643700001701659700001501676856012601691 2008 eng d00aSensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test0 aSensing Glove for Brain Studies Design and assessment of its Com a345-3540 v133 a

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

10aHaptics10aRobotics1 aVanello, N1 aHartwig, V1 aTesconi, M1 aRicciardi, E1 aTognetti, A.1 aZupone, G1 aGassert, R1 aChapuis, D1 aSgambelluri, N1 aScilingo, E. P.1 aGiovannetti, G1 aPositano, V1 aSantarelli, M. F.1 aBicchi, A.1 aPietrini, P1 aDe Rossi, D.1 aLandini, L uhttp://615830.rige.asia/publications/sensing-glove-brain-studies-design-and-assessment-its-compatibility-fmri-robust-test02196nas a2200193 4500008004100000245007300041210006900114260001300183300001200196490000700208520158200215653001201797653001301809100001501822700002001837700001701857700001601874856011201890 2008 eng d00aTactile flow explains haptic counterparts of common visual illusions0 aTactile flow explains haptic counterparts of common visual illus cApril 15 a737-7410 v753 a

Interaction with the external world requires the ability to perceive dynamic changes in complex sensorial input and react promptly. Here we show that perception of dynamic stimuli in the visual and tactile sensory modalities share fundamental psychophysical aspects that can be explained by similar computational models. In vision, optic flow provides information on relative motion between the individual and the content of percept. For instance, radial patterns of optic flow are used to estimate time before contact with an approaching object4. Similarly, in the tactile modality, radial patterns of stimuli provide information on softness of probed objects3. Optic flow is also invoked to explain several visual illusions, including the well-known "barber-pole" effect10. Here we introduce a computational model of tactile flow, which is intimately related to existing models for the visual counterpart. The model accounts for psychophysical aspects of dynamic tactile perception and predicts illusory phenomena in the tactile domain, analogous to the barber-pole effect. When subjects touched translating pads with differently oriented gratings, they perceived a direction of motion that was significantly biased towards the orientation of the gratings. Therefore, these findings indicate that visual and tactile flow share similarities at the psychophysical and computational level and may be intended for similar perceptive goals. Results of this analysis have impact on the engineering of better haptic and multimodal interfaces for human-computer interaction.

10aHaptics10aRobotics1 aBicchi, A.1 aScilingo, E. P.1 aRicciardi, E1 aPietrini, P uhttp://615830.rige.asia/publications/tactile-flow-explains-haptic-counterparts-common-visual-illusions.html00677nas a2200193 4500008004100000245009800041210006900139260000900208300001200217653001200229100001900241700001600260700001300276700001500289700002000304700001700324700001500341856012700356 2007 eng d00aAn Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery0 aArtificial Neural Network approach for Haptic Discrimination in  bIEEE a25–3010aHaptics1 aSgambelluri, N1 aValenza, G.1 aFerro, M1 aPioggia, G1 aScilingo, E. P.1 aDe Rossi, D.1 aBicchi, A. uhttp://615830.rige.asia/publications/artificial-neural-network-approach-haptic-discrimination-minimally-invasive-surgery-002074nas a2200253 4500008004100000245009000041210006900131260003800200300001600238490000700254520127800261653001201539100001701551700001501568700001201583700001601595700002001611700001501631700001701646700001501663700001501678700001601693856011101709 2007 eng d00aThe Effect of Visual Experience on the Development of Functional Architecture in hMT+0 aEffect of Visual Experience on the Development of Functional Arc bOxford University PresscMarch 19 a2933 - 29390 v173 a

We investigated whether the visual hMT+ cortex plays a role in supramodal representation of sensory flow, not mediated by visual mental imagery. We used functional magnetic resonance imaging to measure neural activity in sighted and congenitally blind individuals during passive perception of optic and tactile flows. Visual motion-responsive cortex, including hMT+, was identified in the lateral occipital and inferior temporal cortices of the sighted subjects by response to optic flow. Tactile flow perception in sighted subjects activated the more anterior part of these cortical regions but deactivated the more posterior part. By contrast, perception of tactile flow in blind subjects activated the full extent, including the more posterior part. These results demonstrate that activation of hMT+ and surrounding cortex by tactile flow is not mediated by visual mental imagery and that the functional organization of hMT+ can develop to subserve tactile flow perception in the absence of any visual experience. Moreover, visual experience leads to a segregation of the motion-responsive occipitotemporal cortex into an anterior subregion involved in the representation of both optic and tactile flows and a posterior subregion that processes optic flow only.

10aHaptics1 aRicciardi, E1 aVanello, N1 aSani, L1 aGentili, C.1 aScilingo, E. P.1 aLandini, L1 aGuazzelli, M1 aBicchi, A.1 aHaxby, J V1 aPietrini, P uhttp://615830.rige.asia/publications/effect-visual-experience-development-functional-architecture-hmt.html00845nas a2200241 4500008004100000245012100041210006900162260003200231300001400263653001200277100001500289700001600304700001500320700001700335700002000352700001900372700002200391700001600413700001500429700001600444700001500460856012800475 2007 eng d00aElectrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging0 aElectrocutaneous stimulation of skin mechanoreceptors for tactil bMedical Information Science a497 - 50310aHaptics1 aHartwig, V1 aCappelli, C1 aVanello, N1 aRicciardi, E1 aScilingo, E. P.1 aGiovannetti, G1 aSantarelli, M. F.1 aPositano, V1 aBicchi, A.1 aPietrini, P1 aLandini, L uhttp://615830.rige.asia/publications/electrocutaneous-stimulation-skin-mechanoreceptors-tactile-studies-functional-magnetic01502nas a2200181 4500008004100000245010700041210006900148300001400217490000700231520087800238653001201116100001301128700001901141700002001160700001301180700001501193856011201208 2007 eng d00aElectromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids0 aElectromagnetic Modeling and Design of Haptic Interfaces Prototy a3586-36000 v433 a

This paper deals with design and implementation of innovative haptic interfaces based on Magnetorheological fluids (MRFs). This pioneering research work consists in developing 2D and quasi-3D MRF-based devices capable of suitably energizing the fluid with a magnetic field in order to build figures which can be directly squeezed by hands. These devices are able to properly create a distribution of magnetic field over time and space inducing the fluid to assume desired shape and compliance. We implemented different prototypes whose synthesis and design phase, here described in detail, was prepared by preliminary simulations obtained by means of software based on a 3D Finite Element code. In this way, both magnetic field and shear stress profiles inside the fluid can be carefully predicted. Finally, performance of these devices was evaluated and assessed.

10aHaptics1 aRizzo, R1 aSgambelluri, N1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://615830.rige.asia/publications/electromagnetic-modeling-and-design-haptic-interfaces-prototypes-based01654nas a2200157 4500008004100000245006300041210006300104300001200167520113400179653001201313100002001325700001901345700001601364700001501380856010101395 2007 eng d00aIntegrating Two Haptic devices for Performance Enhancement0 aIntegrating Two Haptic devices for Performance Enhancement a139-1443 a

This paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.

10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aTonietti, G1 aBicchi, A. uhttp://615830.rige.asia/publications/integrating-two-haptic-devices-performance-enhancement.html00832nas a2200253 4500008004100000245010200041210006900143300001000212653001200222100001500234700001500249700001500264700001400279700001900293700001700312700001700329700002000346700001500366700001600381700001700397700001500414700002200429856012700451 2007 eng d00aAn MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration0 aMRI Compatibility Study of a Fabric Sensing Glove for SensoryMot a79-8310aHaptics1 aVanello, N1 aHartwig, V1 aTesconi, M1 aZupone, G1 aSgambelluri, N1 aTognetti, A.1 aRicciardi, E1 aScilingo, E. P.1 aBicchi, A.1 aPietrini, P1 aDe Rossi, D.1 aLandini, L1 aLaura Moreno, S L uhttp://615830.rige.asia/publications/mri-compatibility-study-fabric-sensing-glove-sensory-motor-brain-activity-exploration02091nas a2200217 4500008004100000245014100041210006900182300001400251520133100265653001201596100001501608700001501623700001501638700001501653700002001668700001501688700001501703700001401718700001501732856012601747 2006 eng d00aActive Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria0 aActive Mechatronic Interface for Haptic Perception Studies with  a3832-38373 a

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI), are critical tools to study perceptual and cognitive processes. In order to develop complex and well controlled fMRI paradigms, researchers are interested in using active interfaces with electrically powered actuators and sensors. Due to the particularity of the MR environment, safety and compatibility criteria have to be strictly followed in order to avoid risks to the subject under test, to the operators or to the environment, as well as to avoid artifacts in the images. This paper describes the design of an fMRI compatible mechatronic interface based on MR compatibility tests of materials and actuators. In particular, a new statistical test looks at the mean and variations of activity as a time series. The device with two degrees of freedom, allowing one translation with positionfeedback along a horizontal axis and one rotation about a vertical axis linked to the translation, was realized to investigate the brain mechanisms of dynamic tactile perception tasks. It can be used to move and orient various objects below the finger for controlled tactile stimulation. The MR compatibility of the complete interface is shown using the same statistical test as well as a functional study with a human subject.

10aHaptics1 aGassert, R1 aVanello, N1 aChapuis, D1 aHartwig, V1 aScilingo, E. P.1 aBicchi, A.1 aLandini, L1 aBurdet, E1 aBleuler, H uhttp://615830.rige.asia/publications/active-mechatronic-interface-haptic-perception-studies-functional-magnetic-resonance01655nas a2200181 4500008004100000245009500041210006900136260001200205300001400217520102400231653001201255100001901267700002001286700001501306700001301321700001301334856012601347 2006 eng d00aAdvanced Modeling and preliminary psychophysical experiments for a free-hand haptic device0 aAdvanced Modeling and preliminary psychophysical experiments for cOctober a1558-15633 a

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

10aHaptics1 aSgambelluri, N1 aScilingo, E. P.1 aBicchi, A.1 aRizzo, R1 aRaugi, M uhttp://615830.rige.asia/publications/advanced-modeling-and-preliminary-psychophysical-experiments-free-hand-haptic-device00883nas a2200265 4500008004100000245015000041210006900191260001300260300001300273490000700286653001200293100001700305700001200322700001600334700001400350700001500364700001500379700001600394700001700410700001500427700001500442700001600457700001600473856012800489 2006 eng d00aBrain response to visual, tactile and auditory flow in sighted and blind individuals supports a supramodal functional organization in hMT complex0 aBrain response to visual tactile and auditory flow in sighted an bElsevier a512 TH-P0 v3110aHaptics1 aRicciardi, E1 aSani, L1 aGentili, C.1 aBonino, D1 aVanello, N1 aHaxby, J V1 aSeifritz, E1 aGuazzelli, M1 aLandini, L1 aBicchi, A.1 aDi Salle, F1 aPietrini, P uhttp://615830.rige.asia/publications/brain-response-visual-tactile-and-auditory-flow-sighted-and-blind-individuals-supports01942nas a2200229 4500008004100000245009600041210006900137300001200206520118500218653001201403100001501415700001601430700001501446700001701461700002001478700001901498700002201517700001601539700001501555700001501570856012701585 2006 eng d00aA Compatible Electrocutaneous Display for functional Magnetic Resonance Imaging application0 aCompatible Electrocutaneous Display for functional Magnetic Reso a100-1023 aIn this paper we propose an MR (Magnetic Resonance) compatible electrocutaneous stimulator able to inject an electric current, variable in amplitude and frequency, into the fingertips in order to elicit tactile skin receptors (mechanoreceptors). The desired goal is to evoke specific tactile sensations selectively stimulating skin receptors by means of an electric current in place of mechanical stimuli. The field of application ranges from functional Magnetic Resonance Imaging (fMRI) tactile studies to augmented reality technology. The device here proposed is designed using safety criteria in order to comply with the threshold of voltage and current permitted by regulations. Moreover, MR safety and compatibility criteria were considered in order to perform experiments inside the MR scanner during an fMRI acquisition for functional brain activation analysis. Psychophysical laboratory tests are performed in order to define the different evoked tactile sensation. After verifying the device MR safety and compatibility on a phantom, a test on a human subject during fMRI acquisition is performed to visualize the brain areas activated by the simulated tactile sensation.10aHaptics1 aHartwig, V1 aCappelli, C1 aVanello, N1 aRicciardi, E1 aScilingo, E. P.1 aGiovannetti, G1 aSantarelli, M. F.1 aPositano, V1 aLandini, L1 aBicchi, A. uhttp://615830.rige.asia/publications/compatible-electrocutaneous-display-functional-magnetic-resonance-imaging-application01274nas a2200181 4500008004100000245006700041210006700108260001000175300001200185520069700197653001200894100001900906700001300925700002000938700001300958700001500971856010600986 2006 eng d00aFree Hand Haptic Interfaces Based on Magnetorheological Fluids0 aFree Hand Haptic Interfaces Based on Magnetorheological Fluids cMarch a367-3713 a

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator

10aHaptics1 aSgambelluri, N1 aRizzo, R1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://615830.rige.asia/publications/free-hand-haptic-interfaces-based-magnetorheological-fluids.html01426nas a2200169 4500008004100000245006900041210006700110300001200177520086000189653001201049100002001061700001901081700001501100700001601115700001601131856010901147 2006 eng d00aMinimally Invasive Therapies & Novel Embedded Technology Systems0 aMinimally Invasive Therapies Novel Embedded Technology Systems a133-1423 a

Recent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.

10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A.1 aCasciaro, S1 aDistante, A uhttp://615830.rige.asia/publications/minimally-invasive-therapies-novel-embedded-technology-systems.html00422nas a2200145 4500008004100000245002800041210002700069260003500096300001200131653001900143653001200162100001700174700002000191856006500211 2006 eng d00aSkin-like sensor arrays0 aSkinlike sensor arrays bAmerican Scientific Publishers a535-55610aBioengineering10aHaptics1 aDe Rossi, D.1 aScilingo, E. P. uhttp://615830.rige.asia/publications/skin-sensor-arrays.html01160nas a2200169 4500008004100000245013000041210006900171300001600240490000700256520052700263653001200790100001500802700001300817700001300830700001900843856012800862 2005 eng d00aAnalysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces0 aAnalysis and Design of an Electromagnetic System for the Charact a1876 - 18790 v413 a

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

10aHaptics1 aBicchi, A.1 aRaugi, M1 aRizzo, R1 aSgambelluri, N uhttp://615830.rige.asia/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluids01085nas a2200157 4500008004100000245006200041210006100103300001200164520056900176653001200745100001300757700002000770700001900790700001500809856010300824 2005 eng d00aDoes Active Exploration Suppress Tactile Flow Perception?0 aDoes Active Exploration Suppress Tactile Flow Perception a660-6613 a

In this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.

10aHaptics1 aDente, D1 aScilingo, E. P.1 aSgambelluri, N1 aBicchi, A. uhttp://615830.rige.asia/publications/does-active-exploration-suppress-tactile-flow-perception.html00451nas a2200145 4500008004100000245004300041210004300084260002100127300001200148653001200160653001300172100001500185700002000200856008500220 2005 eng d00aFlusso tattile ed illusione sensoriale0 aFlusso tattile ed illusione sensoriale aRoma, ItalycMay a245-24910aHaptics10aRobotics1 aBicchi, A.1 aScilingo, E. P. uhttp://615830.rige.asia/publications/flusso-tattile-ed-illusione-sensoriale.html00743nas a2200229 4500008004100000245009400041210006900135300001400204490000700218653001200225100001600237700001700253700001600270700001400286700001500300700001200315700001300327700001700340700001500357700001500372856012600387 2005 eng d00aOltre le immagini sensoriali: la rappresentazione degli oggetti nella via visiva ventrale0 aOltre le immagini sensoriali la rappresentazione degli oggetti n aS81–S830 v2610aHaptics1 aPietrini, P1 aRicciardi, E1 aGentili, C.1 aBonino, D1 aVanello, N1 aSani, L1 aDanti, S1 aGuazzelli, M1 aBicchi, A.1 aVecchi, TE uhttp://615830.rige.asia/publications/oltre-le-immagini-sensoriali-la-rappresentazione-degli-oggetti-nella-visiva-ventrale00515nas a2200145 4500008004100000245006200041210006000103260002600163653001200189100002000201700001700221700001600238700001500254856010000269 2005 eng d00aOptic and tactile flow: does a supramodal response exist?0 aOptic and tactile flow does a supramodal response exist aRovereto, ItalycJune10aHaptics1 aScilingo, E. P.1 aRicciardi, E1 aPietrini, P1 aBicchi, A. uhttp://615830.rige.asia/publications/optic-and-tactile-flow-does-supramodal-response-exist.html01027nas a2200157 4500008004100000245003600041210003600077300001000113520059200123653001200715100001500727700001300742700002000755700001900775856007500794 2005 eng d00aPerceptual Bias in Tactile Flow0 aPerceptual Bias in Tactile Flow a17-203 a

In this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.

10aHaptics1 aBicchi, A.1 aDente, D1 aScilingo, E. P.1 aSgambelluri, N uhttp://615830.rige.asia/publications/perceptual-bias-tactile-flow.html00757nas a2200205 4500008004100000245016400041210006900205300001200274490000600286653001200292100001700304700001200321700001600333700001500349700001500364700001500379700001500394700001600409856012600425 2005 eng d00aSupramodal response of human MT+ complex to visual and tactile perception of flow as demonstrated by fMRI studies in sighted and congenitally blind individuals0 aSupramodal response of human MT complex to visual and tactile pe a129-1290 v110aHaptics1 aRicciardi, E1 aSani, L1 aGentili, C.1 aVanello, N1 aHaxby, J V1 aLandini, L1 aBicchi, A.1 aPietrini, P uhttp://615830.rige.asia/publications/supramodal-response-human-mt-complex-visual-and-tactile-perception-flow-demonstrated00603nas a2200193 4500008004100000245005500041210005500096260002000151300001200171653001200183100001500195700002000210700001300230700001900243700001600262700002000278700001700298856009400315 2005 eng d00aTactile Flow and Haptic Discrimination of Softness0 aTactile Flow and Haptic Discrimination of Softness bSpringer Verlag a165-17610aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aDente, D1 aSgambelluri, N1 aBarbagli, F1 aPrattichizzo, D1 aSalisbury, K uhttp://615830.rige.asia/publications/tactile-flow-and-haptic-discrimination-softness.html01497nas a2200181 4500008004100000245008800041210006900129260002600198300001200224520086500236653001201101100001901113700001301132700002001145700001301165700001501178856012201193 2004 eng d00aAnalysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids0 aAnalysis and Design of a New Haptic Box Display Based on Magneto aMunich, GermanycJune a442-4453 a

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

10aHaptics1 aSgambelluri, N1 aRizzo, R1 aScilingo, E. P.1 aRaugi, M1 aBicchi, A. uhttp://615830.rige.asia/publications/analysis-and-design-new-haptic-box-display-based-magneto-rheological-fluids.html01149nas a2200157 4500008004100000245013000041210006900171260002300240520052700263653001200790100001500802700001300817700001300830700001900843856012900862 2004 eng d00aAnalysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces0 aAnalysis and Design of an Electromagnetic System for the Charact aSeoul, KoreacJune3 a

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

10aHaptics1 aBicchi, A.1 aRaugi, M1 aRizzo, R1 aSgambelluri, N uhttp://615830.rige.asia/publications/analysis-and-design-electromagnetic-system-characterization-magneto-rheological-fluid-001169nas a2200229 4500008004100000245007300041210006900114300001200183520046700195653001200662100001500674700001500689700001500704700001500719700002200734700001600756700001700772700001600789700001500805700001500820856010400835 2004 eng d00aA compatibility test for tactile displays designed for fMRI studies.0 acompatibility test for tactile displays designed for fMRI studie a456-4583 a

The purpose of this document is to provide a compatibility test for mechatronic devices to be used within a diagnostic MR environment. In order to design new devices that can produce tactile stimuli of different nature inside the MRI environment, compatibility tests with several materials and mechatronic devices are reported. Results of these experiments are analyzed in order to evaluate artefacts caused by the presence and actuation of the devices.

10aHaptics1 aHartwig, V1 aVanello, N1 aGassert, R1 aChapuis, D1 aSantarelli, M. F.1 aPositano, V1 aRicciardi, E1 aPietrini, P1 aLandini, L1 aBicchi, A. uhttp://615830.rige.asia/publications/compatibility-test-tactile-displays-designed-fmri-studies.html01596nas a2200145 4500008004100000245007300041210006900114260002300183300001200206520108900218653001201307100001301319700001901332856009901351 2004 eng d00aDesign of a System for the Energization of MagnetoRheological Fluids0 aDesign of a System for the Energization of MagnetoRheological Fl aPisa, ItalycMarch a921-9243 a

In a previous paper, a device for the characterization of MagnetoRheological Fluids (MRF) has been described. The MRF consist of micro-sized, magnetically active particles dispersed in a carrier medium. When exposed to a magnetic field, MRF change their own consistency turning from fluid to near-solid state responding to the applied field within milliseconds. This interesting property, suggests the possibility to use magnetorheological fluids to mimic the compliance of biological tissues in order to realize a haptic display, such as in surgical training for minimally invasive surgery and/or open surgery simulations [2]. In this scenario the operator could interact with a virtual object which simulate several biological tissues by magnetically tuning the rheological properties of the fluid. In this paper an accurate analysis of an immersive device for the magnetic excitation of the fluid is presented. In particular such analysis is focused on a system of ferromagnetic "pistons", that, properly positioned in the device, can address the magnetic flux in the MRF.

10aHaptics1 aRizzo, R1 aSgambelluri, N uhttp://615830.rige.asia/publications/design-system-energization-magnetorheological-fluids.html01341nas a2200157 4500008004100000245008400041210006900125300001200194520078500206653001200991100001301003700001401016700002001030700001501050856011801065 2004 eng d00aIntegration of Tactile Flow from Multi-Finger and Multi-Dimensional Information0 aIntegration of Tactile Flow from MultiFinger and MultiDimensiona a282-2893 a

In this paper we pursue an investigation on the role of perceptual flow in the tactile domain, which appears to be a primary source for information such as shape, motion and softness. In this paper, we report on a set of psychophysical experiments involving how humans integrate incoherent tactile flow stimuli. Two experiments are reported, whereby discordant stimuli are conveyed to the subject by two different fingertips, or by two different families of mechanoreceptors in the same finger. Results from the first experiment show that, in these conditions, the tactile and the optic perceptive systems act in a very similar way. In the second experiment the interaction between tactile flow and friction generate an illusory phenomenon peculiar of the tactile system.

10aHaptics1 aDente, D1 aPisani, A1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/integration-tactile-flow-multi-finger-and-multi-dimensional-information.html01528nas a2200265 4500008004100000245009700041210006900138520068700207653001200894100001500906700001700921700001300938700001900951700002000970700001600990700001201006700001601018700002201034700001701056700001501073700001501088700001501103700001601118856012801134 2004 eng d00aPerception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain0 aPerception of Optic and Tactile Flow Both Activate V5MT cortical3 a

V5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.

10aHaptics1 aVanello, N1 aRicciardi, E1 aDente, D1 aSgambelluri, N1 aScilingo, E. P.1 aGentili, C.1 aSani, L1 aPositano, V1 aSantarelli, M. F.1 aGuazzelli, M1 aHaxby, J V1 aLandini, L1 aBicchi, A.1 aPietrini, P uhttp://615830.rige.asia/publications/perception-optic-and-tactile-flow-both-activate-v5mt-cortical-complex-human-brain.html01347nas a2200277 4500008004100000245009400041210006900135300001200204520048800216653001200704100001700716700001500733700001300748700001900761700002000780700001600800700001200816700001600828700002200844700001700866700001500883700001500898700001500913700001600928856012500944 2004 eng d00aPerception of visual and tactile flow activates common cortical areas in the human brain.0 aPerception of visual and tactile flow activates common cortical  a290-2923 a

We report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.

10aHaptics1 aRicciardi, E1 aVanello, N1 aDente, D1 aSgambelluri, N1 aScilingo, E. P.1 aGentili, C.1 aSani, L1 aPositano, V1 aSantarelli, M. F.1 aGuazzelli, M1 aHaxby, J V1 aLandini, L1 aBicchi, A.1 aPietrini, P uhttp://615830.rige.asia/publications/perception-visual-and-tactile-flow-activates-common-cortical-areas-human-brain.html01252nas a2200157 4500008004100000245010600041210006900147300001200216520065600228653001200884100002000896700001900916700001700935700001500952856012700967 2003 eng d00aHaptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation0 aHaptic Displays Based on Magnetorheological Fluids Design Realiz a10–153 a

In this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.

10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D.1 aBicchi, A. uhttp://615830.rige.asia/publications/haptic-displays-based-magnetorheological-fluids-design-realization-and-psychophysical01521nas a2200145 4500008004100000245004500041210004500086300001400131520108600145653001201231100001501243700001301258700002001271856008401291 2003 eng d00aHaptic Illusions Induced by Tactile Flow0 aHaptic Illusions Induced by Tactile Flow a2412-24173 a

In this paper we report on a set of experiments involving perceptual illusions elicited by dynamic tactile stimulation of fingertips. These misperceptions are akin to some well studied optical illusions, which have been given an explanation in terms of the mechanisms of optic flow perception. We hypothesize that a similar perceptual mechanism exists for tactile flow, which is related to how humans perceive relative motion and pressure between the fingertips and objects in contact. We present a computational model of tactile flow, and discuss how it relates to accepted models of the neurophyisiology of touch. A particularly interesting phenomenon observed under some experimental circumstances, consisting of an incoherent tactile perception generating what we call a tactile vertigo, can be explained in terms of this model. The proposed tactile flow model also explains other phenomena observed in the past (namely, the Contact Area Spread Rate effect), and is of importance in designing simpler, more effective devices for artificial haptic sensing and displays.

10aHaptics1 aBicchi, A.1 aDente, D1 aScilingo, E. P. uhttp://615830.rige.asia/publications/haptic-illusions-induced-tactile-flow.html01764nas a2200169 4500008004100000245010900041210006900150260002400219300001400243520113000257653001201387100002001399700001901419700001701438700001501455856012401470 2003 eng d00aTowards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination0 aTowards a Haptic Black Box Magnetorheological fluid based displa aTaipei, TaiwancMay a2412-24173 a

In this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator's hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.

10aHaptics1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D.1 aBicchi, A. uhttp://615830.rige.asia/publications/towards-haptic-black-box-magnetorheological-fluid-based-display-softness-and-shape00569nas a2200169 4500008004100000245005800041210005700099260003900156653001200195653001300207100002000220700001500240700001800255700001400273700001500287856009700302 2002 eng d00aGrasp Control: a General Manipulation System Approach0 aGrasp Control a General Manipulation System Approach aLausannebIEEE/RSJ IROScSeptember10aHaptics10aRobotics1 aPrattichizzo, D1 aBicchi, A.1 aMelchiorri, C1 aSanz, P J1 aMolfino, R uhttp://615830.rige.asia/publications/grasp-control-general-manipulation-system-approach.html01639nas a2200169 4500008004100000245005700041210005700098260000900155300000900164520111700173653001201290100001501302700002001317700001901337700001701356856009601373 2002 eng d00aHaptic Interfaces Based on Magnetorheological Fluids0 aHaptic Interfaces Based on Magnetorheological Fluids cJuly a6-113 a

In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.

10aHaptics1 aBicchi, A.1 aScilingo, E. P.1 aSgambelluri, N1 aDe Rossi, D. uhttp://615830.rige.asia/publications/haptic-interfaces-based-magnetorheological-fluids.html00474nas a2200145 4500008004100000245005000041210005000091260002300141300001200164653001200176100002000188700001500208700001700223856008800240 2001 eng d00aHaptic devices for minimally invasive surgery0 aHaptic devices for minimally invasive surgery aLucca, ItalycJuly a194-19810aHaptics1 aScilingo, E. P.1 aBicchi, A.1 aDe Rossi, D. uhttp://615830.rige.asia/publications/haptic-devices-minimally-invasive-surgery.html00580nas a2200157 4500008004100000245008800041210006900129653001200198653001600210100001500226700001600241700001200257700001900269700001800288856011600306 2001 eng d00aMachine hand design for dexterity, robustness of grasp, and interaction with humans0 aMachine hand design for dexterity robustness of grasp and intera10aHaptics10aRobot Hands1 aBicchi, A.1 aCutkosky, M1 aHowe, R1 aSalisbury, J K1 aSrinivasan, M uhttp://615830.rige.asia/publications/machine-hand-design-dexterity-robustness-grasp-and-interaction-humans.html01503nas a2200181 4500008004100000245009500041210006900136300001400205490000600219520084600225653004801071653001201119100001501131700001901146700001201165700001501177856012901192 2001 eng d00aRandomized parallel simulation of constrained multibody systems for VR/haptic applications0 aRandomized parallel simulation of constrained multibody systems  a2319-23240 v33 a

In this paper, we consider the problem of efficiently simulating large interconnected mechanical systems. For applications such as haptic rendering of large, complex virtual environments, dynamic simulation software and hardware is still too slow to afford accurate performance in real-time. In particular, mechanisms with closed kinematic chains necessitate solutions to a set of differential equation with algebraic constraints (DAE's), that are often too heavy and stiff to be computed in real-time by present-day single-processor machines. On the other hand, the structure of most state-of-the-art algorithms does not easily lend itself to parallelization. In this paper, we propose and experimentally verify a technique for DAE simulation that profitably uses a degree of randomization to achieve efficient parallelization.

10aDynamics and Simulation for Virtual Reality10aHaptics1 aBicchi, A.1 aPallottino, L.1 aBray, M1 aPerdomi, P uhttp://615830.rige.asia/publications/randomized-parallel-simulation-constrained-multibody-systems-vrhaptic-applications.html00612nas a2200217 4500008004100000245003800041210003800079260004800117300001000165490000800175653001300183653001200196653001600208100001500224700001300239700001500252700001700267700001500284700001500299856008000314 2001 eng d00aRobotic Grasping and Manipulation0 aRobotic Grasping and Manipulation aBerlin Heidelberg, GermanybSpringer-Verlag a55-740 v27010aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aKumar, V1 aNicosia, S1 aSiciliano, B1 aBicchi, A.1 aValigi, P. uhttp://615830.rige.asia/publications/robotic-grasping-and-manipulation.html00632nas a2200181 4500008004100000245007400041210006900115260002900184300001000213653001900223653001200242100001700254700001600271700001600287700001500303700002000318856011200338 2001 eng d00aStrain-amplified electroactive polymer actuator for haptic interfaces0 aStrainamplified electroactive polymer actuator for haptic interf aNewport Beach, USAcJuly a43-5310aBioengineering10aHaptics1 aDe Rossi, D.1 aLorussi, F.1 aMazzoldi, A1 aRocchia, W1 aScilingo, E. P. uhttp://615830.rige.asia/publications/strain-amplified-electroactive-polymer-actuator-haptic-interfaces.html00507nas a2200157 4500008004100000245005500041210005200096260002300148300000800171653001900179653001200198653001300210100002000223700001500243856009100258 2001 eng d00aTactile Flow: Does it exist, is it useful and how?0 aTactile Flow Does it exist is it useful and how aLucca, ItalycJuly a14210aBioengineering10aHaptics10aRobotics1 aScilingo, E. P.1 aBicchi, A. uhttp://615830.rige.asia/publications/tactile-flow-does-it-exist-it-useful-and-how.html00667nas a2200181 4500008004100000245009700041210006900138260001200207300001000219490000700229653001200236653004400248653001500292653001600307100001500323700002000338856012700358 2000 eng d00aAnalysis and Optimization of Tendinous Actuation for Biomorphically Designed Robotic Systems0 aAnalysis and Optimization of Tendinous Actuation for Biomorphica cJanuary a23-310 v1810aHaptics10aPhysical Human-Robot Interaction (pHRI)10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://615830.rige.asia/publications/analysis-and-optimization-tendinous-actuation-biomorphically-designed-robotic-systems00593nas a2200145 4500008004100000245011400041210006900155260002000224653001200244653001300256100001500269700002000284700001700304856012600321 2000 eng d00aExperimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel0 aExperimental Validation of a Psychophysical Conjecture on a Simp bSpringer-Verlag10aHaptics10aRobotics1 aBicchi, A.1 aScilingo, E. P.1 aDe Rossi, D. uhttp://615830.rige.asia/publications/experimental-validation-psychophysical-conjecture-simplified-model-haptic-perceptual00552nas a2200145 4500008004100000245009300041210006900134260001300203300001200216490000700228653001200235653001600247100001500263856012800278 2000 eng d00aHands for Dextrous Manipulation and Robust Grasping: a Difficult Road Towards Simplicity0 aHands for Dextrous Manipulation and Robust Grasping a Difficult  cDecember a652-6620 v1610aHaptics10aRobot Hands1 aBicchi, A. uhttp://615830.rige.asia/publications/hands-dextrous-manipulation-and-robust-grasping-difficult-road-towards-simplicity.html01885nas a2200193 4500008004100000245009700041210006900138260001200207300001200219490000700231520123200238653001901470653001201489653001701501100001501518700001701533700002001550856012101570 2000 eng d00aHaptic discrimination of softness in teleoperation: the role of the contact area spread rate0 aHaptic discrimination of softness in teleoperation the role of t cOctober a496-5040 v163 a

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today's haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen as the contact force increases. Devices for implementing such a perceptual channel are described, and a pratical application to a mini-invasive surgery tool is presented. Psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

10aHaptic Sensing10aHaptics10aTactile Flow1 aBicchi, A.1 aDe Rossi, D.1 aScilingo, E. P. uhttp://615830.rige.asia/publications/haptic-discrimination-softness-teleoperation-role-contact-area-spread-rate.html00699nas a2200181 4500008004100000245010700041210006900148260002600217300001200243653002000255653001200275653004100287100002000328700001500348700001700363700001400380856012300394 2000 eng d00aA magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues0 amagnetorheological fluid as a haptic display to replicate percei aLyon, FrancecOctober a229-23310aHaptic Displays10aHaptics10aTools for Minimally Invasive Surgery1 aScilingo, E. P.1 aBicchi, A.1 aDe Rossi, D.1 aScotto, A uhttp://615830.rige.asia/publications/magnetorheological-fluid-haptic-display-replicate-perceived-compliance-biological00469nas a2200157 4500008004100000245004300041210004200084260002200126300001200148653001300160653001200173653001600185100001500201700001300216856008200229 2000 eng d00aRobotic Grasping and Contact: A Review0 aRobotic Grasping and Contact A Review aSan Francisco, CA a348-35310aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aKumar, V uhttp://615830.rige.asia/publications/robotic-grasping-and-contact-review.html01289nas a2200169 4500008004100000245006800041210006800109260002000177520071900197653001900916653001200935653001300947100001500960700001700975700002000992856010701012 1999 eng d00aPsychophysical Evaluation of Simplified Haptic Perception Media0 aPsychophysical Evaluation of Simplified Haptic Perception Media aPisacSeptember3 a

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficlt and costly. In this paper we discuss a simplified model of haptic detection of softness (whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted). We provide a thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

10aBioengineering10aHaptics10aRobotics1 aBicchi, A.1 aDe Rossi, D.1 aScilingo, E. P. uhttp://615830.rige.asia/publications/psychophysical-evaluation-simplified-haptic-perception-media.html01753nas a2200181 4500008004100000245007800041210006900119300001200188520115100200653001901351653001201370653001301382100001501395700001501410700001701425700002001442856010901462 1999 eng d00aThe Role of Contact Area Spread Rate in Haptic Discrimination of Softness0 aRole of Contact Area Spread Rate in Haptic Discrimination of Sof a305-3103 a

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today's haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen. Devices for implementing this new perceptual channel are described, and some preliminary psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

10aBioengineering10aHaptics10aRobotics1 aAmbrosi, G1 aBicchi, A.1 aDe Rossi, D.1 aScilingo, E. P. uhttp://615830.rige.asia/publications/role-contact-area-spread-rate-haptic-discrimination-softness.html-000629nas a2200181 4500008004100000245008300041210006900124260001400193300001400207653001900221653001200240653001300252100002000265700001500285700001700300700001500317856011500332 1998 eng d00aHaptic display able to replicate the rheological behaviour of surgical tissues0 aHaptic display able to replicate the rheological behaviour of su aHong Kong a1738-174110aBioengineering10aHaptics10aRobotics1 aScilingo, E. P.1 aBicchi, A.1 aDe Rossi, D.1 aIacconi, P uhttp://615830.rige.asia/publications/haptic-display-able-replicate-rheological-behaviour-surgical-tissues.html00468nas a2200133 4500008004100000245006000041210005900101653001200160653001300172100001500185700002000200700001800220856009600238 1998 eng d00aOptimization of Internal Forces in Force-Closure Grasps0 aOptimization of Internal Forces in ForceClosure Grasps10aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aAntognetti, G uhttp://615830.rige.asia/publications/optimization-internal-forces-force-closure-grasps.html00522nas a2200145 4500008004100000245006700041210006700108653001200175653001500187653001600202100001500218700002000233700001800253856010500271 1997 eng d00aForce and Dynamic Manipulability for Cooperating Robot Systems0 aForce and Dynamic Manipulability for Cooperating Robot Systems10aHaptics10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D1 aMelchiorri, C uhttp://615830.rige.asia/publications/force-and-dynamic-manipulability-cooperating-robot-systems.html00523nas a2200157 4500008004100000245005800041210005800099260002000157653001200177653001300189100002000202700001800222700001500240700001400255856009600269 1997 eng d00aGeometric Control Techniques for Manipulation Systems0 aGeometric Control Techniques for Manipulation Systems aBelfort, France10aHaptics10aRobotics1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://615830.rige.asia/publications/geometric-control-techniques-manipulation-systems.html00546nas a2200157 4500008004100000245005600041210005600097260004900153653001200202653001300214100002000227700001800247700001500265700001400280856009400294 1997 eng d00aGeometric Control Techniques for Mechanical Systems0 aGeometric Control Techniques for Mechanical Systems aSiena, Italia, september 29 - October 3 199710aHaptics10aRobotics1 aPrattichizzo, D1 aMercorelli, P1 aBicchi, A.1 aVicino, A uhttp://615830.rige.asia/publications/geometric-control-techniques-mechanical-systems.html00648nas a2200169 4500008004100000245011700041210006900158260001100227653001900238653001200257653001300269100002000282700001700302700001500319700001500334856012900349 1997 eng d00aHaptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments0 aHaptic display for replication of rheological behaviour of surgi aDallas10aBioengineering10aHaptics10aRobotics1 aScilingo, E. P.1 aDe Rossi, D.1 aBicchi, A.1 aIaccone, P uhttp://615830.rige.asia/publications/haptic-display-replication-rheological-behaviour-surgical-tissues-modelling-control-and00541nas a2200181 4500008004100000245003800041210003800079260004800117300001000165653001200175653001300187100001500200700001400215700002000229700001700249700001700266856007600283 1997 eng d00aRobotic Dexterity via Nonholonomy0 aRobotic Dexterity via Nonholonomy aBerlin Heidelberg, GermanybSpringer Verlag a35-4910aHaptics10aRobotics1 aBicchi, A.1 aMarigo, A1 aPrattichizzo, D1 aSiciliano, B1 aValavanis, K uhttp://615830.rige.asia/publications/robotic-dexterity-nonholonomy.html00650nas a2200157 4500008004100000245015400041210006900195260001200264653001200276653001200288100002000300700001700320700001500337700001500352856012500367 1997 eng d00aSensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons' haptic percetion of manipulated tissues0 aSensors and devices to enhance the performance of a minimally in aChicago10aHaptics10aSensors1 aScilingo, E. P.1 aDe Rossi, D.1 aBicchi, A.1 aIaccone, P uhttp://615830.rige.asia/publications/sensors-and-devices-enhance-performance-minimally-invasive-surgery-tool-replicating00684nas a2200205 4500008004100000245006600041210006300107260004100170300001200211653001200223653001300235100001500248700002000263700001500283700002000298700001800318700002400336700001600360856010200376 1997 eng d00aOn some structural properties of general manipulation systems0 asome structural properties of general manipulation systems aLondon, U.K.bImperial College Press a187-20210aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aAstolfi, A1 aLimebeer, D J N1 aMelchiorri, C1 aTornambèe, A1 aVinter, R B uhttp://615830.rige.asia/publications/some-structural-properties-general-manipulation-systems.html01208nas a2200193 4500008004100000245006800041210006700109260004800176520055500224653001300779653001200792653001600804100002000820700001900840700001500859700001400874700001700888856010900905 1996 eng d00aContact and Grasp Robustness Measures: Analysis and Experiments0 aContact and Grasp Robustness Measures Analysis and Experiments aBerlin Heidelberg, GermanybSpringer Verlag3 a

In this paper we discuss some aspects related to the practical assessment of the quality of a grasp by a robotic device on objects of unknown shape, based on sensorial feedback from tactile and force sensors on the hand. We briefly discuss the concept of contact robustness and of grasp robustness, pointing out that the former is an easily computable but overconservative sufficient condition for the latter. Some experimental results on a simple gripper, the so–called ``Instrumented Talon'', are reported as an illustration.

10aGrasping10aHaptics10aRobot Hands1 aPrattichizzo, D1 aSalisbury, J K1 aBicchi, A.1 aKhatib, O1 aSalisbury, K uhttp://615830.rige.asia/publications/contact-and-grasp-robustness-measures-analysis-and-experiments.html00644nas a2200169 4500008004100000245009500041210006900136260004800205300000900253653001300262653001200275653001600287100001500303700001400318700001700332856012500349 1996 eng d00aHands for Dextrous Manipulation and Powerful Grasping: a Difficult Road Towards Simplicity0 aHands for Dextrous Manipulation and Powerful Grasping a Difficul aBerlin Heidelberg, GermanybSpringer Verlag a2-1510aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aGiralt, G1 aHirzinger, G uhttp://615830.rige.asia/publications/hands-dextrous-manipulation-and-powerful-grasping-difficult-road-towards-simplicity00583nas a2200205 4500008004100000245003400041210003400075260004800109300001000157653001200167653001300179100001500192700001400207700002000221700001500241700001700256700001800273700001300291856007300304 1996 eng d00aReachability of Rolling Parts0 aReachability of Rolling Parts aSingaporebWorld Scientific Publisher Corp. a51-6010aHaptics10aRobotics1 aChitour, Y1 aMarigo, A1 aPrattichizzo, D1 aBicchi, A.1 aBonivento, C1 aMelchiorri, C1 aTolle, H uhttp://615830.rige.asia/publications/reachability-rolling-parts.html00647nas a2200169 4500008004100000245009300041210006900134300001200203653001200215653004100227100001500268700001500283700001700298700001500315700002000330856012700350 1996 eng d00a A sensor-based minimally invasive surgery tool for detecting tissue elastic properties 0 asensorbased minimally invasive surgery tool for detecting tissue a884-88810aHaptics10aTools for Minimally Invasive Surgery1 aBicchi, A.1 aCanepa, G.1 aDe Rossi, D.1 aIacconi, P1 aScilingo, E. P. uhttp://615830.rige.asia/publications/sensor-based-minimally-invasive-surgery-tool-detecting-tissue-elastic-properties.html00432nas a2200145 4500008004100000245005000041210004300091260001100134300001200145490000700157653001200164653001300176100001500189856008200204 1995 eng d00aOn the Closure Properties of Robotic Grasping0 aClosure Properties of Robotic Grasping cAugust a319-3340 v1410aHaptics10aRobotics1 aBicchi, A. uhttp://615830.rige.asia/publications/closure-properties-robotic-grasping.html00513nas a2200145 4500008004100000245006900041210006700110300001400177653001200191653001500203653001600218100001500234700002000249856009800269 1995 eng d00aA Standard Form for the Dynamics of General Manipulation Systems0 aStandard Form for the Dynamics of General Manipulation Systems a2810-281510aHaptics10aRobot Arms10aRobot Hands1 aBicchi, A.1 aPrattichizzo, D uhttp://615830.rige.asia/publications/standard-form-dynamics-general-manipulation-systems.html00538nas a2200145 4500008004100000245007700041210006900118653001200187653001500199653001600214100001700230700002000247700001500267856011000282 1994 eng d00aArticulated Structures with Tendon Actuation for Whole-Limb Manipulation0 aArticulated Structures with Tendon Actuation for WholeLimb Manip10aHaptics10aRobot Arms10aRobot Hands1 aPetreschi, P1 aPrattichizzo, D1 aBicchi, A. uhttp://615830.rige.asia/publications/articulated-structures-tendon-actuation-whole-limb-manipulation.html00510nas a2200157 4500008004100000245004800041210004800089260004000137653001300177653001200190653001600202100001500218700001700233700002000250856008200270 1994 eng d00aControl of manipulation with dextrous hands0 aControl of manipulation with dextrous hands aCapribElsevier Science, Oxford, UK10aGrasping10aHaptics10aRobot Hands1 aBicchi, A.1 aPetreschi, P1 aPrattichizzo, D uhttp://615830.rige.asia/publications/control-manipulation-dextrous-hands.html00405nas a2200133 4500008004100000245004600041210004500087300001200132653001200144653001300156100001500169700002000184856006700204 1994 eng d00aControllability of whole-arm manipulation0 aControllability of wholearm manipulation a373-37410aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=41090000521nas a2200169 4500008004100000245005500041210005500096300001200151490000700163653001200170653001600182653001200198100001500210700001900225700001500244856009200259 1993 eng d00aContact Sensing from Force and Torque Measurements0 aContact Sensing from Force and Torque Measurements a249-2620 v1210aHaptics10aRobot Hands10aSensors1 aBicchi, A.1 aSalisbury, J K1 aBrock, D L uhttp://615830.rige.asia/publications/contact-sensing-force-and-torque-measurements.html00660nas a2200169 4500008004100000245010000041210006900141260004800210653001200258653001300270100001500283700001900298700001500317700001500332700001700347856012600364 1993 eng d00aExperimental Evaluation of Friction Data with an Articulated Hand and Intrinsic Contact Sensors0 aExperimental Evaluation of Friction Data with an Articulated Han aBerlin Heidelberg, GermanybSpringer Verlag10aHaptics10aRobotics1 aBicchi, A.1 aSalisbury, J K1 aBrock, D L1 aChatila, R1 aHirzinger, G uhttp://615830.rige.asia/publications/experimental-evaluation-friction-data-articulated-hand-and-intrinsic-contact-sensors00482nas a2200145 4500008004100000245005900041210005800100260001200158300001200170653001300182653001200195653001600207100001500223856009800238 1993 eng d00aForce Distribution in Multiple Whole-Limb Manipulation0 aForce Distribution in Multiple WholeLimb Manipulation aAtlanta a196-20110aGrasping10aHaptics10aRobot Hands1 aBicchi, A. uhttp://615830.rige.asia/publications/force-distribution-multiple-whole-limb-manipulation.html00385nas a2200121 4500008004100000245004800041210004800089653001200137653001300149100001500162700001800177856006800195 1993 eng d00aManipulability Measures of Cooperating Arms0 aManipulability Measures of Cooperating Arms10aHaptics10aRobotics1 aBicchi, A.1 aMelchiorri, C uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=479286700618nas a2200169 4500008004100000245008700041210006900128260002900197300001300226653001200239653001300251100001500264700002000279700001600299700001600315856011700331 1993 eng d00aNew Issues in the Kineto-Statics, Dynamics, and Control of Whole-Hand Manipulation0 aNew Issues in the KinetoStatics Dynamics and Control of WholeHan aAmsterdambNorth Holland a373-379010aHaptics10aRobotics1 aBicchi, A.1 aPrattichizzo, D1 aTakamori, T1 aTsuchiya, K uhttp://615830.rige.asia/publications/new-issues-kineto-statics-dynamics-and-control-whole-hand-manipulation.html00657nas a2200169 4500008004100000245010600041210006900147260004800216653001200264653001300276100001500289700001500304700001300319700001700332700001500349856012300364 1993 eng d00aWhole Hand Manipulation: Design of an Articulated Hand Exploiting All Its Parts To Increase Dexterity0 aWhole Hand Manipulation Design of an Articulated Hand Exploiting aBerlin Heidelberg, GermanybSpringer Verlag10aHaptics10aRobotics1 aVassura, G1 aBicchi, A.1 aDario, P1 aAebischer, P1 aSandini, G uhttp://615830.rige.asia/publications/whole-hand-manipulation-design-articulated-hand-exploiting-all-its-parts-increase00454nas a2200133 4500008004100000245005900041210005700100260001800157653001300175653001200188653001600200100001500216856008900231 1992 eng d00aAlgorithms for the Analysis of Form- and Force-Closure0 aAlgorithms for the Analysis of Form and ForceClosure aNagoya, Japan10aGrasping10aHaptics10aRobot Hands1 aBicchi, A. uhttp://615830.rige.asia/publications/algorithms-analysis-form-and-force-closure.html00547nas a2200169 4500008004100000245004900041210004900090260004800139653001200187653001300199100001300212700001800225700001500243700001600258700001600274856008700290 1992 eng d00aMultiple Sensing for Dexterous End Effectors0 aMultiple Sensing for Dexterous End Effectors aBerlin Heidelberg, GermanybSpringer Verlag10aHaptics10aRobotics1 aDario, P1 aBergamasco, M1 aBicchi, A.1 aFiorillo, A1 aBejczy, A K uhttp://615830.rige.asia/publications/multiple-sensing-dexterous-end-effectors.html00460nas a2200157 4500008004100000245002900041210002900070260004800099653001200147653001300159100001600172700001500188700001300203700001500216856007100231 1992 eng d00aRobot Tactile Perception0 aRobot Tactile Perception aBerlin Heidelberg, GermanybSpringer Verlag10aHaptics10aRobotics1 aButtazzo, G1 aBicchi, A.1 aDario, P1 aLee, C S G uhttp://615830.rige.asia/publications/robot-tactile-perception.html00404nas a2200133 4500008004100000245003900041210003900080260001700119653001300136653001200149653001600161100001500177856007800192 1991 eng d00aAnalysis Control of Power Grasping0 aAnalysis Control of Power Grasping aOsaka, Japan10aGrasping10aHaptics10aRobot Hands1 aBicchi, A. uhttp://615830.rige.asia/publications/analysis-control-power-grasping.html00517nas a2200145 4500008004100000245006200041210006000103260003700163653001200200653001300212100001500225700001600240700001700256856009800273 1991 eng d00aRobotic Tactile Sensing: Skin-like and Intrinsic Approach0 aRobotic Tactile Sensing Skinlike and Intrinsic Approach aNew York, NY, USAbMarcel Dekker10aHaptics10aRobotics1 aBicchi, A.1 aButtazzo, G1 aTzafestas, S uhttp://615830.rige.asia/publications/robotic-tactile-sensing-skin-and-intrinsic-approach.html00478nas a2200145 4500008004100000245004700041210004700088260002400135653002500159653001200184653001600196653002000212100001500232856008500247 1990 eng d00aIntrinsic Contact Sensing for Soft Fingers0 aIntrinsic Contact Sensing for Soft Fingers aCincinnati, OH, USA10aForce/Torque Sensors10aHaptics10aRobot Hands10aTactile Sensors1 aBicchi, A. uhttp://615830.rige.asia/publications/intrinsic-contact-sensing-soft-fingers.html00620nas a2200205 4500008004100000245005100041210005100092260004800143300001000191490000700201653001200208653001300220100001800233700001300251700001500264700001600279700001300295700001700308856008900325 1990 eng d00aMulti Sensor Integration for Fine Manipulation0 aMulti Sensor Integration for Fine Manipulation aBerlin Heidelberg, GermanybSpringer Verlag a55-660 v5810aHaptics10aRobotics1 aBergamasco, M1 aDario, P1 aBicchi, A.1 aButtazzo, G1 aTou, J T1 aBalchen, J G uhttp://615830.rige.asia/publications/multi-sensor-integration-fine-manipulation.html00507nas a2200157 4500008004100000245005400041210005400095260002400149653001200173653001600185653001200201100001500213700001500228700001600243856009000259 1990 eng d00aSensorial Integration for a Robotic Dextrous Hand0 aSensorial Integration for a Robotic Dextrous Hand aHouston, Texas, USA10aHaptics10aRobot Hands10aSensors1 aVassura, G1 aBicchi, A.1 aTonielli, A uhttp://615830.rige.asia/publications/sensorial-integration-robotic-dextrous-hand.html00528nas a2200133 4500008004100000245008200041210006900123260002000192653001200212653001300224100001800237700001500255856012400270 1989 eng d00aAdaptive Surface Following and Reconstruction Using Intrinsic Tactile Sensing0 aAdaptive Surface Following and Reconstruction Using Intrinsic Ta aZaragoza, Spain10aHaptics10aRobotics1 aBalestrino, A1 aBicchi, A. uhttp://615830.rige.asia/publications/adaptive-surface-following-and-reconstruction-using-intrinsic-tactile-sensing.html00581nas a2200169 4500008004100000245006900041210006900110260002400179653001300203653001200216653001600228653001200244100001500256700001900271700001300290856010800303 1989 eng d00aAugmentation of Grasp Robustness Using Intrinsic Tactile Sensing0 aAugmentation of Grasp Robustness Using Intrinsic Tactile Sensing aScottsdale, AZ, USA10aGrasping10aHaptics10aRobot Hands10aSensors1 aBicchi, A.1 aSalisbury, J K1 aDario, P uhttp://615830.rige.asia/publications/augmentation-grasp-robustness-using-intrinsic-tactile-sensing.html00565nas a2200169 4500008004100000245005100041210005100092260005300143653001200196653001600208653002000224100001500244700001800259700001300277700001600290856008900306 1988 eng d00aIntegrated Tactile Sensing for Gripper Fingers0 aIntegrated Tactile Sensing for Gripper Fingers aZuerich, SwitzerlandbI. F. S. Publications Ltd.10aHaptics10aRobot Hands10aTactile Sensors1 aBicchi, A.1 aBergamasco, M1 aDario, P1 aFiorillo, A uhttp://615830.rige.asia/publications/integrated-tactile-sensing-gripper-fingers.html00525nas a2200169 4500008004100000245005100041210005100092260003400143300001000177653001200187653001300199100001500212700001300227700001400240700001200254856008900266 1988 eng d00aIntrinsic Tactile Sensing for Artificial Hands0 aIntrinsic Tactile Sensing for Artificial Hands aCambridge, MA, USAbMIT Press a83-9010aHaptics10aRobotics1 aBicchi, A.1 aDario, P1 aBolles, R1 aRoth, B uhttp://615830.rige.asia/publications/intrinsic-tactile-sensing-artificial-hands.html00530nas a2200169 4500008004100000245005400041210005400095260002300149653001200172653001600184653001200200100001300212700001500225700001200240700001600252856009200268 1987 eng d00aMultiple Sensing Fingertip for Robot Active Touch0 aMultiple Sensing Fingertip for Robot Active Touch aVersailles, France10aHaptics10aRobot Hands10aSensors1 aDario, P1 aBicchi, A.1 aFemi, D1 aFiorillo, A uhttp://615830.rige.asia/publications/multiple-sensing-fingertip-robot-active-touch.html00699nas a2200205 4500008004100000245008800041210006900129260004000198300001200238653001200250653001600262653001200278100001500290700001300305700001700318700001500335700001500350700001700365856011100382 1986 eng d00aOn the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects0 aControl of a Sensorized Artificial Finger for Tactile Exploratio aOxford, U. K.bPergamon Press Books a251-25610aHaptics10aRobot Hands10aSensors1 aBicchi, A.1 aDario, P1 aPinotti, P C1 aBasanez, L1 aFerrate, G1 aSaridis, G N uhttp://615830.rige.asia/publications/control-sensorized-artificial-finger-tactile-exploration-objects.html00652nas a2200193 4500008004100000245006600041210006400107260005700171300001200228653001200240653001300252100001300265700001500278700001600293700001600309700001900325700001500344856009900359 1986 eng d00aA Sensorized Scenario for Basic Investigation on Active Touch0 aSensorized Scenario for Basic Investigation on Active Touch aKempston, Bedford, U. K.bI. F. S. Publications Ltd. a237-24510aHaptics10aRobotics1 aDario, P1 aBicchi, A.1 aFiorillo, A1 aButtazzo, G1 aFrancesconi, R1 aPugh, Alan uhttp://615830.rige.asia/publications/sensorized-scenario-basic-investigation-active-touch.html00565nas a2200145 4500008003900000245008800039210006900127260004000196653001200236653001300248100001500261700001300276700001700289856011300306 1985 d00aOn the Control of a Sensorized Artificial Finger for Tactile Exploration of Objects0 aControl of a Sensorized Artificial Finger for Tactile Exploratio aBarcelona, Spain, 6-8 November 198510aHaptics10aRobotics1 aBicchi, A.1 aDario, P1 aPinotti, P C uhttp://615830.rige.asia/publications/control-sensorized-artificial-finger-tactile-exploration-objects.html-000620nas a2200181 4500008004100000245008000041210006900121260002400190653001200214653001600226653001300242653001200255100001300267700001500280700001500295700001700310856011100327 1985 eng d00aTendon Actuated Exploratory Finger With Polymeric, Skin-like Tactile Sensor0 aTendon Actuated Exploratory Finger With Polymeric Skinlike Tacti aSt. Louis, MO, USA.10aHaptics10aRobot Hands10aRobotics10aSensors1 aDario, P1 aBicchi, A.1 aVivaldi, F1 aPinotti, P C uhttp://615830.rige.asia/publications/tendon-actuated-exploratory-finger-polymeric-skin-tactile-sensor.html