Representative Publications per Workpackage

WP1 Neuroscience and physiology: foundations for wearable haptic systems

Year 4

  1. Bianchi, M., Moscatelli, A., Ciotti, S., Bettelani, G. C., Fioretti, F., Lacquaniti, F., Bicchi, A., Tactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions, World Haptics Conference (WHC), (pp. 96–100), 2017, iI: 10.1109/WHC.2017.7989883, codeurl, PDF.
  2. Debats, N.B., Ernst, M.O. & Heuer, H. Perceptual attraction in tool use: evidence for a reliability-based weighting mechanism, Journal of Neurophysiology, 117: 1569–1580 , 2017, DOI: 10.1152/jn.00724.2016, codeurl, PDF.
  3. van Dam, L.C.J, Plaisier, M.A., Glowania C. & Ernst M.O. Haptic adaptation to slant: No transfer between exploration modes, Scientific Reports 6, 34412, 2016, DOI: 10.1038/srep34412, codeurl, PDF.
  4. Debats, N.B., Rohde M., Glowania C., Oppenborn A., & Ernst, M.O. The Influence of Motor Task on Tactile Suppression During Action. Haptics: Perception, Devices, Control, and Applications, EuroHaptics, 158-167, 2016, DOI: 10.1007/978-3-319-42321-0_15, codeurl.
  5. Fani, S., Ciotti, S., Battaglia, E., Moscatelli, A., & Bianchi, M. W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality, IEEE Transactions on Haptics, 1–13, 2017, DOI: 10.1109/TOH.2017.2708717, codeurl, PDF.
  6. Moscatelli, A., Bianchi, M., Serio, A., Terekhov, A., Hayward, V., Ernst, M. O., & Bicchi, A. The Change in Fingertip Contact Area as a Novel Proprioceptive Cue, Current Biology, 2016, DOI: , codeurl, PDF.
  7. Naceri, A., Moscatelli, A., Haschke,R., Ritter, H., Santello, M. & Ernst, M.O. Multidigit force control during unconstrained grasping in response to object perturbations, Journal of Neurophysiology, 117: 2025–2036, 2017, DOI: 10.1152/jn.00546.2016, codeurl, PDF.
  8. Cesare V. Parise, M. O. Ernst Correlation detection as a general mechanism for multisensory integration, Nature Communication 7, article number: 11543, 2016, DOI: , codeurl, PDF.
  9. Rohde, L. C. J. van Dam, M. O. Ernst Statistically optimal multisensory cue integration: a practical tutorial, Multisensory Research, 29 (4-5), 279-317, 2016, DOI: , codeurl, PDF.
  10. Marieke Rohde and M. O. Ernst Time, agency, and sensory feedback delays during action, Current Opinion in Behavioral Sciences, 8:193–199, 2016, DOI: 10.1016/j.cobeha.2016.02.029, codeurl, PDF.

Year 3

  1.  B. Delhaye, A. Barrea, B. B. Edin, P. Lefèvre, J. Thonnard, Surface strain measurements of fingertip skin under shearing, Journal of the Royal Society Interface 13 (115), pp. 1-11, 2016, DOI 10.1098/rsif.2015.0874, codeurl, PDF.
  2. L. Dupin, V. Hayward, M.h2x>t9o[9vdk.>`4r: #000000; font-weight: normal;”>Direct coupling of haptic signals between hands, Proceedings of the National Academy of Sciences, 112(2), pp. 619–624, 2015, DOI 10.1073/pnas.1419539112,codeurl, PDF.
  3. A. Moscatelli, V. Hayward, M. Wexler, M. O. Ernst, Illusory Tactile Motion Perception An Analog of the Visual Filehne Illusion, Scientific Reports 5 (14584), 2015, DOI 10.1038/srep14584, codeurl, PDF.
  4. Y. Shao, V. Hayward, Y. Visel, Spatial patterns of cutaneous vibration during whole-hand haptic interactions, Proceedings of the National Academy of Sciences 2016, DOI 10.1073/pnas.1520866113, codeurl.
  5. A. V. Terekhov, V. Hayward, The brain uses extrasomatic information to estimate limb displacement, Proceedings of the Royal Society of London, Series B, 282b(1814), 10.1098/rspb.2015.1661, codeurl, PDF.
  6. J. Dallmann, M. O. Ernst, A. Moscatelli, The role of vibration in tactile speed perception, Journal of Neurophysiology 114 (6), pp. 3131-3139, 2015, DOI 10.1152/jn.00621.2015, codeurl, PDF.
  7. L. C. J. van Dam, M. O. Ernst, Mapping Shape to Visuomotor Mapping: Learning and Generalisation of Sensorimotor Behaviour Based on Contextual Information, PLOS Computational Biology 11 (3), 2015, DOI 10.1371/journal.pcbi.1004172, codeurl, PDF.
  8. L. C. J. van Dam, M. O. Ernst, Relative errors can cue absolute visuomotor mappings, Experimental Brain Research 233 (12), pp. 3367-3377, 2015, DOI 10.1007/s00221-015-4403-9, codeurl, PDF.
  9. M. Rohde, M. O. Ernst, Time, Agency, and Sensory Feedback Delays During Action, Current Opinion in Behavioral Sciences 8 pp. 193–199, 2016,DOI 10.1016/j.cobeha.2016.02.029, codeurl, PDF.
  10. M. Rohde, L. C. J. van Dam, M. O. Ernst, Statistically Optimal Multisensory Cue Integration: A Practical Tutorial, Multisensory Research 2015,DOI 10.1163/22134808-00002510, codeurl.
  11. M. Bianchi, A. Moscatelli, Editors, Human and Robot Hands. Sensorimotor Synergies to Bridge the Gap Between Neuroscience and Robotics, Springer Series on Touch and Haptic Systems, 2016, DOI 10.1007/978-3-319-26706-7, codeurl.

Year 2

  1. M. A. Plaisier, C. Glowania, M. O. Ernst, Exploration mode affects visuohaptic integration of surface orientation, Journal of Vision 14 (13), pp. 1-12, 2014, DOI 10.1167/14.13.22, codeurl, PDF.
  2. A. Moscatelli, A. Naceri, M. O. Ernst , Path integration in tactile perception of shapes, Behavioural Brain Research 274 pp. 355–364, 2014, DOI 10.1016/j.bbr.2014.08.025, codeurl, PDF.
  3. A. Moscatelli, M. Scheller, G. J. Kowalski, M. O. Ernst, The Haptic Analog of the Visual Aubert-Fleischl Phenomenon, Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, Proceedings, II, pp. 34-40, Versailles, France, 2014, DOI 10.1007/978-3-662-44196-1_5, codeurl, PDF.
  4. A. Moscatelli, M. Bianchi, A. Serio, O. Al Atassi, S. Fani, A. Terekhov, V. Hayward, M. Ernst, A. Bicchi, A change in the fingertip contact area induces an illusory displacement of the finger, Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, Proceedings, II, pp. 72-79, Paris, France, 2014, DOI 10.1007/978-3-662-44196-1_10, codeurl, PDF.
  5. C. V. Parise, K. Knorre, O. M. Ernst, Natural auditory scene statistics shapes human spatial hearing, Proceedings of the National Academy of Sciences of the United States of America 111 (16), pp. 6104-6108, 2014, DOI 10.1073/pnas.1322705111, codeurl, PDF.

Year 1

  1.  A. Naceri, A. Moscatelli, M. Santello, O. M. Ernst, Coordination of Multi-digit Positions and Forces During Unconstrained Grasping in Response to Object Perturbations, Proc. 2014 IEEE Haptics Symposium (HAPTICS), pp. 35 – 40, Houston, Texas, 2014, DOI 10.1109/HAPTICS.2014.6775430, codeurl, PDF.
  2. A. Naceri, A. Moscatelli, M. Santello, O. M. Ernst, Multi-digit Position and Force Coordination in Three- and Four-digit Grasping, Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, Proceedings, I, pp. 101-108, Versailles, France, 2014, DOI 10.1007/978-3-662-44193-0_14, codeurl, PDF.
  3. C. V. Parise, K. Knorre, O. M. Ernst, Natural auditory scene statistics shapes human spatial hearing, Proceedings of the National Academy of Sciences of the United States of America 111 (16), pp. 6104-6108, 2014, DOI 10.1073/pnas.1322705111, codeurl, PDF.

 

WP2 Computational models of human touch

Year 4

  1. D. Lobo, M. Sarac, M. Verschoor, M. Solazzi, A. Frisoli, M. A: Otaduy, Proxy-Based Haptic Rendering for Underactuated Haptic Devices, IEEE World Haptics Conference, 2017, DOI 10.1109/WHC.2017.7989875, codeurl, PDF.
  2. M. A. Otaduy, A. Okamura, S. Subramanian, Haptic Technologies for Direct Touch in Virtual Reality, ACM SIGGRAPH Courses, 2016, DOI 10.1145/2897826.2927307, codeurl, PDF.

 

Year 3

  1. E. Miguel, M. L. D’Angelo, F. Cannella, M. Bianchi, M. C. Memeo, A. Bicchi, D. Caldwell, M. A. Otaduy, Characterization of Nonlinear Finger Pad Mechanics for Tactile Rendering, Proc. 2015 IEEE World Haptics Conference (WHC), pp. 63 -68, Chicago, USA, 2015, DOI 10.1109/WHC.2015.7177692,codeurl, PDF.
  2. E. Battaglia, M. Bianchi, M. L. D’Angelo, M. D’Imperio, F. Cannella, E. P. Scilingo, A. Bicchi, A Finite Element Model of Tactile Flow for Softness Perception, Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 2430 – 2433, Milan, Italy, 2015, DOI 10.1109/EMBC.2015.7318884, codeurl, link to PDF (reserved area).

Year 2

  1. A. Talvas, M. Marchal, C. Duriez, M. A. Otaduy, Aggregate Constraints for Virtual Manipulation with Soft Fingers, IEEE Transactions on Visualization and Computer Graphics 21 (4), pp. 452-461, 2015, DOI 10.1109/TVCG.2015.2391863, codeurl, PDF.
  2. A. Talarico, M. Malvezzi, D. Prattichizzo, Modeling the human touch: a FE model of the human hand fingertips for haptic application, Proc. COMSOL Conference 2014, Cambridge, United Kingdom, 2014, codeurl, PDF.

Year 1

  1. G. Salvietti, M. Malvezzi, D. Prattichizzo, Simulation of Soft Finger Contact Model with Rolling Effects in Point-Contact Haptic Interfaces, Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, Proceedings, II, pp. 326-333, Versailles, France, 2014, DOI 10.1007/978-3-662-44196-1_40, codeurl, PDF.
  2. F. Hernandez, G. Cirio, A. G. Perez, M. A. Otaduy, Anistropic Strain Limiting, Proc. Spanish Computer Graphics Conference CEIG, pp. 121-127, Madrid, Spain, 2013, codeurl, PDF.
  3. J. Perez, A. G. Perez, M. A. Otaduy, Simulation of Hyperelastic Materials Using Energy Constraints, Proc. Spanish Computer Graphics Conference CEIG, pp. 129-136, Madrid, Spain, 2013, codeurl, PDF.
  4. A. G. Perez, G. Cirio, F. Hernandez, C. Garre, M. A. Otaduy, Strain limiting for soft finger contact simulation, Proc. 2013 World Haptics Conference (WHC), pp. 79-84, Daejeon,Korea, 2013, DOI 10.1109/WHC.2013.6548388, codeurl, PDF.

WP3 Multisensory tracking and sensing

Year 4

  1. S. Ciotti, E. Battaglia, I. Oikonomidis, A. Makris, A. Tsoli, A. Bicchi, A.A. Argyros and M. Bianchi, Synergy-driven performance enhancement of vision-based 3D hand pose reconstruction, EAI International Conference on Wireless Mobile Communication and Healthcare (MobiHealth), Special session on advances in soft wearable technology for mobile-health, pp. 328-336, 2016, DOI 10.1007/978-3-319-58877-3_42, codeurl, PDF.
  2. T. Lisini Baldi, S. Scheggi, L. Meli, M. Mohammadi, D. Prattichizzo, GESTO: a Glove for Enhanced Sensing and Touching Based on Inertial and Magnetic Sensors for Hand Tracking and Cutaneous Force Feedback, IEEE Transaction on Human-Machine Systems, 99(1):1-11, 2017, DOI 10.1109/THMS.2017.2720667, codeurl, PDF.
  3. D. Michel and A. A. Argyros, Apparatuses, methods and systems for recovering a 3-dimensional skeletal model of the human body, 2014. U.S. Provisional Patent Application No. 62/053,667, 2014-09-22, codeurl.
  4. D. Michel, A. Qammaz and A.A. Argyros, Markerless 3D human pose estimation and tracking based on RGBD Cameras: an experimental evaluation, ACM Int. Conf. on Pervasive Technologies Related to Assistive Environments (PETR), pp. 115-122, 2017, DOI 10.1145/3056540.3056543, codeurl, PDF.
  5. P. Panteleris and A.A. Argyros, Back to RGB: 3D tracking of hands and hand-object interactions based on short-baseline stereo, IEEE International Conference on Computer Vision Workshops (HANDS – ICCVW), 2017, codeurl, PDF.
  6. T. Pham, N. Kyriazis, A. A. Argyros, A. Kheddar, Hand-object contact force estimation from markerless visual tracking, IEEE Transactions on Pattern Analysis and Machine Intelligence, 2017, DOI 10.1109/TPAMI.2017.2759736, codeurl, PDF.
  7. K. Roditakis, A. Makris and A.A. Argyros, Generative 3D hand tracking with spatially constrained pose sampling, British Machine Vision Conference (BMVA), 2017, codeurl, PDF.

Year 3

  1. D. Michel, A. Argyros, Apparatuses, methods and systems for recovering a 3-dimensional skeletal model of the human body, Pub. no. 2016/0086350 A1, Publication date 24/03/2016, codeurl, PDF.
  2. A. Qammaz, N. Kyriazis, A. A. Argyros, Boosting the Performance of Model-based 3D Tracking by Employing Low Level Motion Cues, Proc. British Machine Vision Conference (BMVC 2015), pp. 144.1-144.11, Swansea, United Kingdom, 2015, DOI 10.5244/C.29.144, codeurl, PDF.
  3. G. Poier, K. Roditakis, S. Schulter, D. Michel, H. Bischof, A. A. Argyros, Hybrid One-Shot 3D Hand Pose Estimation by Exploiting Uncertainties, Proc. British Machine Vision Conference (BMVC 2015), pp. 182.1-182.14, Swansea, United Kingdom, 2015, DOI 10.5244/C.29.182, codeurl, PDF.
  4. C. Panagiotakis, A. A. Argyros, Parameter-free modelling of 2D shapes with ellipses, Pattern Recognition 53 pp. 259–275, 2016, DOI 10.1016/j.patcog.2015.11.004, codeurl, PDF.
  5. N. Kyriazis, A. A. Argyros, 3D Tracking of Hands Interacting with Several Objects, IEEE International Conference on Computer Vision Workshops (OUI 2015 – ICCVW 2015), Santiago, Chile, 2015, codeurl, PDF.
  6. N. Kyriazis, I. Oikonomidis, P. Panteleris, D. Michel, A. Qammaz, A. Makris, K. Tzevanidis, P. Douvantzis, K. Roditakis, A. A. Argyros, A Generative Approach to Tracking Hands and Their Interaction with Objects, Man-Machine Interactions 4 – International Confenrence on Man–Machine Interactions (ICMMI 2015), pp. 19-28, Beskids, Poland, 2015, DOI 10.1007/978-3-319-23437-3_2, codeurl, PDF.
  7. M. Mohammadi, T. Lisini Baldi, S. Scheggi, D. Prattichizzo, Fingertip Force Estimation via Inertial and Magnetic Sensors in Deformable Object Manipulation, Proc. IEEE Haptics Symposium (HAPTICS), Philadelphia, Pennsylvania, USA, 2016, In Press, codeurl, PDF.

Year 2

  1. D. Michel, A. A. Argyros, Apparatuses, methods and systems for recovering a 3-dimensional skeletal model of the human body, 2014. U.S. Provisional Patent Application No. 62/053,667, 2014-09-22, link to PDF (reserved area).

Year 1

  1. P. Douvantzis, I. Oikonomidis, N. Kyriazis, A. A. Argyros, Dimensionality reduction for efficient single frame hand pose estimation, Proc. 9th International Conference on Computer Vision Systems, ICVS 2013, pp. 143-152, St.Petersburg, Russia, 2013, DOI 10.1007/978-3-642-39402-7, codeurl, PDF.
  2. P. Koutlemanis, X. Zabulis, A. Ntelidakis, A. A. Argyros, Foreground detection with a moving RGBD camera, Proc. 9th International Symposium on Visual Computing, ISVC 2013, pp. 216-227, Rethymnon, Crete, Greece, 2013, DOI 10.1007/978-3-642-41914-0_22, codeurl, PDF.
  3. N. Kyriazis, A. A. Argyros, Scalable 3D tracking of multiple interacting objects, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3430 – 3437, Columbus, Ohio, USA, 2014, DOI 10.1109/CVPR.2014.438, codeurl, PDF.
  4. I. Oikonomidis, M. I. A. Lourakis, A. A. Argyros, Evolutionary quasi-random search for hand articulations tracking, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), pp. 3422 – 3429, Columbus, Ohio, USA, 014, DOI 10.1109/CVPR.2014.437, codeurl, PDF.
  5. I. Oikonomidis, N. Kyriazis, K. Tzevanidis, A. A. Argyros, Tracking hand articulations: Relying on 3D visual hulls versus relying on multiple 2D cues, Proc. IEEE International Symposium on Ubiquitous Virtual Reality 2013, ISUVR 2013, pp. 7-10, Daejeon, South Korea, 2013, DOI 10.1109/ISUVR.2013.13, codeurl, PDF.
  6. L. Meli, S. Scheggi, C. Pacchierotti, D. Prattichizzo, Wearable Haptics and Hand Tracking via an RGB-D Camera for Immersive Tactile Experiences, Proc. SIGGRAPH ’14 ACM SIGGRAPH 2014 Posters, Vancouver, Canada, 2014, DOI 10.1145/2614217.2614262, codeurl, PDF.

WP4 Wearable and distributed multi-DoF haptic systems

Year 4

  1. F. Chinello, M. Malvezzi, C. Pacchierotti, D. Prattichizzo, A Multi-Modal Sensing Glove for Human Manual-Interaction Studies, Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015, pp. 293 – 298, Busan, Korea, 2015, DOI 10.3390/electronics5030042,codeurl, PDF.
  2. Büscher, G., Kõiva, R., Schürmann, C., Haschke, R., & Ritter, H., Flexible and stretchable fabric-based tactile sensor, Robotics and Autonomous Systems, 63 (SI Advances in Tactile Sensing and Touch-based Human-Robot Interaction), 244-252, 2015, DOI 10.1016/j.robot.2014.09.007,codeurl, PDF.
  3. Büscher, G., Meier, M., Walck, G., Haschke, R., & Ritter, H., Augmenting curved robot surfaces with soft tactile skin, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 1514-1519, 2015, DOI 10.1109/IROS.2015.7353568,codeurl, PDF.
  4. Bimbo, J., Pacchierotti, C., Aggravi, M., Tsagarakis, N., & Prattichizzo, D., Teleoperation in cluttered environments using wearable haptic feedback, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017,codeurl, PDF.
  5. Chinello, F., Pacchierotti, C., Malvezzi, M., & Prattichizzo, D., A Three Revolute-Revolute-Spherical wearable fingertip cutaneous device for stiffness rendering, IEEE Transactions on Haptics, 2017, DOI 10.1109/TOH.2017.2755015,codeurl, PDF.
  6. Gabardi, M., Solazzi, M., Leonardis, D., & Frisoli, A., A new wearable fingertip haptic interface for the rendering of virtual shapes and surface features, IEEE Haptics Symposium (HAPTICS), (pp. 140-146), 2016, DOI 10.1109/HAPTICS.2016.7463168,codeurl, PDF.
  7. Leonardis, D., Solazzi, M., Bortone, I., & Frisoli, A., A 3-rsr haptic wearable device for rendering fingertip contact forces, IEEE Transactions on Haptics, 2016, DOI 10.1109/TOH.2016.2640291,codeurl, PDF.
  8. A. Moringen, R. Haschke, and H. Ritter, Search procedures during haptic search in an unstructured 3D display, IEEE Haptics Symposium (HAPTICS), S. Choi, K.J. Kuchenbecker, and G. Gerling, eds., 2016, DOI 10.1109/HAPTICS.2016.7463176,codeurl, PDF.
  9. Sarac, M., Solazzi, M., Leonardis, D., Sotgiu, E., Bergamasco, M., & Frisoli, A., Design of an underactuated hand exoskeleton with joint estimation, Advances in Italian Mechanism Science (pp. 97-105), 2017, DOI 10.1007/978-3-319-48375-7_11,codeurl, PDF.
  10. Sarac, M., Solazzi, M., Sotgiu, E., Bergamasco, M., & Frisoli, A., Design and kinematic optimization of a novel underactuated robotic hand exoskeleton, Meccanica, 52(3), 749-761, 2017, DOI 10.1007/s11012-016-0530-z,codeurl, PDF.

Year 3

  1. S. Casini, M. Morvidoni, M. Bianchi, M. G. Catalano, G. Grioli, A. Bicchi, Design and Realization of the CUFF-Clenching Upper-Limb Force Feedback Wearable Device for Distributed Mechano-Tactile Stimulation of Normal and Tangential Skin Forces, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1186 – 1193, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353520, codeurl, link to PDF (reserved area).
  2. F. Chinello, M. Malvezzi, C. Pacchierotti, D. Prattichizzo, Design and development of a 3RRS wearable fingertip cutaneous device, Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2015, pp. 293 – 298, Busan, Korea, 2015, DOI 10.1109/AIM.2015.7222547,codeurl, PDF.
  3. M. Bianchi, A. Serio, Design and Characterization of a Fabric-based Softness Display, IEEE Transactions on Haptics 8 (2), pp. 152 – 163, 2015,DOI 10.1109/TOH.2015.2404353, codeurl, link to PDF (reserved area).
  4. D. Leonardis, M. Barsotti, C. Loconsole, M. Solazzi, M. Troncossi, C. Mazzotti, V. Parenti Castelli, C. Procopio, G. Lamola, C. Chisari, M. Bergamasco, A. Frisoli, An EMG-controlled robotic hand exoskeleton for bilateral rehabilitation, IEEE Transactions on Haptics 8 (2), pp. 140 – 151, 2015, DOI 10.1109/TOH.2015.2417570, codeurl, link to PDF (reserved area).
  5. D. Leonardis, M. Solazzi, I. Bortone, A. Frisoli, A Wearable Fingertip Haptic Device with 3 DoF Asymmetric 3-RSR kinematics, Proc. 2015 IEEE World Haptics Conference (WHC), pp. 388 – 393, Chicago, USA, 2015, DOI 10.1109/WHC.2015.7177743, codeurl, link to PDF (reserved area).
  6. A. G. Perez, D. Lobo, F. Chinello, G. Cirio, M. Malvezzi, J. San Martın, D. Prattichizzo, M. A. Otaduy, Soft Finger Tactile Rendering for Wearable Haptics, Proc. 2015 IEEE World Haptics Conference (WHC), pp. 327 – 332, Chicago, USA, 2015, DOI 10.1109/WHC.2015.7177733, codeurl, PDF.
  7. C. Pacchierotti, L. Meli, F. Chinello, M. Malvezzi, D. Prattichizzo, Cutaneous haptic feedback to ensure the stability of robotic teleoperation systems, International Journal of Robotics Research 34 (14), pp. 1773-1787, 2015, DOI 10.1177/0278364915603135, codeurl, PDF.
  8. C. Pacchierotti, D. Prattichizzo, K. J. Kuchenbecker, Cutaneous feedback of fingertip deformation and vibration for palpation in robotic surgery, IEEE Transactions on Biomedical Engineering 63 (2), pp. 278 – 287, 2016, DOI 10.1109/TBME.2015.2455932, codeurl, PDF.
  9. C. Pacchierotti, D. Prattichizzo, K. J. Kuchenbecker, Displaying sensed tactile cues with a fingertip haptic device, IEEE Transactions on Haptics 8 (4), pp. 384 – 396, 2015, DOI 10.1109/TOH.2015.2445770, codeurl, PDF.
  10. E. Battaglia, M. Bianchi, A. Altobelli, G. Grioli, M. G. Catalano, A. Serio, M. Santello, A. Bicchi, ThimbleSense: a fingertip-wearable tactile sensor for grasp analysis, IEEE Transactions on Haptics 2015, DOI 10.1109/TOH.2015.2482478, codeurl, PDF.
  11. A. Tognetti, F. Lorussi, N. Carbonaro, D. de Rossi, Wearable Goniometer and Accelerometer Sensory Fusion for Knee Joint Angle Measurement in Daily Life, Sensors 2015, 15(11), pp. 28435-28455, 2015, DOI 10.3390/s151128435, codeurl, PDF.
  12. G. Büscher, M. Meier, G. Walck, R. Haschke, H. J. Ritter, Augmenting Curved Robot Surfaces with Soft Tactile Skin, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1514-1519, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353568, codeurl, link to PDF (reserved area).

.Year 2

  1. M. Bianchi, N. Carbonaro, E. Battaglia, F. Lorussi, A. Bicchi, D. De Rossi, A. Tognetti, Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition, Proc. MOBIHEALTH 2014, 4th International Conference on Wireless Mobile Communication and Healthcare – Transforming healthcare through innovations in mobile and wireless technologies, pp. 168 – 171, Athens, Greece, 2014, DOI 10.1109/MOBIHEALTH.2014.7015937, codeurl, PDF.
  2. I. Sarakoglou, N. G. Tsagarakis, D. G. Caldwell, Development of a Hybrid Actuator with Controllable Mechanical Damping, Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1078 – 1083, Hong Kong, China, 2014, DOI 10.1109/ICRA.2014.6906988, codeurl, PDF.
  3. I. Sarakoglou, N. G. Tsagarakis, Y. N. Karandikar, D. G. Caldwell, Toward Haptic Interfaces with Higher Impedance Range: A Hybrid Actuator with Controllable Mechanical Damping, Proc. Actuator 2014: 14th International Conference on New Actuators, pp. 431-434, Bremen, Germany, 2014, codeurl, PDF.

Year 1

  1. D. Prattichizzo, F. Chinello, C. Pacchierotti, M. Malvezzi, Towards wearability in fingertip haptics: a 3-DoF wearable device for cutaneous force feedback, IEEE Transactions on Haptics 6 (4), pp. 506-516, 2013, DOI 10.1109/TOH.2013.53, codeurl, PDF.
  2. C. Pacchierotti, A. Tirmizi, D. Prattichizzo, Improving transparency in teleoperation by means of cutaneous tactile force feedback, ACM Transactions on Applied Perception 11 (1-4), pp. 1-16, 2014, DOI 10.1145/2604969, codeurl, PDF.
  3. N. Nishimura, D. Leonardis, M. Solazzi, A. Frisoli, H. Kajimoto, A Wearable Encounter Type Haptic Device for Presentation of Realistic Friction, Proc. of the 18th of the Virtual Reality Society of Japan Conference, Japan, 2013.
  4. M. Bianchi, G. Valenza, A. Serio, A. Lanatà, A. Greco, M. Nardelli, E. P. Scilingo, A. Bicchi, Design and Preliminary Affective Characterization of a Novel Fabric-based Tactile Display, Proc. 2014 IEEE Haptics Symposium (HAPTICS), pp. 591 – 596, Houston, Texas, 2014, DOI 10.1109/HAPTICS.2014.6775522, codeurl, PDF.
  5. I. Sarakoglou, N. G. Tsagarakis, D. G. Caldwell, Development of a Hybrid Actuator with Controllable Mechanical Damping, Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 1078 – 1083, Hong Kong, China, 2014, DOI 10.1109/ICRA.2014.6906988, codeurl, PDF.
  6. M. Solazzi, M. Gabardi, A. Frisoli, M. Bergamasco, Kinematics analysis and singularity loci of a 4-UPU parallel manipulator, 14th International Symposium on Advances in Robot Kinematics, Springer, Advances in Robot Kinematics, pp. 467-474, Ljubljana, Slovenia, 2014, DOI 10.1007/978-3-319-06698-1_48, codeurl.
  7. R. Kõiva, M. Zenker, C. Schürmann, R. Haschke, H. J. Ritter, A highly sensitive 3D-shaped tactile sensor, Proc. 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), pp. 1084-1089, Wollongong, Australia, 2013, DOI 10.1109/AIM.2013.6584238, codeurl, PDF.

WP5 Cognitive control of wearable haptic systems

Year 4

  1. M. Angerer, S. Music, S. Hirche, “Port-Hamiltonian model based control for human-robot team interaction.” IEEE Int. Conf. on Robotics and Automation (ICRA), 2017, PDF.
  2. S. Music, S. Hirche, “Classification of human-robot team interaction paradigms.” IFAC Conf. on Cyber-Physical & Human-Systems (CPHS), 2016, PDF.
  3. S. Music, G. Salvietti, P. Budde gen. Dohmann, F. Chinello, D. Prattichizzo, S. Hirche “Robot Team Teleoperation for Cooperative Manipulation using Wearable Haptics.” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2017, PDF.
  4. L. Meli, G. Salvietti, G. Gioioso, M. Malvezzi, D. Prattichizzo, “Multi–Contact Bilateral Telemanipulation using Wearable Haptics,” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), 2016, PDF.
  5. G. Salvietti, L. Meli, G. Gioioso, M. Malvezzi, D. Prattichizzo, “Multi–Contact Bilateral Telemanipulation with Kinematic Asymmetries,” IEEE/ASME Transaction on Mechatronics, 2017, PDF.

Year 3

  1. M. A. Alvarez, D. Luengo, N. D. Lawrence, Linear Latent Force Models Using Gaussian Processes, IEEE Transactions on Pattern Analysis & Machine Intelligence, 35 (11), pp. 2693-2705, DOI 10.1109/TPAMI.2013.86, codeurl.
  2. M. Aggravi, S. Scheggi, D. Prattichizzo, Evaluation of a predictive approach in steering the human locomotion via haptic feedback, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 597 – 602, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353433,codeurl, PDF.
  3. F. Chinello, C. Pacchierotti, N. G. Tsagarakis, D. Prattichizzo, Design of a wearable skin stretch cutaneous device for the upper limb, Proc. IEEE Haptics Symposium (HAPTICS), Philadelphia, Pennsylvania, USA, 2016, In Press, codeurl, PDF.
  4. M. Aggravi, G. Salvietti, D. Prattichizzo, Haptic assistive bracelets for blind skier guidance, Proc. 7th Augmented Human International Conference, AH 2016, Geneva, Switerland, 2016, In Press, codeurl, PDF.
  5. D. Sieber, S. Music, S. Hirche, Multi-robot manipulation controlled by a human with haptic feedback, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 2440 – 2446, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353708, codeurl, PDF.

Year 2

  1. S. Scheggi, M. Aggravi, F. Morbidi, D. Prattichizzo, Cooperative human-robot haptic navigation, Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 2693-2698, Hong Kong, China, 2014, DOI 10.1109/ICRA.2014.6907245, codeurl, PDF.
  2. G. Salvietti, L. Meli, G. Gioioso, M. Malvezzi, D. Prattichizzo, Object-based Bilateral Telemanipulation Between Dissimilar Kinematic Structures, Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Pages 5451-5456, Tokyo, Japan, 2013, codeurl, PDF.
  3. G. Salvietti, L. Meli, G. Gioioso, D. Prattichizzo, Toward a General Bilateral Teleoperation Framework Between Dissimilar Kinematic Structures, Proc. 20th IMEKO TC-4 International Symposium Measurement of Electrical Quantities and 18th TC-4 Workshop on ADC and DAC Modelling and Testing, Benevento, Italy, 2014, codeurl, PDF.
  4. M. Lang, S. Endo, O. Dunkley, S. Hirche, Object Handover Prediction using Gaussian Processes clustered with Trajectory Classification, Proc. IEEE RO-MAN 2014 Workshop on Wearable Technology and Human – Wearable Robot Interaction, Edinburgh, Scotland, UK, 2014, codeurl, PDF.

Year 1

  1. M. Lang, O. Dunkley, S. Hirche, Gaussian Process Kernels for Rotations and 6D Rigid Body Motions, Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 5165-5170, Hong Kong, China, 2014, DOI 10.1109/ICRA.2014.6907617, codeurl, PDF.
  2. S. Scheggi, M. Aggravi, F. Morbidi, D. Prattichizzo, Cooperative human-robot haptic navigation, Proc. 2014 IEEE International Conference on Robotics and Automation (ICRA), pp. 2693-2698, Hong Kong, China, 2014, DOI 10.1109/ICRA.2014.6907245, codeurl, PDF.
  3. S. Scheggi, F. Morbidi, D. Prattichizzo, Human-robot formation control via visual and vibrotactile haptic feedback, IEEE Transactions on Haptics 7 (4), pp. 499 – 511, 2014, DOI 10.1109/TOH.2014.2332173, codeurl, PDF.

WP6 Wearable haptics for human robot interaction and cooperation

Year 4

  1. A. Brygo, I. Sarakoglou, A. Ajoudani, N. Hernandez, G. Grioli, M. Catalano, D.G. Caldwell, and N. Tsagarakis. “Synergy-based interface for bilateral tele-manipulations of a master- slave system with large asymmetries.” IEEE Int. Conf. on Robotics and Automation (ICRA), 2016, PDF.
  2. Anais Brygo, Ioannis Sarakoglou, Giorgio Grioli, and Nikos Tsagarakis. “Synergy-based bilateral port: A universal control module for tele-manipulation frameworks using asymmetric master- slave systems.” Frontiers in Bioengineering and Biotechnology, 5:19, 2017, PDF.
  3. S. Ciotti, E. Battaglia, N. Carbonaro, A. Bicchi, A. Tognetti, and M. Bianchi, “A synergy-based optimally designed sensing glove for functional grasp recognition,” Sensors, vol. 16, no. 6, p. 811, 2016, PDF.
  4. D. Cehajic, P. Budde gen. Dohmann, S. Hirche, “Estimating unknown object dynamics in human-robot manipulation tasks.” IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1730– 1737, 2017, PDF.
  5. I. Sarakoglou and A. Brygo and D. Mazzanti and N. G. Hernandez and D. G. Caldwell and N. G. Tsagarakis, “HEXOTRAC: A highly under-actuated hand exoskeleton for finger tracking and force feedback.” IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp1033-1040, 2016, PDF.

Year 3

  1. D. Cehajic, S. Erhart, S. Hirche, Grasp pose estimation in human-robot manipulation tasks using wearable motion sensors, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 1031-1036, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353497,codeurl, PDF.
  2. D. Sieber, S. Music, S. Hirche, Multi-robot manipulation controlled by a human with haptic feedback, Proc. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, pp. 2440 – 2446, Hamburg, Germany, 2015, DOI 10.1109/IROS.2015.7353708, codeurl, PDF.

Year 2

  1. A. Brygo, I. Sarakoglou, N. Garcia, N. Tsagarakis, Humanoid Robot Teleoperation with Vibrotactile based Balancing Feedback, Haptics: Neuroscience, Devices, Modeling, and Applications, 9th International Conference, EuroHaptics 2014, Proceedings, II, pp. 266-275, Versailles (France), 2014, DOI 10.1007/978-3-662-44196-1_33, link to PDF (reserved area).
  2. A. Brygo, I. Sarakoglou, N. Tsagarakis, D. G. Caldwell, Tele-Manipulation with a Humanoid Robot under Autonomous Joint Impedance Regulation and Vibrotactile Balancing Feedback, 2014 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 862 – 867, Madrid (Spain), 2014, DOI 10.1109/HUMANOIDS.2014.7041465, codeurl, PDF.
  3. A. Brygo, I. Sarakoglou, N. Hernandez, N. Tsagarakis, Bio-Inspired Impedance Controller and Balancing Feedback for the Effective Teleoperation of a Bipedal Robot, 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO), Bali (Indonesia), 2014, In Press,codeurl, PDF.

Year 1

  1. A. Ajoudani, S. Godfrey, M. Bianchi, M. Catalano, G. Grioli, N. Tsagarakis, A. Bicchi, Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand, IEEE Transactions on Haptics 7 (2), pp. 203 – 215, 2014, DOI 10.1109/TOH.2014.2309142, codeurl, PDF.
  2. A. Ajoudani, S. B. Godfrey, M. G. Catalano, G. Grioli, N. G. Tsagarakis, A. Bicchi, Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand, Proc. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1985 – 1991, Tokyo, Japan, 2013, DOI 10.1109/IROS.2013.6696620, codeurl, PDF.

 

WP7 Wearable haptics for social and healthcare scenarios

Year 4

  1. I. Bortone, D. Leonardis, M. Solazzi, C. Procopio, A. Crecchi, L. Bonfiglio, A. Frisoli, Integration of serious games and wearable haptic interfaces for Neuro Rehabilitation of children with movement disorders: A feasibility study, IEEE Rehabilitation Robotics (ICORR), pp. 1094-1099, 2017, DOI: 10.1109/ICORR.2017.8009395 , codeurl, PDF . 
  2. I. Bortone, D. Leonardis, M. Solazzi, C. Procopio, A. Crecchi, L. Briscese,
    A. Frisoli, Serious Game and Wearable Haptic Devices for Neuro Motor Rehabilitation of Children with Cerebral Palsy, Converging Clinical and Engineering Research on Neurorehabilitation II, pp. 443-447, Springer International Publishing, 2017, DOI: 10.1007/978-3-319-46669-9_74, codeurl, PDF .
  3. M. Bianchi, G. Valenza, A. Lanata, A. Greco, M. Nardelli, A. Bicchi, E. P. Scilingo, On the role of affective properties in hedonic and discriminant haptic systems, International Journal of Social Robotics, 9(1), 87-95, 2017, DOI: 10.1007/s12369-016-0371-x, codeurl, PDF .
  4. A. Greco, G. Valenza, M. Nardelli, M. Bianchi, L. Citi, E.P. Scilingo, Force–velocity assessment of caress-like stimuli through the electrodermal activity processing: Advantages of a convex optimization approach,IEEE Transactions on Human-Machine Systems, 47(1), 91-100, 2017, DOI:  10.1109/THMS.2016.2586478, codeurl, PDF .
  5.  M. Maisto, C. Pacchierotti, F. Chinello, G. Salvietti, A. De Luca, D. Prattichizzo, Evaluation of wearable haptic systems for the fingers in Augmented Reality applications, IEEE Transactions on Haptics, 2017, DOI: 10.1109/TOH.2017.2691328, codeurl, PDF .
  6. G. Valenza, A. Greco, L. Citi, M. Bianchi, R. Barbieri, E. P. Scilingo, Inhomogeneous point-processes to instantaneously assess affective haptic perception through heartbeat dynamics information, Scientific reports, 6, 2016, DOI: 10.1038/srep28567, codeurl, PDF .

Year 3

  1. M. Bianchi, M. Poggiani, A. Serio, A. Bicchi, A Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks, Proc. 2015 IEEE World Haptics Conference (WHC), pp. 49 – 56, Chicago, USA, 2015, DOI 10.1109/WHC.2015.7177690, codeurl, link to PDF (reserved area).
  2. A. V. Greco, A. Lanatà, E. Scilingo, L. Citi, cvxEDA: a Convex Optimization Approach to Electrodermal Activity Processing, IEEE Transactions on Biomedical Engineering 2015, DOI 10.1109/TBME.2015.2474131, codeurl, link to PDF (reserved area).
  3. A. Greco, G. Valenza, A. Lanatà, G. Rota, E. P. Scilingo, Electrodermal Activity in Bipolar Patients during Affective Elicitation, IEEE Journal of Biomedical and Health Informatics 18 (6), pp. 1865-1873, 2014, DOI 10.1109/JBHI.2014.2300940, codeurl, PDF.
  4. A. Lanatà, A. Greco, G. Valenza, E. P. Scilingo, On the tridimensional estimation of the gaze point by a stereoscopic wearable eye tracker, Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 2283-2286, Milan, Italy, 2015, DOI 10.1109/EMBC.2015.7318848, codeurl, link to PDF (reserved area).
  5. M. Nardelli, G. Valenza, M. Bianchi, A. Greco, A. Lanatà, A. Bicchi, E. P. Scilingo, Gender-specific velocity recognition of caress-like stimuli through nonlinear analysis of Heart Rate Variability, Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 298 – 301, Milan, Italy, 2015, DOI 10.1109/EMBC.2015.7318359, codeurl, link to PDF (reserved area).
  6. M. Nardelli, G. Valenza, I. Cristea, C. Gentili, C. Cotet, D. David, A. Lanatà, E. P. Scilingo, Characterizing psychological dimensions in non-pathological subjects through autonomic nervous system dynamics, Frontiers in Computational Neuroscience pp. 1-12, 2015, DOI 10.3389/fncom.2015.00037, codeurl, PDF .
  7. M. Nardelli, G. Valenza, A. Greco, A. Lanatà, E. P. Scilingo, Arousal recognition system based on heartbeat dynamics during auditory elicitation, Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 6110 – 6113, Milan, Italy, 2015,DOI 10.1109/EMBC.2015.7319786, codeurl, link to PDF (reserved area).
  8. G. Valenza, A. Greco, M. Nardelli, M. Bianchi, A. Lanatà, S. Rossi, E. P. Scilingo, Electroencephalographic spectral correlates of caress-like affective haptic stimuli, Proc. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 4733 – 4736, Milan, Italy, 2015, DOI 10.1109/EMBC.2015.7319451, codeurl, link to PDF (reserved area).

Year 2

  1. M. Bianchi, G. Valenza, A. Serio, A. Lanatà, A. Greco, M. Nardelli, E. P. Scilingo, A. Bicchi, Design and Preliminary Affective Characterization of a Novel Fabric-based Tactile Display, Proc. 2014 IEEE Haptics Symposium (HAPTICS), pp. 591 – 596, Houston, Texas, 2014, DOI 10.1109/HAPTICS.2014.6775522, codeurl, link to PDF (reserved area).

 Year 1

  1. A. Greco, M. C. Carboncini, A. Virgillito, A. Lanatà, G. Valenza, E. P. Scilingo, Quantitative EEG Analysis in Minimally Conscious State Patients During Postural Changes, Proc. 2013 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), pp. 6313-6316, Osaka, Japan, 2013, DOI 10.1109/EMBC.2013.6610997, codeurl.