@conference {2233, title = {Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition}, booktitle = { 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies" }, year = {2014}, address = {November 3{\textendash}5, 2014 Athens, Greece}, keywords = {Haptics, Robotics}, doi = { http://dx.doi.org/10.4108/icst.mobihealth.2014.257228}, author = {M. Bianchi and N. Carbonaro and E. Battaglia and F. Lorussi and A. Bicchi and D. De Rossi and A. Tognetti} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

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.

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @conference {1470, title = {An Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery}, booktitle = {Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on}, year = {2007}, pages = {25{\textendash}30}, publisher = {IEEE}, organization = {IEEE}, keywords = {Haptics}, author = {N. Sgambelluri and G. Valenza and M. Ferro and G. Pioggia and E. P. Scilingo and D. De Rossi and A. Bicchi} } @conference {VHTZSTRSBPDRL07, title = {An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration}, booktitle = {The 10th Annual International Workshop on Presence}, year = {2007}, pages = {79-83}, keywords = {Haptics}, author = {N. Vanello and V. Hartwig and M. Tesconi and G. Zupone and N. Sgambelluri and A. Tognetti and E. Ricciardi and E. P. Scilingo and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini}, editor = {Laura Moreno, Starlab Barcelona, S.L.} } @inbook {DS06, title = {Skin-like sensor arrays}, booktitle = {Encyclopedia of Sensors}, year = {2006}, pages = {535-556}, publisher = {American Scientific Publishers}, organization = {American Scientific Publishers}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and E. P. Scilingo} } @conference {SSDRB03, title = {Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation}, booktitle = {Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2003}, pages = {10{\textendash}15}, abstract = {

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.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {SSDRB03, title = {Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2003}, month = {May}, pages = {2412-2417}, address = {Taipei, Taiwan}, abstract = {

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{\textquoteright}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.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and D. De Rossi and A. Bicchi} } @conference {BSSDR02, title = {Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc.2th Int. Conf. Eurohaptics 2002}, year = {2002}, month = {July}, pages = {6-11}, abstract = {

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.

}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and N. Sgambelluri and D. De Rossi} } @conference {SBDR-01, title = {Haptic devices for minimally invasive surgery}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {194-198}, address = {Lucca, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi} } @conference {DLMWS-01, title = {Strain-amplified electroactive polymer actuator for haptic interfaces}, booktitle = {Proceedings of SPIE}, year = {2001}, month = {July}, pages = {43-53}, address = {Newport Beach, USA}, keywords = {Bioengineering, Haptics}, author = {D. De Rossi and F. Lorussi and A. Mazzoldi and W. Rocchia and E. P. Scilingo} } @inbook {BSDR00, title = {Experimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel}, booktitle = {Robotics Research IX}, year = {2000}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and D. De Rossi} } @article {BDS00, title = {Haptic discrimination of softness in teleoperation: the role of the contact area spread rate}, journal = {IEEE Trans. on Robotics and Automation}, volume = {16}, number = {5}, year = {2000}, month = {October}, pages = {496-504}, abstract = {

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{\textquoteright}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.

}, keywords = {Haptic Sensing, Haptics, Tactile Flow}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {SBDRS-00, title = {A magnetorheological fluid as a haptic display to replicate perceived compliance of biological tissues}, booktitle = {Proc. IEEE-EMBS Conference on Microtechnologies in Medicine and Biology}, year = {2000}, month = {October}, pages = {229-233}, address = {Lyon, France}, keywords = {Haptic Displays, Haptics, Tools for Minimally Invasive Surgery}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and A. Scotto} } @conference {BDRS99, title = {Psychophysical Evaluation of Simplified Haptic Perception Media}, booktitle = {Proc. Int. Workshop on Robot and Human Interaction}, year = {1999}, month = {September}, address = {Pisa}, abstract = {

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.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {ABDRS99, title = {The Role of Contact Area Spread Rate in Haptic Discrimination of Softness}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {305-310}, abstract = {

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{\textquoteright}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.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {G. Ambrosi and A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {SBDRI-98, title = {Haptic display able to replicate the rheological behaviour of surgical tissues}, booktitle = {Proc. 20th International Conference IEEE/EMBS}, year = {1998}, pages = {1738-1741}, address = {Hong Kong}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and P. Iacconi} } @conference {SDRBI97-ASME, title = {Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments}, booktitle = {Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {1997}, address = {Dallas}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @conference {SDRBI97-EMB, title = {Sensors and devices to enhance the performance of a minimally invasive surgery tool for replicating surgeons{\textquoteright} haptic percetion of manipulated tissues}, booktitle = {Proc. IEEE Int. Conf. Engineering in Medicine and Biology}, year = {1997}, address = {Chicago}, keywords = {Haptics, Sensors}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @conference {BCDRIS96, title = { A sensor-based minimally invasive surgery tool for detecting tissue elastic properties }, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1996}, pages = {884-888}, keywords = {Haptics, Tools for Minimally Invasive Surgery}, author = {A. Bicchi and G. Canepa and D. De Rossi and P. Iacconi and E. P. Scilingo} }