@article {3105, title = {On the Role of Affective Properties in Hedonic and Discriminant Haptic Systems}, journal = {International Journal of Social Robotics}, volume = {9}, year = {2017}, month = {01/2017}, pages = {87{\textendash}95}, abstract = {

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 {\textquotedblleft}caress{\textquotedblright}) 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.

}, keywords = {Haptics}, issn = {1875-4791}, doi = {10.1007/s12369-016-0371-x}, url = {http://rdcu.be/ugoW}, author = {M. Bianchi and G. Valenza and A Lanata and A. Greco and M. Nardelli and A. Bicchi and E. P. Scilingo} } @conference {2539, title = {A Finite Element Model of Tactile Flow for Softness Perception}, booktitle = {37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015)}, year = {2015}, note = {

This work was partially supported by the European Research Council under the ERC Advanced Grant no. 291166 SoftHands (A Theory of Soft Synergies for a New Generation of Artificial Hands) and under the grant agreement no. 601165 Wearhap (Wearable Haptics for Humans and Robots), within the FP7/2007-2013 program: Cognitive Systems and Robotics.

}, pages = {2430 - 2433}, publisher = {IEEE}, organization = {IEEE}, address = {Milano, Italy, August 25th-29th, 2015}, keywords = {Haptics, Robotics}, doi = {10.1109/EMBC.2015.7318884}, url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=\&arnumber=7318884}, author = {E. Battaglia and M. Bianchi and M. L. D{\textquoteright}Angelo and M. D{\textquoteright}Imperio and F. Cannella and E. P. Scilingo and A. Bicchi} } @conference {2082, title = {Design and preliminary affective characterization of a novel fabric-based tactile display}, booktitle = {Haptics Symposium (HAPTICS), 2014 IEEE}, year = {2014}, pages = { 591 - 596}, address = {Houston, TX}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2014.6775522}, author = {M. Bianchi and G. Valenza and A. Serio and A Lanata and L. Greco and M. Nardelli and E. P. Scilingo and A. Bicchi} } @inbook {2087, title = {A Fabric-based Approach for Softness Rendering}, booktitle = {Multisensory Softness: Perceived Compliance from Multiple Sources of Information}, volume = {Springer Series on Touch and Haptic Systems}, year = {2014}, pages = {219 - 240}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, chapter = {11}, abstract = {

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.

}, keywords = {Haptics, Robotics}, issn = {978-1-4471-6532-3}, doi = {10.1007/978-1-4471-6533-0_11}, url = {http://link.springer.com/chapter/10.1007\%2F978-1-4471-6533-0_11}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {BSB11, title = {Haptic interfaces: new strategies to convey tactile information}, booktitle = {Automatica.it 2011}, year = {2011}, note = {

poster presentation

}, month = {September, 7 - 9}, address = {Pisa, Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and E. P. Scilingo and A. Bicchi} } @conference {BSSB, title = {A new fabric based softness display}, booktitle = {Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, month = {March 25-16}, pages = {108 - 112}, address = {Waltham,Massachusetts, USA}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @article {SBGBB10, title = {Rendering Softness: Integration of kinaesthetic and cutaneous information in a haptic device}, journal = {Transactions on Haptics}, volume = {3}, number = {2}, year = {2010}, note = {

Best Student Paper and Best Paper Award Finalist

}, pages = {109 - 118}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and M. Bianchi and G. Grioli and A. Bicchi} } @conference {BGSSB, title = {Validation of a Virtual Reality Environment to Study Anticipatory Modulation of Digit Forces and Position}, booktitle = {Eurohaptics 2010}, series = {Lecture Notes in Computer Science}, volume = {6192/2010}, year = {2010}, month = {July, 8 - 10}, pages = {136 - 143}, address = {Amsterdam (The Netherlands)}, keywords = {Haptics, Robotics}, author = {M. Bianchi and G. Grioli and E. P. Scilingo and M. Santello and A. Bicchi} } @conference {BSSB09, title = {A new softness display based on bi-elastic fabric}, booktitle = {World Haptics}, year = {2009}, note = {

poster presentation

}, month = {March, 18 - 20}, pages = {382 - 383}, address = {Salt Lake City, USA}, abstract = {

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

}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {BSSB, title = {Rendering softness: a new fabric yielding display}, booktitle = {Workshop for young researchers on human - friendly robotics - Symposium}, year = {2009}, month = {December 3}, address = {Sestri levante (Ge), Italy}, keywords = {Haptics, Robotics}, author = {M. Bianchi and A. Serio and E. P. Scilingo and A. Bicchi} } @conference {RMSBR08, title = {A Permanent Magnets Exciter for MRFs-based Haptic Interfaces}, booktitle = {IEEE Conference on Electromagnetic Field Computation}, year = {2008}, address = {Atene}, keywords = {Haptics}, author = {R. Rizzo and A. Musolino and E. P. Scilingo and A. Bicchi and M. Raugi} } @inbook {HB08-1, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {39 - 60}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {The Role of Tactile Flow in Processing Dynamic Haptic Stimuli}, address = {Berlin, Heidelberg}, abstract = {

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

}, keywords = {Haptics, Robotics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @inbook {HB08-2, title = {The Sense of Touch and its Rendering: Progresses in Haptics Research}, series = {Springer Tracts in Advanced Robotics (STAR)}, volume = {45/2008}, year = {2008}, pages = {155-178}, publisher = {Springer}, organization = {Springer}, type = {Chapter}, chapter = {Rheological Device}, address = {Berlin, Heidelberg}, abstract = {

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.

}, keywords = {Haptics, Robotics}, author = {N. Sgambelluri and E. P. Scilingo and R. Rizzo and A. Bicchi}, editor = {A. Bicchi and M. Buss and M. Ernst and A. Peer} } @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} } @article {BRB07, title = {Tactile flow explains haptic counterparts of common visual illusions}, journal = {Brain Res Bull.}, volume = {75}, number = {6}, year = {2008}, month = {April 15}, pages = {737-741}, abstract = {

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.

}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and E. Ricciardi and P. Pietrini} } @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} } @article {BHM07, title = {The Effect of Visual Experience on the Development of Functional Architecture in hMT+}, journal = {Cerebral Cortex}, volume = {17}, number = {12}, year = {2007}, note = {

[Epub ahead of print]

}, month = {March 19}, pages = {2933 - 2939}, publisher = {Oxford University Press}, abstract = {

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.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and L. Sani and C. Gentili and E. P. Scilingo and L. Landini and M. Guazzelli and A. Bicchi and J. V. Haxby and P. Pietrini} } @inbook {HCVRSGSPPLB07, title = {Electrocutaneous stimulation of skin mechanoreceptors for tactile studies with functional Magnetic Resonance Imaging}, booktitle = {Encyclopedia of Healthcare Information Systems}, year = {2007}, pages = {497 - 503}, publisher = {Medical Information Science}, organization = {Medical Information Science}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and A. Bicchi and P. Pietrini and L. Landini} } @article {RSSRB07, title = {Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids}, journal = {IEEE Transactions on Magnetics}, volume = {43}, number = {9-1}, year = {2007}, pages = {3586-3600}, abstract = {

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.

}, keywords = {Haptics}, author = {R. Rizzo and N. Sgambelluri and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {SSTB-WH07, title = {Integrating Two Haptic devices for Performance Enhancement}, booktitle = {World Haptics Conference 2007}, year = {2007}, pages = {139-144}, abstract = {

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.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and G. Tonietti 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.} } @conference {GVetal06, title = {Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {2006}, pages = {3832-3837}, abstract = {

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.

}, keywords = {Haptics}, author = {R. Gassert and N. Vanello and D. Chapuis and V. Hartwig and E. P. Scilingo and A. Bicchi and L. Landini and E. Burdet and H. Bleuler} } @conference {SSBRR, title = {Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device}, booktitle = {Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06}, year = {2006}, month = {October}, pages = {1558-1563}, abstract = {

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.

}, keywords = {Haptics}, author = {N. Sgambelluri and E. P. Scilingo and A. Bicchi and R. Rizzo and M. Raugi} } @conference {HCV06, title = {A Compatible Electrocutaneous Display for functional Magnetic Resonance Imaging application}, booktitle = {Proc. 28th IEEE Engineering in Medicine and Biology Conference}, year = {2006}, note = {(poster presentation)}, pages = {100-102}, abstract = {In 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.}, keywords = {Haptics}, author = {V. Hartwig and C. Cappelli and N. Vanello and E. Ricciardi and E. P. Scilingo and G. Giovannetti and M. F. Santarelli and V. Positano and L. Landini and A. Bicchi} } @conference {SRSRB06, title = {Free Hand Haptic Interfaces Based on Magnetorheological Fluids}, booktitle = {Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems}, year = {2006}, note = {

Poster presentation

}, month = {March}, pages = {367-371}, abstract = {

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

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @inbook {SSB06, title = {Minimally Invasive Therapies \& Novel Embedded Technology Systems}, booktitle = {ARISER 2006 Augmented Reality in Surgery}, year = {2006}, pages = {133-142}, abstract = {

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.

}, keywords = {Haptics}, author = {E. P. Scilingo and N. Sgambelluri and A. Bicchi}, editor = {S. Casciaro and A. Distante} } @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 {DSSB-WH05, title = {Does Active Exploration Suppress Tactile Flow Perception?}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {660-661}, abstract = {

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.

}, keywords = {Haptics}, author = {D. Dente and E. P. Scilingo and N. Sgambelluri and A. Bicchi} } @conference {LSFD-06, title = {Flusso tattile ed illusione sensoriale}, booktitle = {SINC, Congresso nazionale della Societ}, year = {2005}, month = {May}, pages = {245-249}, address = {Roma, Italy}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo} } @conference {SRPB-05, title = {Optic and tactile flow: does a supramodal response exist?}, booktitle = {International multisensory research forum, 6th Annual meeting}, year = {2005}, month = {June}, address = {Rovereto, Italy}, keywords = {Haptics}, author = {E. P. Scilingo and E. Ricciardi and P. Pietrini and A. Bicchi} } @conference {BDSS-WH05, title = {Perceptual Bias in Tactile Flow}, booktitle = {Proc. First World Haptics Conference}, year = {2005}, pages = {17-20}, abstract = {

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.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo and N. Sgambelluri} } @inbook {BSDDS05, title = {Tactile Flow and Haptic Discrimination of Softness}, booktitle = {Multi-point Interaction with Real and Virtual Objects}, series = {STAR - Springer Tracts in Advanced Robotics}, number = {18}, year = {2005}, pages = {165-176}, publisher = {Springer Verlag}, organization = {Springer Verlag}, keywords = {Haptics}, author = {A. Bicchi and E. P. Scilingo and D. Dente and N. Sgambelluri}, editor = {F. Barbagli and D Prattichizzo and K. Salisbury} } @conference {SRSRB04, title = {Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids}, booktitle = {Proc. Int. Conf. Eurohaptics 2004}, year = {2004}, month = {June}, pages = {442-445}, address = {Munich, Germany}, abstract = {

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.

}, keywords = {Haptics}, author = {N. Sgambelluri and R. Rizzo and E. P. Scilingo and M. Raugi and A. Bicchi} } @conference {DPSB04, title = {Integration of Tactile Flow from Multi-Finger and Multi-Dimensional Information}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {282-289}, abstract = {

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.

}, keywords = {Haptics}, author = {D. Dente and A. Pisani and E. P. Scilingo and A. Bicchi} } @conference {HBM04, title = {Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain}, booktitle = {10th Annual Meeting of the Organization for Human Brain Mapping}, year = {2004}, abstract = {

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.

}, keywords = {Haptics}, author = {N. Vanello and E. Ricciardi and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @conference {RVDSSGSPSGHLBP04, title = {Perception of visual and tactile flow activates common cortical areas in the human brain.}, booktitle = {Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004)}, year = {2004}, pages = {290-292}, abstract = {

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.

}, keywords = {Haptics}, author = {E. Ricciardi and N. Vanello and D. Dente and N. Sgambelluri and E. P. Scilingo and C. Gentili and L. Sani and V. Positano and M. F. Santarelli and M. Guazzelli and J. V. Haxby and L. Landini and A. Bicchi and P. Pietrini} } @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 {BDS03, title = {Haptic Illusions Induced by Tactile Flow}, booktitle = {EuroHaptics Conference}, year = {2003}, pages = {2412-2417}, abstract = {

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.

}, keywords = {Haptics}, author = {A. Bicchi and D. Dente and E. P. Scilingo} } @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} } @conference {SB-01, title = {Tactile Flow: Does it exist, is it useful and how?}, booktitle = {Proc. Int. Worksh. on Electroactive Polymers and Biosystems}, year = {2001}, month = {July}, pages = {142}, address = {Lucca, Italy}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi} } @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} }