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

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

10aHaptics10aRobotics1 aFani, S.1 aCiotti, S.1 aBattaglia, E.1 aMoscatelli, A.1 aBianchi, M. uhttp://ieeexplore.ieee.org/document/8003491/02023nas a2200193 4500008003900000245008300039210006900122260007100191520131600262653001201578100001601590700001901606700001501625700002201640700001701662700001901679700001501698856011601713 2017 d00aTactile Slip and Hand Displacement: Bending Hand Motion with Tactile Illusions0 aTactile Slip and Hand Displacement Bending Hand Motion with Tact aFürstenfeldbruck (Munich), Germany, June 6-9, 2017bIEEEc06/20173 a

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

10aHaptics1 aBianchi, M.1 aMoscatelli, A.1 aCiotti, S.1 aBettelani, G., C.1 aFioretti, F.1 aLacquaniti, F.1 aBicchi, A. uhttp://95.110.227.16/publications/tactile-slip-and-hand-displacement-bending-hand-motion-tactile-illusions.html02143nas a2200229 4500008004100000245007100041210006700112260001200179300001600191490000700207520149200214653001201706653001301718100001901731700001601750700001401766700001701780700001601797700001401813700001501827856007101842 2016 eng d00aThe Change in Fingertip Contact Area as a Novel Proprioceptive Cue0 aChange in Fingertip Contact Area as a Novel Proprioceptive Cue c05/2016 a1159–11630 v263 a

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

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

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

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

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

10aHaptics10aRobotics1 aBianchi, M.1 aMoscatelli, A. uhttp://www.springer.com/us/book/978331926705000863nas a2200241 4500008003900000245009000039210006900129260005200198300001200250490008500262653001200347653001300359100001900372700001600391700001400407700001500421700001300436700001700449700001600466700001400482700001500496856011000511 2014 d00aA change in the fingertip contact area induces an illusory displacement of the finger0 achange in the fingertip contact area induces an illusory displac aVersailles, France), June 2014bSpringer-Verlag a72 - 790 vLNCS - Free Preview Haptics: Neuroscience, Devices, Modeling, and Applications10aHaptics10aRobotics1 aMoscatelli, A.1 aBianchi, M.1 aSerio, A.1 aAtassi, Al1 aFani, S.1 aTerekhov, A.1 aHayward, V.1 aErnst, M.1 aBicchi, A. uhttp://95.110.227.16/publications/change-fingertip-contact-area-induces-illusory-displacement-finger.html