06962nas a2200181 4500008004500000245008700045210006900132260004000201300001000241520637400251653001206625653001306637100001606650700001706666700001406683700001506697856006806712 2015 engldsh 00aA Novel Tactile Display for Softness and Texture Rendering in Tele-Operation Tasks0 aNovel Tactile Display for Softness and Texture Rendering in Tele aChicago, USA, 22-25 June 2015bIEEE a49-563 a

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

10aHaptics10aRobotics1 aBianchi, M.1 aPoggiani, M.1 aSerio, A.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=717769000544nas a2200181 4500008004100000024001800041245004000059210003800099260004400137300001400181653001200195653001300207100001600220700001400236700002000250700001500270856007700285 2010 eng d app. 108 - 11200aA new fabric based softness display0 anew fabric based softness display aWaltham,Massachusetts, USAcMarch 25-16 a108 - 11210aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://95.110.227.16/publications/new-fabric-based-softness-display.html00767nas a2200181 4500008004100000245005400041210005100095260004000146300001400186520020700200653001200407653001300419100001600432700001400448700002000462700001500482856008800497 2009 eng d00aA new softness display based on bi-elastic fabric0 anew softness display based on bielastic fabric aSalt Lake City, USAcMarch, 18 - 20 a382 - 3833 a

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

10aHaptics10aRobotics1 aBianchi, M.1 aSerio, A.1 aScilingo, E. P.1 aBicchi, A. uhttp://95.110.227.16/publications/new-softness-display-based-bi-elastic-fabric.html