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prj:WEARHAP

Journals

  1. 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 Trans. on Human-Machine Systems, In press,, 2017. details pdf
  2. C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, D. Prattichizzo. Wearable haptic systems for the fingertip and the hand: taxonomy, review, and perspectives. IEEE Transactions on Haptics, In press, 2017. details doi pdf
  3. 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, In Press,, 2017. details doi pdf
  4. L. Meli, C. Pacchierotti, D. Prattichizzo. Experimental evaluation of magnified haptic feedback for robot-assisted needle insertion and palpation. International Journal of Medical Robotics and Computer Assisted Surgery, In press, 2017. details doi pdf
  5. C. Pacchierotti, F. Ongaro, F. van den Brink, C. Yoon, D. Prattichizzo, D.H. Gracias, S. Misra. Steering and control of miniaturized untethered soft magnetic grippers with haptic assistance. IEEE Transactions on Automation Science and Engineering. In Press, 2017. details doi pdf
  6. G. Salvietti, L. Meli, G. Gioioso, M. Malvezzi, D. Prattichizzo. Multi-Contact Bilateral Telemanipulation with Kinematic Asymmetries. IEEE/ASME Transaction on Mechatronics, 22(1):445-456, 2017. details doi pdf
  7. G. Salvietti, I. Hussain, D. Cioncoloni, S. Taddei, S. Rossi, D. Prattichizzo. Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger. Transaction on Neural System and Rehabilitation Engineering, 25(2):142-150, 2017. details doi pdf
  8. Irfan Hussain, Giovanni Spagnoletti, Gionata Salvietti, Domenico Prattichizzo. An EMG Interface for the Control of Motion and Compliance of a Supernumerary Robotic Finger. Frontiers in Neurorobotics, 10, 2016. details download pdf
  9. S. Scheggi, M. Aggravi, D. Prattichizzo. Cooperative Navigation for Mixed Human-Robot Teams Using Haptic Feedback. IEEE Transactions on Human-Machine Systems, PP(99):1-12, 2016. details doi pdf
  10. I. Hussain, G. Salvietti, G. Spagnoletti, D. Prattichizzo. The Soft-SixthFinger: a Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients. IEEE Robotics and Automation Letters, 1(2):1000-1006, 2016. details doi pdf
  11. M. Aggravi, E De Momi, F. DiMeco, F. Cardinale, G. Casaceli, M. Riva, G. Ferrigno, D. Prattichizzo. Hand-Tool-Tissue Interaction Forces in Neurosurgery for Haptic Rendering. Medical & Biological Engineering and Computing, 54(8):1229-1241, 2016. details doi pdf
  12. 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):278-287, 2016. details doi pdf
  13. A. G. Perez, D. Lobo, F. Chinello, G. Cirio, M. Malvezzi, J. San Martin, D. Prattichizzo, M. A. Otaduy. Optimization-Based Wearable Tactile Rendering. IEEE Transactions on Haptics, 2016. details pdf
  14. M. Abayazid, C. Pacchierotti, P. Moreira, R. Alterovitz, D. Prattichizzo, S. Misra. Experimental evaluation of co-manipulated ultrasound-guided flexible needle steering. The International Journal of Medical Robotics and Computer Assisted Surgery, 12(2):219-230, 2016. details doi pdf
  15. C. Pacchierotti, V. Magdanz, M. Medina-Sanchez, O. G. Schmidt, D. Prattichizzo, S. Misra. Intuitive control of self-propelled microjets with haptic feedback. Journal of Micro-Bio Robotics, 10(1):37-53, 2015. details doi pdf
  16. 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):1773-1787, 2015. details doi pdf
  17. C. Pacchierotti, A. Tirmizi, G. Bianchini, D. Prattichizzo. Enhancing the performance of passive teleoperation systems via cutaneous feedback. IEEE Transactions on Haptics, 8(4):397-409, 2015. details doi pdf
  18. C. Pacchierotti, D. Prattichizzo, K. J. Kuchenbecker. Displaying sensed tactile cues with a fingertip haptic device. IEEE Transactions on Haptics, 8(4):384-396, 2015. details doi pdf
  19. D. Prattichizzo, L. Meli, M. Malvezzi. Digital Handwriting with a Finger or a Stylus: a Biomechanical Comparison. IEEE Transactions on Haptics, 8(4):356-370, 2015. details doi pdf
  20. C. Pacchierotti, M. Abayazid, S. Misra, D. Prattichizzo. Teleoperation of steerable flexible needles by combining kinesthetic and vibratory feedback. IEEE Transactions on Haptics, 7(4):551-556, 2014. details doi pdf
  21. S. Scheggi, F. Morbidi, D. Prattichizzo. Human-robot formation control via visual and vibrotactile haptic feedback. IEEE Transactions on Haptics, 7(4):499-511, 2014. details doi pdf
  22. L. Meli, C. Pacchierotti, D. Prattichizzo. Sensory subtraction in robot-assisted surgery: fingertip skin deformation feedback to ensure safety and improve transparency in bimanual haptic interaction. IEEE Transactions on Biomedical Engineering, 61(4):1318-1327, 2014. details doi pdf
  23. G. Rosati, F. Oscari, C. Pacchierotti, D. Prattichizzo. Effects of kinesthetic and cutaneous stimulation during the learning of a viscous force field. IEEE Transactions on Haptics, Special Issue on Haptics in Rehabilitation and Neural Engineering, 7(2):251-263, 2014. details doi pdf
  24. C. Pacchierotti, A. Tirmizi, D. Prattichizzo. Improving transparency in teleoperation by means of cutaneous tactile force feedback. ACM Transactions on Applied Perception, 11(1):4-4, 2014. details doi pdf
  25. 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):506-516, 2013. details doi pdf

Academic Journals (National audience)

  1. D. Prattichizzo, C. Pacchierotti. WEARHAP: sistemi robotici indossabili per uomini e robot. E-Health magazine, Issue 26, September 2013. details pdf

Book Chapters

  1. C. Pacchierotti, D. Prattichizzo, K.J. Kuchenbecker. A data-driven approach to remote tactile interaction: from a BioTac sensor to any fingertip cutaneous device. In Haptics: Neuroscience, Devices, Modeling, and Applications, M. Auvray, C. Duriez (eds.), Vol. 8618, pp. 418-424, Lecture Notes in Computer Science, Springer, 2014. details doi pdf
  2. F. Chinello, M. Aurilio, C. Pacchierotti, D. Prattichizzo. The HapBand: a cutaneous device for remote tactile interaction. In Haptics: Neuroscience, Devices, Modeling, and Applications, M. Auvray, C. Duriez (eds.), Vol. 8618, pp. 284-291, Lecture Notes in Computer Science, Springer, 2014. details doi pdf

International Conferences

  1. I. Hussain, G. Spagnoletti, C. Pacchierotti, D. Prattichizzo. A wearable haptic ring for the control of extra robotic fingers. In Proc. Asia Haptics, To appear, Chiba, Japan, 2016. details pdf
  2. F. Chinello, C. Pacchierotti, M. Malvezzi, D. Prattichizzo. A novel 3RRS wearable fingertip cutaneous device for virtual interaction. In Proc. Asia Haptics, To appear, This work has been awarded with the ``Asia Haptics Silver Award''. Chiba, Japan, 2016. details pdf
  3. M. Mohammadi, A. Franchi, D. Barcelli, D. Prattichizzo. Cooperative Aerial Tele-Manipulation with Haptic Feedback. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, To appear, Deajeon, Korea, 2016. details pdf
  4. L. Meli, G. Salvietti, G. Gioioso, M. Malvezzi, D. Prattichizzo. Multi-Contact Bilateral Telemanipulation using Wearable Haptics. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Pages 1431-1436, Deajeon, Korea, 2016. details doi pdf
  5. M. Aggravi, G. Salvietti, D. Prattichizzo. Haptic Wrist Guidance Using Vibrations for Human-Robot Teams. In Proc. IEEE International Symposium on Robot and Human Interactive Communication, Pages 113-118, New York, USA, 2016. details doi pdf
  6. F. Ongaro, C. Pacchierotti, C. Yoon, D. Prattichizzo, D. H. Gracias, S. Misra. Evaluation of electromagnetic system with haptic feedback for control of untethered, soft grippers affected by disturbances. In Proc. IEEE RAS EMBS Int. Conf. on Biomedical Robotics and Biomechatronics (BioRob), Pages 908-913, Singapore, Republic of Singapore, 2016. details doi pdf
  7. M. Mohammadi, T Lisini Baldi, S. Scheggi, D. Prattichizzo. Fingertip Force Estimation via Inertial and Magnetic Sensors in Deformable Object Manipulation. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 284-289, Philadelphia, PA, USA, 2016. details doi pdf
  8. I. Hussain, G. Salvietti, D. Prattichizzo. On Control Interfaces for the Robotic Sixth Finger. In Proc. Augmented Human 2016, Geneva, Switzerland, 2016. details doi pdf
  9. C. Pacchierotti, G. Salvietti, I. Hussain, L. Meli, D. Prattichizzo. The hRing: a wearable haptic device to avoid occlusions in hand tracking. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 134-139, Philadelphia, PA, USA, 2016. details doi pdf
  10. F. Chinello, C. Pacchierotti, N. G. Tsagarakis, D. Prattichizzo. Design of a wearable skin stretch cutaneous device for the upper limb. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 14-20, Philadelphia, PA, USA, 2016. details doi pdf
  11. A. Tirmizi, C. Pacchierotti, I. Hussain, G. Alberico, D. Prattichizzo. A perceptually-motivated deadband compression approach for cutaneous haptic feedback. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 223-228, Philadelphia, PA, USA, 2016. details doi pdf
  12. L. Fichera, C. Pacchierotti, E. Olivieri, D. Prattichizzo, L. S. Mattos. Kinesthetic and vibrotactile haptic feedback improves the performance of laser microsurgery. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 59-64, Philadelphia, PA, USA, 2016. details doi pdf
  13. M. Aggravi, G. Salvietti, D. Prattichizzo. Haptic assistive bracelets for blind skier guidance. In Proc. Augmented Human 2016, In press, Geneva, Switzerland, 2016. details doi pdf
  14. A. Perez, G. Cirio, D. Lobo, F. Chinello, D. Prattichizzo, M. Otaduy. Efficient Nonlinear Skin Simulation for Multi-Finger Tactile Rendering. In Proc. IEEE Haptics Symposium (HAPTICS), Pages 155-160, Philadelphia, PA, USA, 2016. details doi pdf
  15. I. Hussain, G. Salvietti, M. Malvezzi, D. Prattichizzo. Design Guidelines for a Wearable Robotic Extra-Finger. In Proc. IEEE Conf. on Research and Technologies for Society and Industry RTSI 2015, Turin, Italy, 2015. details pdf
  16. M. Aggravi, S. Scheggi, D. Prattichizzo. Evaluation of a predictive approach in steering the human locomotion via haptic feedback. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Pages 597-602, Hamburg, Germany, 2015. details doi pdf
  17. F. Chinello, M. Malvezzi, C. Pacchierotti, D. Prattichizzo. Design and development of a 3RRS wearable fingertip cutaneous device. In Proc. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, Pages 293-298, Busan, Republic of Korea, 2015. details doi pdf
  18. A. Perez, D. Lobo, F. Chinello, G. Ciro, M. Malvezzi, J. San Martin, D. Prattichizzo, M. Otaduy. Soft Finger Tactile Rendering for Wearable Haptics. In Proc. IEEE World Haptics Conference (WHC), Chicago, USA, 2015. details pdf
  19. S. Scheggi, L. Meli, C. Pacchierotti, D. Prattichizzo. Touch the virtual reality: using the Leap Motion controller for hand tracking and wearable tactile devices for immersive haptic rendering. In Proc. ACM Special Interest Group on Computer Graphics and Interactive Techniques Conference, SIGGRAPH, Los Angeles, California, USA, 2015. details doi pdf
  20. T. Lisini Baldi, M. Mohammadi, S Scheggi, D. Prattichizzo. Using inertial and magnetic sensors for hand tracking and rendering in wearable haptics. In Proc. IEEE World Haptics Conference (WHC), Chicago, IL, 2015. details pdf
  21. I. Hussain, L. Meli, C. Pacchierotti, G. Salvietti, D. Prattichizzo. Vibrotactile haptic fedback for intuitive control of robotic extra fingers. In Proc. IEEE World Haptics Conference (WHC), Pages 394-399, Chicago, IL, 2015. details doi pdf
  22. I. Hussain, G. Salvietti, L. Meli, C. Pacchierotti, D. Prattichizzo. Using the robotic sixth finger and vibrotactile feedback for grasp compensation in chronic stroke patients. In Proc. IEEE/RAS-EMBS International Conference on Rehabilitation Robotics (ICORR), Pages 67-72, Finalist for the Best Student Paper Award. Singapore, Republic of Singapore, 2015. details doi pdf
  23. C. Pacchierotti, D. Prattichizzo. Sensory subtraction via cutaneous feedback: a novel technique to improve the transparency of robotic surgery. In 4th Joint Workshop on Computer/Robot Assisted Surgery (CRAS), Genova, Italy, 2014. details doi pdf
  24. S. Scheggi, M. Aggravi, D. Prattichizzo. A vibrotactile bracelet to improve the navigation of older adults in large and crowded environments. In Proc. 20th IMEKO TC4 Int. Symp. and 18th Int. Workshop on ADC Modelling and Testing Research on Electric and Electronic Measurement for the Economic Upturn, Benevento, Italy, 2014. details pdf
  25. G. Salvietti, L. Meli, G. Gioioso, D. Prattichizzo. Toward a General Bilateral Teleoperation Framework Between Dissimilar Kinematic Structures. In Proc. 20th IMEKO TC4 Int. Symp. and 18th Int. Workshop on ADC Modelling and Testing Research on Electric and Electronic Measurement for the Economic Upturn, Benevento, Italy, 2014. details pdf
  26. L. Meli, C. Pacchierotti, D. Prattichizzo. Sensory subtraction with cutaneous feedback to ensure safety in bimanual robot-assisted surgery. In Proc. International Workshop on Medical and Service Robotics (MESROB), Lousanne, Switzerland, 2014. details pdf
  27. S. Scheggi, A. Talarico, D. Prattichizzo. A remote guidance system for blind and visually impaired people via vibrotactile haptic feedback. In Proc. Mediterranean Conf. on Control & Automation, Palermo, Italy, 2014. details pdf
  28. L. Meli, D. Prattichizzo. Task-oriented approach to simulate a grasping action through underactuated haptic devices. In Proc. of EuroHaptics, Pages 249-257, Versailles, France, 2014. details doi pdf
  29. C. Pacchierotti, M. Abayazid, S. Misra, D. Prattichizzo. Steering of flexible needles combining kinesthetic and vibratory force feedback. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Pages 1202-1207, Chicago, USA, 2014. details doi pdf
  30. D. Prattichizzo, M. Malvezzi, I. Hussain, G. Salvietti. The Sixth-Finger: a Modular Extra-Finger to Enhance Human Hand Capabilities. In Proc. IEEE Int. Symp. in Robot and Human Interactive Communication, Pages 993-998, Edinburgh, United Kingdom, 2014. details doi pdf
  31. D. Prattichizzo, G. Salvietti, F. Chinello, M. Malvezzi. An Object-based Mapping Algorithm to Control Wearable Robotic Extra-Fingers. In Proc. IEEE/ASME Int. Conf. on Advanced Intelligent Mechatronics, Pages 1563-1568, Besanšon, France, 2014. details doi pdf
  32. L. Meli, S. Scheggi, C. Pacchierotti, D. Prattichizzo. Wearable haptics and hand tracking via an RGB-D camera for immersive tactile experiences. In Proc. ACM Special Interest Group on Computer Graphics and Interactive Techniques Conference, SIGGRAPH, Vancouver, Canada, 2014. details doi pdf
  33. S. Scheggi, M. Aggravi, F. Morbidi, D. Prattichizzo. Cooperative human-robot haptic navigation. In Proc. IEEE Int. Conf. on Robotics and Automation, Pages 2693-2698, Hong Kong, China, 2014. details doi pdf
  34. G. Salvietti, M. Malvezzi, G. Gioioso, D. Prattichizzo. On the Use of Homogeneous Transformations to Map Human Hand Movements onto Robotic Hands. In Proc. IEEE Int. Conf. on Robotics and Automation, Pages 5352-5357, Hong Kong, China, 2014. details doi pdf
  35. G. Gioioso, A. Franchi, G. Salvietti, S. Scheggi, D. Prattichizzo. The Flying Hand: a Formation of UAVs for Cooperative Aerial Tele-Manipulation. In Proc. IEEE Int. Conf. on Robotics and Automation, Pages 4335-4341, Hong Kong, China, 2014. details doi
  36. G. Gioioso, M. Ryll, D. Prattichizzo, H. H. B\"ulthoff, A. Franchi. Turning a Near-hovering Controlled Quadrotor into a 3D Force Effector. In Proc. IEEE Int. Conf. on Robotics and Automation, Hong Kong, China, 2014. details
  37. S. Scheggi, G. Salvietti. Haptic Guidance in Urban Search and Rescue Scenarios with Reduced Visibility. In Proc. 20th IMEKO TC4 Int. Symp. and 18th Int. Workshop on ADC Modelling and Testing Research on Electric and Electronic Measurement for the Economic Upturn, Benevento, Italy, 2014. details pdf
  38. C. Pacchierotti, D. Prattichizzo. Wearable haptics: cutaneous feedback and teleoperation. In Workshop on "Wearable haptics: from neurophysiology foundations to new wearable haptic designs and exoskeletons", IEEE Haptics Symposium (HAPTICS), Houston, USA, 2014. details
  39. C. Pacchierotti, A. Tirmizi, G. Bianchini, D. Prattichizzo. Improving transparency in passive teleoperation by combining cutaneous and kinesthetic force feedback. In Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems (IROS), Pages 4958-4963, Tokyo, Japan, 2013. details doi pdf

Misc

  1. G. Salvietti, L. Meli, M. Malvezzi, D. Prattichizzo. Multi-contact Bilateral Telemanipulation with Kinematic Asymmetries. Automatica.it 2016, Roma, Italy, 2016. details
  2. D. Prattichizzo. The role of cutaneous and kinesthetic feedback in rehabilitation. Workshop on ``Haptics in Rehabilitation, Prosthetics and Neural Engineering : Robotic Aspects and Neuro-scientific Principles'', Eurohaptics Conference, 2014. details
  3. S. Scheggi, F. Morbidi, M. Aggravi, D. Prattichizzo. Control of a human-robot formation via visual and vibrotactile feedback. SIDRA 2013 Oral talk, September 2013. details

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