@article {3655, title = {Wearable haptic interfaces for applications in gynecologic robotic surgery: a proof of concept in robotic myomectomy.}, journal = {Journal of Robotic Surgery }, year = {2019}, author = {A. Giannini and M. Bianchi and D. Doria and S. Fani and M. Caretto and A. Bicchi and T. Simoncini} } @article {3217, title = {W-FYD: a Wearable Fabric-based Display for Haptic Multi-Cue Delivery and Tactile Augmented Reality}, journal = {IEEE Transactions on Haptics}, volume = {11}, year = {2018}, pages = {304 - 316}, chapter = {304}, abstract = {

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{\textquoteright}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{\textquoteright}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.

}, keywords = {Haptics, Robotics}, issn = {1939-1412}, doi = {10.1109/TOH.2017.2708717}, url = {http://ieeexplore.ieee.org/document/8003491/}, author = {S. Fani and S. Ciotti and E. Battaglia and A. Moscatelli and M. Bianchi} } @conference {2723, title = {A Wearable Fabric-based Display for Haptic Multi-Cue Delivery}, booktitle = {IEEE Haptics Symposium}, year = {2016}, publisher = {IEEE}, organization = {IEEE}, address = {Philadelphia, USA, April 8-11, 2016}, abstract = {

Softness represents one of the most informative

haptic properties, which plays a fundamental role in both

everyday tasks and more complex procedures. Thus, it is not

surprising that much effort has been devoted to designing haptic

systems able to suitably reproduce this information. At the

same time, wearability has gained an increasing importance as

a novel paradigm to enable a more effective and naturalistic

human robot interaction. Capitalizing upon our previous works

on grounded softness devices, in this paper we present the

Wearable Fabric Yielding Display (W-FYD), a fabric-based

tactile display for multi-cue delivery that can be worn by

user{\textquoteright}s finger. W-FYD enables to implement both passive and

active tactile exploration. Different levels of stiffness can be

reproduced by modulating the stretching state of a fabric

through two DC motors. An additional vertical degree of

freedom is implemented through a lifting mechanism, which

enables to convey softness stimuli to the user{\textquoteright}s finger pad.

Furthermore, a sliding effect on the finger can be also induced.

Experiments with humans show the effectiveness of W-FYD for

haptic multi-cue delivery.

}, keywords = {Haptics, Robotics}, doi = {10.1109/HAPTICS.2016.7463190}, url = {http://ieeexplore.ieee.org/search/searchresult.jsp?queryText=A\%20Wearable\%20Fabric-based\%20Display\%20for\%20Haptic\%20Multi-Cue\%20Delivery\&newsearch=true}, author = {M. Bianchi and E. Battaglia and M. Poggiani and S. Ciotti and A. Bicchi} }