@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} } @inbook {1237, title = {Artificially Rendered Cutaneous Cues for a New Generation of Haptic Displays}, booktitle = {Springer Series on Touch and Haptic Systems - part 2}, volume = {Immersive Multimodal Interactive Presence}, year = {2012}, pages = {171 - 188}, publisher = {Springer}, organization = {Springer}, keywords = {Robotics}, doi = {10.1007/978-1-4471-2754-3_10}, author = {E. P. Scilingo and M. Bianchi and N. Vanello and V. Hartwig and L. Landini 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} } @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} } @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} } @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 {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 {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} } @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} }