%0 Book Section %D 2008 %T The Sense of Touch and its Rendering: Progresses in Haptics Research %A E. P. Scilingo %A N. Sgambelluri %A A. Bicchi %E A. Bicchi %E M. Buss %E M. Ernst %E A. Peer %K Haptics %K Robotics %X

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

%S Springer Tracts in Advanced Robotics (STAR) %I Springer %C Berlin, Heidelberg %V 45/2008 %P 39 - 60 %G eng %9 Chapter %& The Role of Tactile Flow in Processing Dynamic Haptic Stimuli %0 Book Section %D 2008 %T The Sense of Touch and its Rendering: Progresses in Haptics Research %A N. Sgambelluri %A E. P. Scilingo %A R. Rizzo %A A. Bicchi %E A. Bicchi %E M. Buss %E M. Ernst %E A. Peer %K Haptics %K Robotics %X

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.

%S Springer Tracts in Advanced Robotics (STAR) %I Springer %C Berlin, Heidelberg %V 45/2008 %P 155-178 %G eng %9 Chapter %& Rheological Device %0 Journal Article %J IEEE - ASME Transactions on Mechatronics %D 2008 %T Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test %A N. Vanello %A V. Hartwig %A M. Tesconi %A E. Ricciardi %A A. Tognetti %A G. Zupone %A R. Gassert %A D. Chapuis %A N. Sgambelluri %A E. P. Scilingo %A G. Giovannetti %A V. Positano %A M. F. Santarelli %A A. Bicchi %A P. Pietrini %A D. De Rossi %A L. Landini %K Haptics %K Robotics %X

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.

%B IEEE - ASME Transactions on Mechatronics %V 13 %P 345-354 %G eng %0 Conference Paper %B Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on %D 2007 %T An Artificial Neural Network approach for Haptic Discrimination in Minimally Invasive Surgery %A N. Sgambelluri %A G. Valenza %A M. Ferro %A G. Pioggia %A E. P. Scilingo %A D. De Rossi %A A. Bicchi %K Haptics %B Robot and Human interactive Communication, 2007. RO-MAN 2007. The 16th IEEE International Symposium on %I IEEE %P 25–30 %G eng %0 Journal Article %J IEEE Transactions on Magnetics %D 2007 %T Electromagnetic Modeling and Design of Haptic Interfaces Prototypes Based on MagnetoRheological Fluids %A R. Rizzo %A N. Sgambelluri %A E. P. Scilingo %A M. Raugi %A A. Bicchi %K Haptics %X

This paper deals with design and implementation of innovative haptic interfaces based on Magnetorheological fluids (MRFs). This pioneering research work consists in developing 2D and quasi-3D MRF-based devices capable of suitably energizing the fluid with a magnetic field in order to build figures which can be directly squeezed by hands. These devices are able to properly create a distribution of magnetic field over time and space inducing the fluid to assume desired shape and compliance. We implemented different prototypes whose synthesis and design phase, here described in detail, was prepared by preliminary simulations obtained by means of software based on a 3D Finite Element code. In this way, both magnetic field and shear stress profiles inside the fluid can be carefully predicted. Finally, performance of these devices was evaluated and assessed.

%B IEEE Transactions on Magnetics %V 43 %P 3586-3600 %G eng %0 Conference Paper %B World Haptics Conference 2007 %D 2007 %T Integrating Two Haptic devices for Performance Enhancement %A E. P. Scilingo %A N. Sgambelluri %A G. Tonietti %A A. Bicchi %K Haptics %X

This paper deals with a new configuration for a haptic system, which is able to simultaneously replicate independent force/displacement and force/area behaviors of a given material. Being force/area information a relevant additional haptic cue for improving softness discrimination, this system allows to extend the range of materials whose rheology can be carefully mimicked. Moreover, according to the Hertz theory, two objects with different curvature radius having the same force/displacement behavior can respond with different contact area to the same applied force. These behaviors can be effectively replicated by the integrated haptic system here proposed enabling and independent control of force/displacement and force/area. The system is comprised of a commercial device (Delta Haptic Device) serially coupled with a Contact Area Spread Rate (CASR) device. Two specimens of a material and two of another one, all with different curvature radii, were identified and modeled in terms of force/area and force/displacement. These behaviors were successfully tracked by the integrated haptic system here proposed.

%B World Haptics Conference 2007 %P 139-144 %G eng %0 Conference Paper %B The 10th Annual International Workshop on Presence %D 2007 %T An MRI Compatibility Study of a Fabric Sensing Glove for Sensory-Motor Brain Activity Exploration %A N. Vanello %A V. Hartwig %A M. Tesconi %A G. Zupone %A N. Sgambelluri %A A. Tognetti %A E. Ricciardi %A E. P. Scilingo %A A. Bicchi %A P. Pietrini %A D. De Rossi %A L. Landini %E Laura Moreno, Starlab Barcelona, S.L. %K Haptics %B The 10th Annual International Workshop on Presence %P 79-83 %G eng %0 Conference Paper %B Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06 %D 2006 %T Advanced Modeling and preliminary psychophysical experiments for a free-hand haptic device %A N. Sgambelluri %A E. P. Scilingo %A A. Bicchi %A R. Rizzo %A M. Raugi %K Haptics %X

In this paper we report on a new improved free-hand haptic interface based on magnetorheological fluids (MRFs). MRFs are smart materials which change their rheology according to an external magnetic field. The new architecture here proposed results from the development and improvement of earlier prototypes. The innovative idea behind this device is to allow subjects interacting directly with an object, whose rheology is rapidly and easily changeable, freely moving their hands without rigid mechanical linkages. Numerical advanced simulation tests using algorithms based on finite element methods have been implemented, in order to analyze and predict the spatial distribution of the magnetic field. A special focus was laid on investigating on how the magnetic filed profile is altered by the introduction of the hand. Possible solutions were proposed to overcome this perturbation. Finally some preliminary psychophysical tests in order to assess the performance of the device are reported and discussed.

%B Proc. IEEE/RSJ Int. Conf. on Robots and Intelligent Systems - IROS06 %P 1558-1563 %8 October %G eng %0 Conference Paper %B Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems %D 2006 %T Free Hand Haptic Interfaces Based on Magnetorheological Fluids %A N. Sgambelluri %A R. Rizzo %A E. P. Scilingo %A M. Raugi %A A. Bicchi %K Haptics %X

This paper is concerned with exploring the possibility of using Magneto-Rheological Fluids (MRF) as haptic interface. MRF are special materials capable of changing their rheological behaviour with an external magnetic field. This property suggested us to use MRF to mimic virtual objects whose compliance can be gradually modulated. Several architectures of prototypes have been envisaged. The general scheme of both prototypes refers to a Haptic Black Box (HBB) concept, intended as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator

%B Proc. 14th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems %P 367-371 %8 March %G eng %0 Book Section %B ARISER 2006 Augmented Reality in Surgery %D 2006 %T Minimally Invasive Therapies & Novel Embedded Technology Systems %A E. P. Scilingo %A N. Sgambelluri %A A. Bicchi %E S. Casciaro %E A. Distante %K Haptics %X

Recent developments in advanced interface technology allowed to implement new haptic device for biomedical applications. Specifically, several innovative and more effective tools that allow people to interact by touch with virtual objects have been developed. Besides several applications such as gaming, entertainment, virtual reality, an important and promising field of application is the surgical simulation. Novice surgeons can be able to practice their first incisions without actually cutting anyone. Simulation for surgical training is a major focus for several research activity during the last few years. Simulating an organ is not easy, because is more complicated to model than is a common physical object, e.g. a ball. In this chapter we report several examples of haptic interfaces and introduce new technologies for implementation.

%B ARISER 2006 Augmented Reality in Surgery %P 133-142 %G eng %0 Journal Article %J IEEE Transactions on Magnetics %D 2005 %T Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces %A A. Bicchi %A M. Raugi %A R. Rizzo %A N. Sgambelluri %K Haptics %X

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

%B IEEE Transactions on Magnetics %V 41 %P 1876 - 1879 %G eng %0 Conference Paper %B Proc. First World Haptics Conference %D 2005 %T Does Active Exploration Suppress Tactile Flow Perception? %A D. Dente %A E. P. Scilingo %A N. Sgambelluri %A A. Bicchi %K Haptics %X

In this paper we report on results of a set of tests in which a group of subjects were asked to trace a straight line with the forefinger while actively scanning over a textured surface. A pattern of bumped dots, randomly distributed, and a diagonal striped pattern were used in order to investigate the occurrence of misleading perceptions based on the aperture problem of tactile flow during an active exploration. Obtained results are compared with findings achieved from a previous experiment based on passive exploration.

%B Proc. First World Haptics Conference %P 660-661 %G eng %0 Conference Paper %B Proc. First World Haptics Conference %D 2005 %T Perceptual Bias in Tactile Flow %A A. Bicchi %A D. Dente %A E. P. Scilingo %A N. Sgambelluri %K Haptics %X

In this paper we report on results of a psychophysical experiment in which the optic illusion of Ouchi is reproduced in the tactile domain. In the vision field, when eyes scan over a texture grid, consisting in two rectangular checkerboard patterns oriented in orthogonal directions, the inset pattern appears to move relatively to the surrounding grid. A simplified 3D version of this pattern was realized and a group of subjects were asked to touch it while it was vibrating. Outcomes of this experiment are discussed in terms of tactile flow and the related aperture problem.

%B Proc. First World Haptics Conference %P 17-20 %G eng %0 Book Section %B Multi-point Interaction with Real and Virtual Objects %D 2005 %T Tactile Flow and Haptic Discrimination of Softness %A A. Bicchi %A E. P. Scilingo %A D. Dente %A N. Sgambelluri %E F. Barbagli %E D Prattichizzo %E K. Salisbury %K Haptics %B Multi-point Interaction with Real and Virtual Objects %S STAR - Springer Tracts in Advanced Robotics %I Springer Verlag %P 165-176 %G eng %0 Conference Paper %B Proc. Int. Conf. Eurohaptics 2004 %D 2004 %T Analysis and Design of a New Haptic Box Display Based on Magneto-Rheological Fluids %A N. Sgambelluri %A R. Rizzo %A E. P. Scilingo %A M. Raugi %A A. Bicchi %K Haptics %X

In this paper we describe a design of an innovative immersive Haptic Black Box (HBB) based on Magneto Rheological Fluids (MRF). By exploiting results from an accurate analysis performed on a previously operating haptic display a new device capable of exciting the MRF with improved performance in terms of magnetic field intensity and spatial resolution has been developed. Due to the core structure and feeding conditions, only a 3D numerical analysis, taking into account the material non-linearity, provides an accurate prediction of the excitation field and, consequently, of the rheological behavior of the uid. The results of the present paper will be used in subsequent work where the realization of the prototype and the results of several psychophysical tests on excited MRF in terms of softness and/or shape reconstruction will be described.

%B Proc. Int. Conf. Eurohaptics 2004 %C Munich, Germany %P 442-445 %8 June %G eng %0 Conference Paper %B Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004). %D 2004 %T Analysis and Design of an Electromagnetic System for the Characterization of Magneto-Rheological Fluids for Haptic Interfaces %A A. Bicchi %A M. Raugi %A R. Rizzo %A N. Sgambelluri %K Haptics %X

In this paper the synthesis and design of a new device for the energization and characterization of Magneto-Rheological Fluids (MRF) for haptic interfaces are presented. Due to the core structure and feeding conditions, only a 3D numerical analysis provides an accurate prediction of the electromagnetic quantities and the rheological behavior of an excited specimen. The design constraints are shown in details and the results in terms of magnetic field inside the fluid and its spatial resolution are discussed.

%B Proc. 11th Biennial IEEE Conference on Electromagnetic Field Computation (CEFC 2004). %C Seoul, Korea %8 June %G eng %0 Conference Paper %B Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004) %D 2004 %T Design of a System for the Energization of MagnetoRheological Fluids %A R. Rizzo %A N. Sgambelluri %K Haptics %X

In a previous paper, a device for the characterization of MagnetoRheological Fluids (MRF) has been described. The MRF consist of micro-sized, magnetically active particles dispersed in a carrier medium. When exposed to a magnetic field, MRF change their own consistency turning from fluid to near-solid state responding to the applied field within milliseconds. This interesting property, suggests the possibility to use magnetorheological fluids to mimic the compliance of biological tissues in order to realize a haptic display, such as in surgical training for minimally invasive surgery and/or open surgery simulations [2]. In this scenario the operator could interact with a virtual object which simulate several biological tissues by magnetically tuning the rheological properties of the fluid. In this paper an accurate analysis of an immersive device for the magnetic excitation of the fluid is presented. In particular such analysis is focused on a system of ferromagnetic "pistons", that, properly positioned in the device, can address the magnetic flux in the MRF.

%B Proc. Int. Conf. Progress in Electromagnetic Research Symposium (PIERS2004) %C Pisa, Italy %P 921-924 %8 March %G eng %0 Conference Paper %B 10th Annual Meeting of the Organization for Human Brain Mapping %D 2004 %T Perception of Optic and Tactile Flow Both Activate V5/MT cortical complex in the human brain %A N. Vanello %A E. Ricciardi %A D. Dente %A N. Sgambelluri %A E. P. Scilingo %A C. Gentili %A L. Sani %A V. Positano %A M. F. Santarelli %A M. Guazzelli %A J. V. Haxby %A L. Landini %A A. Bicchi %A P. Pietrini %K Haptics %X

V5/MT complex responds selectively to perception of optic flow (Morrone et al., Nature Neurosci , 2001). Since similarities exist between visual and tactile perception, we hypothesized that tactile flow might also rely on V5/MT response. We and others have shown recently that visual extrastriate cortical areas respond both during visual and tactile recognition of objects, indicating that these regions are organized in a supramodal fashion. In this study, we measured neural response evoked during visual and tactile perception of coherently moving dot patterns to test the hypothesis that V5/MT may be supramodally organized and may respond also to tactile stimulation.

%B 10th Annual Meeting of the Organization for Human Brain Mapping %G eng %0 Conference Paper %B Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004) %D 2004 %T Perception of visual and tactile flow activates common cortical areas in the human brain. %A E. Ricciardi %A N. Vanello %A D. Dente %A N. Sgambelluri %A E. P. Scilingo %A C. Gentili %A L. Sani %A V. Positano %A M. F. Santarelli %A M. Guazzelli %A J. V. Haxby %A L. Landini %A A. Bicchi %A P. Pietrini %K Haptics %X

We report results of a pilot study using functional magnetic resonance imaging aimed at determining the neural correlates of tactile flow. We hypothesized that brain response to tactile flow would involve the same cortical areas (V5/MT) that respond to optic flow. Our results showed that V5/MT cortex indeed is activated by tactile flow perception. These findings are consistent with a supramodal organization of brain regions involved in optic and tactile flow processing.

%B Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004) %P 290-292 %G eng %0 Conference Paper %B Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems %D 2003 %T Haptic Displays Based on Magnetorheological Fluids: Design, Realization and Psychophysical Validation %A E. P. Scilingo %A N. Sgambelluri %A D. De Rossi %A A. Bicchi %K Haptics %X

In this paper we explore the possibility of using magnetorheological (MR) fluids in haptic interfaces, exploiting their property of changing the rheological behaviour by tuning an external magnetic field. In particular, we propose two different prototypes of haptic display, for pinch grasp and for whole-hand immersive exploration. We briefly report on the design of these devices, describe few psychophysical experiments to assess their performance, and report on the experimental results. Such investigation is rather encouraging, and provides reliable cues as to how MR fluid based devices can be designed for haptic display applications.

%B Proc. 11th Symp. on Haptic Interfaces for Virtual Environment and Teleoperator Systems %P 10–15 %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Robotics and Automation %D 2003 %T Towards a Haptic Black Box: Magnetorheological fluid based display for softness and shape discrimination %A E. P. Scilingo %A N. Sgambelluri %A D. De Rossi %A A. Bicchi %K Haptics %X

In this paper we propose an innovative prototype of a haptic display for whole-hand immersive exploration. We envision a new concept of haptic display, the Haptic Black Box concept, which can be imagined as a box where the operator can poke his/her bare hand, and interact with the virtual object by freely moving the hand without mechanical constraints. In this way sensory receptors on the whole operator's hand would be excited, rather than restricting to just one or few fingertips or phalanges. To progress towards such a challenging goal, magnetorheological (MR) fluids represent a very interesting technology. These fluids are composed of micron-sized, magnetizable particles immersed in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. By removing the magnetic field, the fluid quickly returns to its liquid state. We briefly report on the design of this device, describe psychophysical experiments to assess performance for softness and shape exploration, and report on the experimental results.

%B Proc. IEEE Int. Conf. on Robotics and Automation %C Taipei, Taiwan %P 2412-2417 %8 May %G eng %0 Conference Paper %B Proc.2th Int. Conf. Eurohaptics 2002 %D 2002 %T Haptic Interfaces Based on Magnetorheological Fluids %A A. Bicchi %A E. P. Scilingo %A N. Sgambelluri %A D. De Rossi %K Haptics %X

In this paper we present an innovative application of magnetorheological (MR) fluids to haptic interfaces. These materials consist of a suspension of a micron-sized, magnetizable particles in a synthetic oil. Exposure to an external magnetic field induces in the fluid a change in rheological behaviour turning it into a near-solid in few milliseconds. Just as quickly, the fluid can be returned to its liquid state by the removal of the field. MR fluids are already present on the market, used in devices such as valves, brakes, clutches, and dampers. In this paper we investigate the possibility of using MR fluids to mimic the compliance, damping, creep (in other terms, the rheology) of materials in order to realize a haptic display and we propose two different implementations. Here we only outline the first scheme, whose experimental results have been reported in our previous work, and will describe the second one. In this latter scheme we set up a psychophysical protocol where a group of volunteers were asked to interact with the MR fluid duly excited and qualitative results are discussed.

%B Proc.2th Int. Conf. Eurohaptics 2002 %P 6-11 %8 July %G eng