Human-centered robotics and haptics
Le lezioni si tengono di norma il giovedì, salvo diversa indicazione,
e iniziano alle ore 18:00
Antenna Radio Esse
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Radio Intervista di
Cristiana Mastacchi a
Domenico Prattichizzo
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#Robotica, #QualitàdellaVita,
#Startup #Brevetti
#SIRSlab Università degli Studi di Siena
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Siena, 9 Ottobre 2018
Il quinto video della seria per Siena TV / Buongiorno Siena di Daniele Magrini sulle nostre attività di ricerca sulla #roboticachirurgica #robotics #haptics #tactilefeedback #sirslab Università degli Studi di Siena Sienna Diism. Il video completo su youtube
Dear Roboticists,
my team and I realized at the University of Siena a series of short video lectures on robotic grasping and we would like to share with you the result.
The on-line course on “The Art of Grasping and Manipulation in Robotics” is now available: http://sirslab.dii.unisi.it/GraspingCourse/index.html.
Building dexterous robotic hands and studying new algorithms to control them is essential to allow industrial, service, and humanoid robots to interact with objects around them, and, possibly, with humans in a natural and safe way. The main objective of this course is to give an overview of grasp modeling and control, also introducing the SynGrasp MATLAB® Toolbox.
The course is based on the chapter on Grasping of the Springer Handbook of Robotics: https://link.springer.com/chapter/10.1007/978-3-319-32552-1_38
Video Lectures have mainly been recorded during real lectures and are structured in four units.
I hope you will find this course useful. We are open to comments and suggestions on how to improve it and possibly extend it to include more topics.
Best regards,
_Domenico and the #SIRSLab team
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Content of the course:
Unit 1: Basic concepts – Lecturer: Domenico Prattichizzo
Lecture 1.1: Introduction to the course
Lecture 1.2: Power and precision grasp
Lecture 1.3: The friction cone
Lecture 1.4: The Grasp Matrix
Lecture 1.5: Notation
Unit 2: Grasp modeling – Lecturer: Monica Malvezzi
Lecture 2.1: Object Kinematics
Lecture 2.2: Hand Kinematics
Lecture 2.3: Contact models
Lecture 2.4: Quasi-static model of the grasp
Lecture 2.5: Grasp properties
Unit 3: Grasp control – Lecturer: Domenico Prattichizzo
Lecture 3.1: Hand Control
Lecture 3.2: Control of the object
Lecture 3.3: Limitations of the rigid-body assumption
Supplementary material 3.1: Indeterminate grasps
Supplementary material 3.2: Graspability
Unit 4: SynGrasp – Lecturer: Maria Pozzi
Lecture 4.1: Introduction to the SynGrasp Toolbox
Lecture 4.2: Robotics research with SynGrasp [Slides]
Lecture 4.3: Basic examples [Exercises]
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Domenico Prattichizzo
– Professor of Robotics and Haptics, University of Siena
– Senior Scientist, IIT Genova
– President Eurohaptics Society
– IEEE Fellow
email: prattichizzo@ing.unisi.it
www: https://prattichizzoblog.wordpress.com
phone: +39 329 2606659
skype: domenico.prattichizzo
hangouts: domenico.prattichizzo@gmail.com
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Cari amici, mi fa piacere condividere con voi il seguente evento. _DP
Robot in Sanità
Giovedì, 20 Settembre 2018 – da 09:45 a 17:00
Il 20 Settembre, alle ore 09:45 presso l’ Aula 2 c/o Centro Didattico Le Scotte c/o AOU SIENA – Strada delle Scotte, 4 (ROBOT IN SANITA’ – brochurelato elisoccorso), si terrà il seminario “Robot in Sanità”.
Uomo e Robot in sanità, due mondi sempre più vicini. Nel seminario saranno ripercorse alcune applicazioni sanitarie, nella prospettiva di comunicare le future esigenze cliniche e conoscere i prodotti già presenti o di prossima innovazione.
ISCRIZIONI ENTRO IL 18 SETTEMBRE 2018
L’iscrizione al Seminario è gratuita e dovrà avvenire esclusivamente online all’indirizzo https://siena.ing4.it/ISFormazione-Siena
attraverso la piattaforma dedicata alla formazione, selezionando il titolo del Seminario
Prenota il tuo posto!
Programma in allegato
Abstract. Augmented Reality (AR) enriches our physical world with digital content and media, such as 3D models and videos, overlaying in real time the camera view of our smartphone, tablet, laptop, or glasses. Despite the recent massive interest for this technology, it is still not possible to receive rich haptic feedback when interacting with augmented environments. This lack is mainly due to the poor diffusion of suitable haptic interfaces, which should be easy to wear, lightweight, compact, and inexpensive. In this paper, we briefly review the state of the art on wearable haptics and its application in AR. Then, we present three AR use cases, considering tasks of manipulation, guidance, and gaming, using both external cameras with standard screens as well as fully-wearable solutions, using the Microsoft HoloLens. We evaluate these tasks enrolling a total of 34 subjects, analyzing performance and user experience when using a 3-DoF wearable device for the fingertip, a 2-DoF wearable device for the proximal finger phalanx, a vibrotactile ring, and a popular sensory substitution technique (interaction force displayed as a colored bar). Results show that providing haptic feedback through the wearable devices significantly improves the performance, intuitiveness, and comfort of the considered AR tasks.
A video showing the main concept of the work can be watched here
The pdf of the paper can be downloaded at http://sirslab.dii.unisi.it/papers/2018/Meli18_hololens.pdf
The paper can be cited using the following bibtex item
@article{Meli18_RAL_hololens,
Author = {Meli, L. and Pacchierotti, C. and Salvietti, G. and Chinello, F. and Maisto, M. and De Luca, A. and Prattichizzo, D.},
Title = {Combining wearable finger haptics and Augmented Reality: User evaluation using an external camera and the Microsoft HoloLens},
Journal = {{IEEE Robotics and Automation Letters}},
Volume = {3},
Number = {4},
Pages = {4297--4304},
Year = {2018}
}
This work will be presented at the IIEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018) that is held 1-5 October in Madrid, Spain.
SIENA GOES TO MADRID – The Siena Robotics Lab #sirslab will be present at #IROS2018 in Madrid with *7 papers* !!! Great work of the whole team and great collaborations with POLIMI, IIT, Aarhus University, CNRS, Kalhifa University Keyo University, Nagoya Institute of Technology. See you in Madrid friends !!!
– Operator awareness in human-robot collaboration through wearable vibrotactile feedback
Andrea Casalino, Costanza Messeri, Maria Pozzi, Andrea Maria Zanchettin , Paolo Rocco, Domenico Prattichizzo
– Combining Wearable Haptics and Augmented Reality: user evaluation using an external camera and the Microsoft HoloLens
Leonardo Meli, Claudio Pacchierotti, Gionata Salvietti, Francesco Chinello, Maurizio Maisto, Alessandro De Luca, Domenico Prattichizzo
– Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity
Irfan Hussain, Federico Renda, Muhammad Zubair Iqbal, Monica Malvezzi, Gionata Salvietti, Lakmal Seneviratne, Dongming Gan, Domenico Prattichizzo
– Sensory-motor augmentation of the robot with shared human perception
Ryuya Ishida, Leonardo Meli, Yoshihiro Tanaka, Kouta Minamizawa, Domenico Prattichizzo
– Grasp Stiffness Control in Robotic Hands through Coordinated Optimization of Pose and Joint Stiffness
Virginia Ruiz Garate, Maria Pozzi, Domenico Prattichizzo, Nikos Tsagarakis, Arash Ajoudani
– The Co-Gripper: a Wireless Cooperative Gripper for Safe Human Robot Interaction
Gionata Salvietti, Muhammad Zubair Xuber Iqbal, Irfan Hussain, Domenico Prattichizzo, Monica Malvezzi
– Transparency-optimal passivity layer design for time-domain control of multi-DoF haptic-enabled teleoperation
Olmo Alonso Moreno Franco, Joao Bimbo, Claudio Pacchierotti, Domenico Prattichizzo, Davide Barcelli, Gianni Bianchini
