Haptics – #sirslab paper published on IEEE Robotics and Automation Letters (RA-L)

Combining wearable finger 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.

DOI: 10.1109/LRA.2018.2864354

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

   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.

#IROS2018 Siena goes to Madrid with 7 papers

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


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Le mani robotiche di Monica: dall’ingegneria meccanica un aiuto per l’uomo – #sirslab

Monica Malvezzi ha rilasciato un’intervista sul suo amato lavoro e il  #sirslab che ho l’onore di coordinare con lei. Ecco un estratto della sua intervista

“… il team di cui si compone il SIRSLab #sirslab conta un gran numero di donne con professionalità diverse che contribuiscono, ciascuna nel suo campo – nell’ambito delle STEM – al successo dei progetti …”

L’intervista completa si può leggere a questo link https://www.studenti.it/stem-monica-malvezzi-robotica.html

Avanti tutta 🙂 _DP


Maria, dal liceo classico al mondo delle STEM al #sirslab

Complimenti Maria per questa intervista. “…Lavorando con i robot la mente resta sempre attiva e non smette mai di farsi domande…”. _DP

L’intervista completa può essere letta da questo link.


Maria Pozzi e a Pint of Science 2018

Lunedì sera 14 Maggio alle 19.30 al bar Il Palio, Maria Pozzi, super dottoranda del #sirslab, parlerà di mani robotiche nell’ambito di A Pint of Science, una manifestazione di divulgazione scientifica che durerà dal 14 al 16 maggio. #apintofscience #siena #sirslab #pintofscience8c70cbbb-8dfc-48fb-8d38-9a045b02151a.jpg

Monica, Giulia, Maria, Samanta e Chiara. Assi portanti del #sirslab

Una meravigliosa descrizione del nostro Laboratorio SIRSLab #sirslab con Monica Malvezzi, Giulia Pompili, Maria Pozzi, Samanta Scala, Chiara Gaudeni. Complimenti!

Haptics – #sirslab paper published on IEEE Robotics and Automation Letters (RA-L)

The hBracelet: a wearable haptic device for the distributed mechanotactile stimulation of the upper limb

Leonardo Meli, Irfan Hussain, Mirko Aurilio, Monica Malvezzi, Marcia K. O’MalleDomenico Prattichizzo.

DOI: 10.1109/LRA.2018.2810958

Abstract.  Haptic interfaces are mechatronic devices designed to render tactile sensations; although they are typically based on robotic manipulators external to the human body, recently, interesting wearable solutions have been presented. Towards a more realistic feeling of virtual and remote environment interactions, we propose a novel wearable skin stretch device for the upper limb called “hBracelet”. It consists of two main parts coupled with a linear actuator. Each part contains two servo actuators that move a belt. The device is capable of providing distributed mechanotactile stimulation on the arm by controlling the tension and the distance of the two belts in contact with the skin. When the motors spin in opposite directions, the belt presses into the user’s arm, while when they spin in the same direction, the belt applies a shear force to the skin. Moreover, the linear actuator exerts longitudinal cues on the arm by moving the two parts of the device. In this work we illustrate the mechanical structure, working principle, and control strategies of the proposed wearable haptic display. Furthermore, we present a qualitative experiment in a teleoperation scenario as a case study to demonstrate the effectiveness of the proposed haptic interface and to show how a human can take advantage of multiple haptic stimuli provided at the same time and on the same body area. The results show that the device is capable of successfully providing information about forces acting at the remote site, thus improving the overall telepresence.


A video showing the main concept of the work can be watched at

The pdf of the paper can be downloaded at http://sirslab.dii.unisi.it/papers/2018/Meli18_hBracelet.pdf

The paper can be cited using the following bibtex item

author={L. Meli and I. Hussain and M. Aurilio and M. Malvezzi and M. K. O’Malley and D. Prattichizzo},
journal={IEEE Robotics and Automation Letters},
title={The hBracelet: A Wearable Haptic Device for the Distributed Mechanotactile Stimulation of the Upper Limb},
keywords={Actuators;Belts;Force;Haptic interfaces;Pulleys;Robots;Skin;Haptics and haptic interfaces;human-centered robotics;telerobotics and teleoperation;wearable robots},


This work will be presented at the IEEE International Conference on Robotics and Automation (ICRA 2018) that is held 21-25 May in Brisbane, Australia.