Smart City Radio 24. Oggi e domani alle 20.50 parliamo di VR con Maurizio Melis.

Smart City Radio 24. Oggi e domani alle 20.50  parliamo di VR con  Maurizio Melis.

Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives

Our group has just published a new survey article on the IEEE Transactions on Haptics!

The 23-pages-long manuscript presents a taxonomy and review of wearable haptic systems for the fingertip and the hand, focusing on those systems directly addressing wearability challenges. We also discuss the main technological and design challenges for the development of wearable haptic interfaces, and report on the future perspectives of the field.

This work is the result of a collaboration between my group SIRSLab, the CNRS at Irisa and Inria Rennes (C. Pacchierotti), UPMC (V. Hayward), Inria Chile (S. Sinclair), and SSSA (A. Frisoli and M. Solazzi), in the framework of project WEARHAP.


C. Pacchierotti, S. Sinclair, M. Solazzi, A. Frisoli, V. Hayward, D. Prattichizzo. “Wearable Haptic Systems for the Fingertip and the Hand: Taxonomy, Review, and Perspectives.” IEEE Transactions on Haptics, 2017.

The paper is available from IEEEXplore (Open Access!):

Drone and Arm Cooperative Manipulation demo is running at the #hannovermesse2017 #kuka Innovation Award

This is the video of the running demo at the Hannover Messe 2017. We are competing to win the 2017 Kuka Innovation Award. This is a wonderful example of cooperative manipulation between a robotic arm and a drone.

See this post

Finger Crossed


Science Magazine – Our research at University of Siena #sirslab on Augmented Reality


Science Magazine – Our research at University of Siena #sirslab on Augmented Reality with Maurizio Maisto, Claudio Pacchierotti, Francesco Chinello, Gionata Salvietti, Alessandro De Luca is on “So Domenico Prattichizzo, a robotics engineer at the University of Siena in Italy, and his collaborators designed two devices that enable users to feel virtual objects, which they put to the test in a paper to be published in IEEE Transactions on Haptics. … Prattichizzo’s lab has led “a revolution in the topic of virtual touch,” says Miguel Otaduy, a computer scientist at Rey Juan Carlos University in Madrid. He’s tried Prattichizzo’s devices and is impressed that you can wear them and still hold real objects. ‘That just blows your mind’, he says.” _DP

Kuka Innovation Award Competition is running #hannovermesse #sirslab

Mostafa Mohammadi from our #sirslab is defending with the whole international team coordinated by CNRS the project #telemagmas to the 2017 Kuka Innovation Award at the Hannover Messe. Today and tomorrow are the most important days. Stay tuned.

The Tele-MAGMaS Team: The international research team led by LAAS-CNRS in Toulouse (Antonio Franchi and Nicolas Staub, Davide Bicego, Victor Arellano, Quentin Sablé, Subodh Mishra), with members from the University of Siena (Domenico Prattichizzo and Mostafa Mohammadi), Seoul National University (Dongjun Lee and  H. Yang, C. Ha, M. Kim) and CNRS at the research center IRISA in Rennes (Paolo Robuffo Giordano and Quentin Delamare), is addressing search and rescue operations in regions which are difficult to access or dangerous following disasters.

Tele-MAGMaS stays for Human-in-the-loop multi-robot aerial-grounded manipulation system.


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New paper on the Robotic Sixth Finger

It is our pleasure to announce a new publication regarding the Robotic Sixth Finger on the Robotics and Autonomous System Journal.

Title: Supernumerary robotic finger and mobile arm support: from grasp compensation to hemiparetic upper limb rehabilitation


In this paper, we present the combination of our soft supernumerary robotic finger i.e. Soft-SixthFinger with a commercially available zero gravity arm support, the SaeboMAS. The overall proposed system can provide the needed assistance during paretic upper limb rehabilitation involving both grasping and arm mobility to solve task-oriented activities. The Soft-SixthFinger is a wearable robotic supernumerary finger designed to be used as an active assistive device by post stroke patients to compensate the paretic hand grasp. The device works jointly with the paretic hand/arm to grasp an object similarly to the two parts of a robotic gripper. The SaeboMAS is a commercially available mobile arm support to neutralize gravity effects on the paretic arm specifically designed to facilitate and challenge the weakened shoulder muscles during functional tasks. The proposed system has been designed to be used during the rehabilitation phase when the arm is potentially able to recover its functionality, but the hand is still not able to perform a grasp due to the lack of an efficient thumb opposition. The overall system also act as a motivation tool for the patients to perform task-oriented rehabilitation activities.

With the aid of proposed system, the patient can closely simulate the desired motion with the non-functional arm for rehabilitation purposes, while performing a grasp with the help of the Soft-SixthFinger. As a pilot study we tested the proposed system with a chronic stroke patient to evaluate how the mobile arm support in conjunction with a robotic supernumerary finger can help in performing the tasks requiring the manipulation of grasped object through the paretic arm. In particular, we performed the Frenchay Arm Test (FAT) and Box and Block Test (BBT). The proposed system successfully enabled the patient to complete tasks which were previously impossible to perform.


New paper on Transaction on Neural System and Rehabilitation Engineering

While attending at the Consortium Meeting of the EU project SoftPro, we are happy to announce our new paper on the Robotic Sixth Finger appeared in Transaction on Neural System and Rehabilitation Engineering. The paper is part of the Special Issue on Wearable Robotics for Motion Assistance and Rehabilitation.

Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger  

G. Salvietti, I. Hussain, D. Cioncoloni, S. Taddei, S. Rossi, D. Prattichizzo

A novel solution to compensate hand grasping abilities is proposed for chronic stroke patients. The goal is to provide the patients with a wearable robotic extra-finger that can be worn on the paretic forearm by means of an elastic band. The proposed prototype, the Robotic Sixth Finger, is a modular articulated device that can adapt its structure to the grasped object shape. The extra-finger and the paretic hand act like the two parts of a gripper cooperatively holding an object. We evaluated the feasibility of the approach with four chronic stroke patients performing a qualitative test, the Frenchay Arm Test. In this proof of concept study, the use of the Robotic Sixth Finger has increased the total score of the patients of 2 points in a 5 points scale. The subjects were able to perform the two grasping tasks included in the test that were not possible without the robotic extra-finger. Adding a robotic opposing finger is a very promising approach that can significantly improve the functional compensation of the chronic stroke patient during everyday life activities.


Paper bibtex file:

Author = {Salvietti, G. and Hussain, I. and Cioncoloni, D. and Taddei, S. and Rossi, S. and Prattichizzo, D.},
Title = {Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger},
Journal = {Transaction on Neural System and Rehabilitation Engineering},
Volume = {25},
Number = {2},
Pages = {142–150},
Year = {2017}