Alessandro Formaglio

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This paper presents various procedures that can be used in order to numerically evaluate what the maximum Z−width that can be rendered by a mobile haptic interface will be given few parameters that characterize the haptic device and the mobile platform that make up such interface. Such procedures are applied to the case of two different mobile haptic(More)
—The increasing demand for virtual reality applications in several scientific disciplines feeds new research perspectives dealing with robotics, automation, and computer science. In this context, one of the topics is the design of advanced force-feedback devices allowing not only kinesthetic interaction with virtual objects but also locomotion and(More)
BACKGROUND Force feedback in robotic minimally invasive surgery allows the human operator to manipulate tissues as if his/her hands were in contact with the patient organs. A force sensor mounted on the probe raises problems with sterilization of the overall surgical tool. Also, the use of off-axis gauges introduces a moment that increases the friction(More)
The apparent mass of haptic device end-effector depends on its position inside the workspace. This paper presents a recursive algorithm to detect effective direction of gravity force, and to automatically estimate the apparent mass of the end-effector when placed at the vertices of a cubic grid contained into the device workspace. Then an on-line technique(More)
A 3D deformable hand avatar for virtual grasping using multiple single-contact-point haptic devices is introduced. The proposed technique has two main advantages. First, the whole hand motion is reconstructed by measuring only fingertips positions and using a biome-chanical model of the hand along with the postural synergies characterizing grasping actions.(More)
A technique to animate a realistic hand avatar with 20 DoFs based on the biomechanics of the human hand is presented. The animation does not use any sensor glove or advanced tracker with markers. The proposed approach is based on the knowledge of a set of kinematic constraints on the model of the hand, referred to as postural synergies, which allows to(More)
Usage of 3D data and models is receiving a growing interest for several applications, like training, museum displays, multimodal interfaces, aid for impaired people. In such a framework the need will soon raise to protect 3D data from misuse. Among the technologies that can be used to this aim, digital watermarking has a prominent role, due to its(More)
This paper presents methodologies and technologies that are exploited to design and implement the mobile haptic grasper (MHG), i.e. an integrated system consisting of a mobile robot and two grounded haptic devices (HD) fixed on it. This system features two-point contact kinaesthetic interactions while guaranteeing full user's locomotion in large virtual(More)
in haptic applications suggests that haptic digital media will soon become widely available, and the need will arise to protect digital haptic data from misuse. In this article, we present our study and findings on psychophysical experiments regarding human abilities to perceive a digital watermark, or hidden signal, through a haptic interface. H aptic(More)