Marco Aggravi

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Compliance in multifingered hand improves grasp stability and effectiveness of the manipulation tasks. Compliance of robotic hands depends mainly on the joint control parameters, on the mechanical design of the hand, as joint passive springs, and on the contact properties. In object grasping the primary task of the robotic hand is the control of internal(More)
This paper proposes a novel use of haptic feedback for human navigation with a mobile robot. Assuming that a path-planner has provided a mobile robot with an obstacle-free trajectory, the vehicle must steer the human from an initial to a desired target position by only interacting with him/her via a custom-designed vibro-tactile bracelet. The subject is(More)
Haptics provides sensory stimuli that represent the interaction with a virtual or tele-manipulated object, and it is considered a valuable navigation and manipulation tool during tele-operated surgical procedures. Haptic feedback can be provided to the user via cutaneous information and kinesthetic feedback. Sensory subtraction removes the kinesthetic(More)
In this paper, we present a haptic guidance policy to steer the user along predefined paths, and we evaluate a predictive approach to compensate actuation delays that humans have when they are guided along a given trajectory via sensory stimuli. The proposed navigation policy exploits the nonholonomic nature of human locomotion in goal directed paths, which(More)
The decline of the cognitive abilities related to age usually determines a gradual withdrawal of older adults within the domestic walls. Part of the problem is the difficulty in navigating in large and crowded environments that may be perceived as intimidating. To alleviate this problem, we propose a vibrotactile device which can be used along with a(More)
Human guidance in situations where the users cannot rely on their main sensory modalities, such as assistive or search-and-rescue scenarios, is a challenging task. In this letter, we address the problem of guiding users along collision-free paths in dynamic environments, assuming that they cannot rely on their main sensory modalities. In order to safely(More)
Blindness dramatically limits quality of life of individuals and has profound implications for the person affected and the society as a whole. Physical mobility and exercises are strongly spurred within people, as ways to maintain health and well-being. Such activities can be really important for people with disability as well, and their increase is(More)
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