Stefano Galvan

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In the last few years, robotics education has been proposed in Universities and High Schools, to take advantage of the appeal of this discipline to teach scientific subjects. Robotics education is greatly improved when classroom teaching is supported by adequate laboratory courses and experiments following the "learning by doing" paradigm. However, cost of(More)
This article reports on experiments about haptic perception aimed at measuring the force/torque differential thresholds applied to the hand-arm system. The experimental work analyzes how force is sent back to the user by means of a 6 degrees-of-freedom haptic device. Our findings on force perception indicate that the just-noticeable-difference is generally(More)
In this paper we report on the efforts carried out at the Robotics Laboratory ALTAIR of the University of Verona (Italy) towards the development of a high performance architecture for bilateral, i.e. force reflecting, teleoperation system. This architecture, called Penelope, takes into account the main features of a haptics system: real-time behavior,(More)
The two main categories of deformable models used in surgical simulators are Mass Spring Models (MSM) and Finite Element Models (FEM). Mass spring models are often preferred due to their simplicity and low computational cost and because they allow to perform topology changes on the modeled body without significant computational overhead. The principal(More)
Teleoperation with force feedback is a complex task and a good haptic device is a key element. In this paper we present an innovative hardware/software structure used to control an actuated 6 dof joystick in a teleoperation task. To increase speed and reliability, parts of the kinematic calculation are embedded into the joystick controller. To implement(More)
In this paper a force scaling function for an haptic system is the output of the psychophysics experiments that have been carried out with the aim of better understanding the human perception capabilities. The experimental work consists in measuring the differential thresholds of force perception applied to the hand-arm system. These findings support our(More)
Miniature robots are starting to be used in surgery as actuated micro instrument in specific procedures. In this paper we examine the implications of using them as human movement amplifiers. In this case, task performance is not determined only by robot dynamics, but also by the amplification parameters and by their tuning to the human perception system. We(More)
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