Stefano Galvan

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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)
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)
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)
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)
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)
Synthetic phantoms are valuable tools for training, research and development in traditional and computer aided surgery, but complex organs, such as the brain, are difficult to replicate. Here, we present the development of a new composite hydrogel capable of mimicking the mechanical response of brain tissue under loading. Our results demonstrate how the(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)
Capturing the deformation of human brain during neurosurgical operations is an extremely important task to improve the accuracy or surgical procedure and minimize permanent damage in patients. This study focuses on the development of an accurate numerical model for the prediction of brain shift during surgical procedures and employs a tissue mimic recently(More)
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