Fabio Salsedo

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Papers by Fabio Salsedo

Architectural Design of the Haptex System

by Fabio Salsedo and Nadia Magnenat-halmann

This paper reports the preliminary results of the architectural design of the HAPTEX system that ... more This paper reports the preliminary results of the architectural design of the HAPTEX system that will be developed in the framework of the IST FET (Future and Emerging Technologies) initiative. The aim of the EU funded RTD project is to realize a virtual reality system able to render, visually and haptically, the behavior of fabrics. The integration of force-feedback devices

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A NOVEL TENDON DRIVEN 5BAR LINKAGE WITH LARGE ISOTROPIC WORKSPACE

Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 1999

High performance explicit force control for finger interaction haptic interface

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007

... Afterwards the controller has been dimensioned and optimized. Lastly an experimental validati... more

Developing a Tactile Actuator to be Integrated Into a Force Feedback Device for the Haptic Rendering of Virtual Textiles

Volume 3: 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Parts A and B, 2011

ABSTRACT

Design of a new tendon driven haptic interface with six degrees of freedom

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483), 1999

Kinematic optimization of the dexterity and redundant actuation analysis of the manipulandum has ... more

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A two degrees-of-freedom planar haptic interface with high kinematic isotropy

8th IEEE International Workshop on Robot and Human Interaction. RO-MAN '99 (Cat. No.99TH8483), 1999

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The actuation system of the MORIS simulator

Proceedings 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human and Environment Friendly Robots with High Intelligence and Emotional Quotients (Cat. No.99CH36289), 1999

This paper describes the results of the design of the actuation system of the MORIS two-wheeled v... more This paper describes the results of the design of the actuation system of the MORIS two-wheeled vehicle simulator for motorcycle design and development. Firstly, a general overview of the simulator is shown. Secondly, the description of the strategy manager and of the software design tool is reported. Finally, the numeric results of the basic design manoeuvres and of the overall

A New Force-Feedback Arm Exoskeleton for Haptic Interaction in Virtual Environments

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

The paper presents the mechanical design of the L-EXOS, a new exoskeleton for the human arm. The ... more The paper presents the mechanical design of the L-EXOS, a new exoskeleton for the human arm. The exoskeleton is a tendon driven wearable haptic interface with 5 dof, 4 actuated ones, and is characterized by a workspace very close to the one of the human arm. The design has been optimized to obtain a solution with reduced mass and high stiffness, by employing special mechanical components and carbon fiber structural parts. The devised exoskeleton is very effective for simulating the touch by hand of large objects or the manipulation within the whole workspace of the arm. The main features of the first prototype that has been developed at PERCRO are presented, together with an indication of the achieved and tested performance.

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A Novel Fingertip Haptic Device for Display of Local Contact Geometry

First Joint Eurohaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2005

This paper presents a new concept of fingertip haptic device for the display of local contact geo... more This paper presents a new concept of fingertip haptic device for the display of local contact geometry on the user's fingerpad. We propose an extension of the encountered haptic interface concept , in order to build an active haptic thimble, that is portable and can be fixed to the user's finger. The device is endowed with an actuation system that controls the motion of a platform, that can come in contact with the fingerpad with different orientations and at different fingerpad locations, simulating the contact with a virtual surface. A prototype of the device has been built and tested and is presented throughout the paper.

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Haptic simulation of an automotive manual gearshift

Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591), 2001

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An approach to the design of fully actuated body extenders for material handling

19th International Symposium in Robot and Human Interactive Communication, 2010

This paper deals with the mechanical and control design of an exoskeletric power extender for the... more This paper deals with the mechanical and control design of an exoskeletric power extender for the whole human body. A critical issue in the design of such kid of devices is granting a sufficient level of transparency. The authors propose two design conditions based on tracking force threshold and equilibrium considerations that should be complied. This methodology has been applied

Modular weight-balanced mechanical tracker for portable haptics

2009 IEEE International Conference on Robotics and Automation, 2009

This paper describes the design, the development and the tests of an innovative 6 degrees of free... more This paper describes the design, the development and the tests of an innovative 6 degrees of freedom (DoFs) mechanical tracker. The new device has a modular structure that exploits three mechanical units each composed of two rotational joints and allows to scale the usable workspace by substituting the connecting links. The sensing principle for the joint angles measurement is based

Mechanical design of a novel Hand Exoskeleton for accurate force displaying

2009 IEEE International Conference on Robotics and Automation, 2009

This paper deals with the mechanical design of a novel haptic hand exoskeleton (HE) that allows e... more This paper deals with the mechanical design of a novel haptic hand exoskeleton (HE) that allows exerting controlled forces on the fingertip of the index and thumb of the operator. The proposed device includes several design solutions for optimizing the accuracy and mechanical performances. Remote centers of motion mechanisms have been adopted for delocalizing the encumbrance of linkages of the

Kinematic Design of a Two Contact Points Haptic Interface for the Thumb and Index Fingers of the Hand

Journal of Mechanical Design, 2007

This paper presents an integrated approach to the kinematic design of a portable haptic interface... more

THE MORIS MOTORCYCLE SIMULATOR: AN OVERVIEW

Many motion based simulators have been developed in the last thirty years for many different type... more Many motion based simulators have been developed in the last thirty years for many different types of vehicles [1] . In order to make a simulation more realistic, linear accelerations and angular rates are exerted on the pilot by moving the platform on which the mock-up vehicle is located. The purpose of this article is to present a 7 DOFs (vertical, lateral and longitudinal displacements, roll, pitch and yaw angles and steer) motorcycle simulator which has been realized in Pisa, Italy, in the framework of the Esprit project by a consortium composed by industrial partners (Piaggio and Humanware from Italy and HEAD acoustics from Germany) and by academic partners (Scuola Superiore S. Anna from Italy, Halmstad University from Sweden and University of Bochum from Germany). Such project started in 1995 with the aim of developing a two-wheeled motorcycle simulator conceived as a tool for the designer to acquire data on motorcycle handling and stability at the design stage as well as to collect data about rider control behavior implications in motorcycle performances.

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A Novel Actuation Module for Wearable Robots

Advances in Robot Kinematics: Motion in Man and Machine, 2010

Wearable robots, like prostheses, active orthoses and exoskeletons for human performance augmenta... more Wearable robots, like prostheses, active orthoses and exoskeletons for human performance augmentations need a new breed of actuators, capable to exhibit a large number of desirable features: high power/torque density, high efficiency, zero backlash, low reflected mechanical impedance and high bandwidth. To fully meet these requirements, new basic actuation principles have to be investigated. Nevertheless, there is still scope now

A force-feedback exoskeleton for upper-limb rehabilitation in virtual reality

Applied Bionics and Biomechanics, 2009

This paper presents the design and the clinical validation of an upper-limb force-feedback exoske... more This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR). The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (paired t-test, p < 0.02).

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A novel compact and lightweight actuator for wearable robots

2010 IEEE International Conference on Robotics and Automation, 2010

Abstract Advanced robotics needs a new breed of actuators, capable to exhibit a large number of ... more

Body Extender: Whole body exoskeleton for human power augmentation

2011 IEEE International Conference on Robotics and Automation, 2011

The PERCRO laboratory of Scuola Superiore Sant&amp;amp;amp;amp;amp;amp;#39;Anna has recently ... more The PERCRO laboratory of Scuola Superiore Sant&amp;amp;amp;amp;amp;amp;#39;Anna has recently completed the development and functional assessment of the Body Extender (BE) system, an advanced wearable robot expressly conceived for augmenting the human strength for handling of heavy materials in unstructured environment. The system is composed by four robotic limbs with anthropomorphic kinematics and has a total of 22 independently actuated degrees

A fingertip haptic display for improving local perception of shape cues

Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07), 2007

In this paper we present a novel haptic device capable of providing both kinesthetic and local ha... more In this paper we present a novel haptic device capable of providing both kinesthetic and local haptic cues at the level of the fingerpad. The system is composed of a supporting haptic interface and a fingertip haptic display. The augmentation of locally displayed haptic information may improve the performance in tasks such as shape recognition by haptic exploration. In this paper the overall device is presented, and some preliminary experiments are reported investigating the role of haptic local cues in haptic perception of curvature.

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