Haptic Interfaces

The Mechatronics Group is very active in design and development of impedance haptic displays, with particular regard to wire-driven mechanisms. The research activities carried out in the field of Haptic Interfaces are:

Safe human-robot interaction
Joy: Single d.o.f. haptic joystick
PiRoGa5: 3D haptic interface
FeRiBa3: 2D haptic interface


L. Barbazza, F. Oscari, S. Minto, and G. Rosati
Trajectory planning of a suspended cable driven parallel robot with reconfigurable end-effector
Robotics and Computer-Integrated Manufacturing, 48:1-11, 2017

L. Barbazza, D. Zanotto, G. Rosati, and S.K. Agrawal
Design and optimal control of an under-actuated cable-driven micro-macro robot
In Proceedings of the 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017. Accepted for publication, submission no.2981

P. Boscariol, A. Gasparetto, R. Vidoni, V. Zanotto
A delayed force reflecting haptic controller for master-slave neurosurgical robots
Advanced Robotics 19 (2), pp. 127-138 (2015)

Abdolshah, S., Rosati, G.
First experimental testing of a dynamic minimum tension control (DMTC) for cable driven parallel robots
Mechanisms and Machine Science, 32, pp. 239-248, 2015

G. Rosati, F. Oscari, C. Pacchierotti, and D. Prattichizzo
Effects of kinesthetic and cutaneous stimulation during the learning of a viscous force field
IEEE Transactions on Haptics, 7(2):251-263, 6710112, 2014

D. Prattichizzo, C. Pacchierotti, and G. Rosati
Cutaneous force feedback as a sensory subtraction technique in haptics
IEEE Transactions on Haptics, 5(4):289-300, 2012

G. Rosati, D. Zanotto, and S. K. Agrawal
On the design of adaptive cable-driven systems
Journal of Mechanisms and Robotics - Transactions of the ASME, 3(2):021004, 2011

C. Pacchierotti, G. Rosati, D. Petroni, and D. Prattichizzo
Sensory subtraction and active constraints for teleoperation
In Proceedings of Automatica.it 2011, Pisa, Italy, September 7-9 2011

D. Zanotto, G. Rosati, and A. Rossi
Performance analysis of planar cable-based parallel manipulators
In Proceedings of the ASME 2010 10th Biennial Conference on Engineering Systems Design and Analysis ESDA2010-25282, Istanbul, Turkey, July 12-14 2010

A. Gasparetto, R. Vidoni, V. Zanotto
DFORCE: Delayed FOrce ReferenCE control for master–slave robotic systems
Mechatronics, Volume 19, Issue 5, August 2009, Pages 639-646

G. Rosati, D. Zanotto, and A. Rossi
Performance assessment of a 3D cable-driven haptic device
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

G. Rosati and D. Zanotto
A novel perspective in the design of cable-driven systems
In Proceedings of the ASME International Mechanical Engineering Congress & Exposition IMECE 2008, Boston, MA, USA, Oct 31 - Nov 6 2008

A. Rossi, M. Andreolli, G. Boschetti, A. Dalla Via, G. Rosati, A. Trevisani, and V. Zanotto
Man-machine interaction by haptic systems
In Proceedings of the Japan-Italy Workshop on The Man and the Robot: Italian and Japanese Approaches, Tokyo, Japan, September 2005

G. Boschetti, P. Gallina, G. Rosati, A. Rossi, and V. Zanotto
A control scheme for 5 d.o.f. haptic feedback guided teleoperation
IASME Transactions, 1(1):53–58, 2004

A. Rossi and G. Rosati
The trend in robotics toward man-machine interaction
In Proceedings of the 1st IASME International Conference on Advances in Mechanics and Mechatronics, Plenary lecture, Udine, Italy, March 2004

P. Gallina and G. Rosati
Manipulability of a planar wire driven haptic device
Mechanism and Machine Theory, 37(2):215–228, 2002

F. Antoniazzi, P. Gallina, A. Gasparetto, and G. Rosati
Admittance model haptic interaction for large workspace teleoperation
In Proceedings of RoManSy 2002, pages 109–118, Udine, Italy, July 2002

P. Gallina, G. Rosati, and A. Rossi
3-d.o.f. wire driven planar haptic interface
Journal of Intelligent and Robotic Systems, 32(1):23–36, 2001

P. Gallina, G. Rosati, and A. Rossi
Utilizzo di interfacce aptiche nella robotica medica
In Proceedings of AIAS 2001, pages 1501–1509, Alghero(SS), Italy, September 2001

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