@article {2184, title = {Designing and Evaluating a Social Gaze-Control System for a Humanoid Robot }, journal = {IEEE Transactions on Human-Machine Systems }, volume = {44}, year = {2014}, pages = {157-168}, keywords = {Robotics}, author = {A. Zaraki and D. Mazzei and Giuliani, M. and D. De Rossi} } @article {2189, title = { Development and Testing of a Multimodal Acquisition Platform for Human-Robot Interaction Affective Studies}, journal = {Journal of Human robot Interaction }, volume = {3}, year = {2014}, pages = {1-24}, keywords = {Robotics}, doi = { http://dx.doi.org/10.5898/JHRI.3.2.Lazzeri}, url = {http://humanrobotinteraction.org/journal/index.php/HRI/article/view/142/pdf_3}, author = {Lazzeri, N. and D. Mazzei and D. De Rossi} } @conference {2186, title = {An Experimental Eye-Tracking Study for the Design of a Context-Dependent Social Robot Blinking Model}, booktitle = {Living Machines 2014}, year = {2014}, pages = {356-366}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = {Milan, Italy, July 30 {\textendash} August 1}, abstract = {

uman gaze and blinking behaviours have been recently considered, to empower humanlike robots to convey a realistic behaviour in a social human-robot interaction. This paper reports the findings of our investigation on human eye-blinking behaviour in relation to human gaze behaviour, in a human-human interaction. These findings then can be used to design a humanlike eye-blinking model for a social humanlike robot. In an experimental eye-tracking study, we showed to 11 participants, a 7-minute video of social interactions of two people, and collected their eye-blinking and gaze behaviours with an eye-tracker. Analysing the collected data, we measured information such as participants{\textquoteright} blinking rate, maximum and minimum blinking duration, number of frequent (multiple) blinking, as well as the participants{\textquoteright} gaze directions on environment. The results revealed that participants{\textquoteright} blinking rate in a social interaction are qualitatively correlated to the gaze behaviour, as higher number of gaze shift increased the blinking rate. Based on the findings of this study, we can propose a context-dependent blinking model as an important component of the robot{\textquoteright}s gaze control system that can empower our robot to mimic human blinking behaviour in a multiparty social interaction.

}, keywords = {Robotics}, doi = {10.1007/978-3-319-09435-9_31}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_31}, author = {A. Zaraki and Dehkordi, M. B. and D. Mazzei and D. De Rossi} } @conference {2233, title = {Exploiting hand kinematic synergies and wearable under-sensing for hand functional grasp recognition}, booktitle = { 4th International Conference on Wireless Mobile Communication and Healthcare - "Transforming healthcare through innovations in mobile and wireless technologies" }, year = {2014}, address = {November 3{\textendash}5, 2014 Athens, Greece}, keywords = {Haptics, Robotics}, doi = { http://dx.doi.org/10.4108/icst.mobihealth.2014.257228}, author = {M. Bianchi and N. Carbonaro and E. Battaglia and F. Lorussi and A. Bicchi and D. De Rossi and A. Tognetti} } @conference {2185, title = {I-CLIPS Brain: A Hybrid Cognitive System for Social Robots }, booktitle = { Living Machines 2014}, year = {2014}, pages = {213-224}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, address = { Milan, Italy, July 30 {\textendash} August 1}, abstract = {

Sensing and interpreting the interlocutor{\textquoteright}s social behaviours is a core challenge in the development of social robots. Social robots require both an innovative sensory apparatus able to perceive the {\textquotedblleft}social and emotional world{\textquotedblright} in which they act and a cognitive system able to manage this incoming sensory information and plan an organized and pondered response. In order to allow scientists to design cognitive models for this new generation of social machines, it is necessary to develop control architectures that can be easily used also by researchers without technical skills of programming such as psychologists and neuroscientists. In this work an innovative hybrid deliberative/reactive cognitive architecture for controlling a social humanoid robot is presented. Design and implementation of the overall architecture take inspiration from the human nervous system. In particular, the cognitive system is based on the Damasio{\textquoteright}s thesis. The architecture has been preliminary tested with the FACE robot. A social behaviour has been modeled to make FACE able to properly follow a human subject during a basic social interaction task and perform facial expressions as a reaction to the social context.

}, keywords = {Robotics}, isbn = {978-3-319-09434-2}, doi = {10.1007/978-3-319-09435-9_19}, url = {http://link.springer.com/chapter/10.1007/978-3-319-09435-9_19}, author = {D. Mazzei and Cominelli, L. and Lazzeri, N. and A. Zaraki and D. De Rossi} } @conference {2187, title = {Recognition and Expression of Emotions by a Symbiotic Android Head}, booktitle = {IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS 2014)}, year = {2014}, pages = {134 - 139 }, publisher = {IEEE}, organization = {IEEE}, address = {Madrid, Spain, November 18 - 20}, keywords = {Bioengineering, Robotics}, doi = {10.1109/HUMANOIDS.2014.7041349}, author = {D. Mazzei and A. Zaraki and Lazzeri, N. and D. De Rossi} } @conference {2188, title = {An RGB-D Based Social Behavior Interpretation System for a Humanoid Social Robot}, booktitle = {IEEE-RSI International Conference on Robotics and Mechatronics 2014 }, year = {2014}, pages = {185 - 190}, publisher = {IEEE}, organization = {IEEE}, address = {Tehran, Iran, October 15-17}, keywords = {Bioengineering, Robotics}, doi = {10.1109/ICRoM.2014.6990898}, author = {A. Zaraki and Giuliani, M. and Dehkordi, M. B. and D. Mazzei and D{\textquoteright}Ursi, A. and D. De Rossi} } @article {VHTRTZGCSSGPSBPDRL08, title = {Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test}, journal = {IEEE - ASME Transactions on Mechatronics}, volume = {13}, number = {3}, year = {2008}, pages = {345-354}, abstract = {

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

}, keywords = {Haptics, Robotics}, author = {N. Vanello and V. Hartwig and M. Tesconi and E. Ricciardi and A. Tognetti and G. Zupone and R. Gassert and D. Chapuis and N. Sgambelluri and E. P. Scilingo and G. Giovannetti and V. Positano and M. F. Santarelli and A. Bicchi and P. Pietrini and D. De Rossi and L. Landini} } @inbook {BSDR00, title = {Experimental Validation of a Psychophysical Conjecture on a Simplified Model of the Haptic Perceptual Channel}, booktitle = {Robotics Research IX}, year = {2000}, publisher = {Springer-Verlag}, organization = {Springer-Verlag}, keywords = {Haptics, Robotics}, author = {A. Bicchi and E. P. Scilingo and D. De Rossi} } @conference {BDRS99, title = {Psychophysical Evaluation of Simplified Haptic Perception Media}, booktitle = {Proc. Int. Workshop on Robot and Human Interaction}, year = {1999}, month = {September}, address = {Pisa}, abstract = {

Detection of softness by tactile exploration in humans is based on both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details is difficlt and costly. In this paper we discuss a simplified model of haptic detection of softness (whereby only information on the rate of spread of the contact area between the finger and the specimen as the contact force increases is transmitted). We provide a thorough set of psychophysical tests, to support the feasibility (in at least some contexts) of a reduced-complicacy display of haptic features.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {ABDRS99, title = {The Role of Contact Area Spread Rate in Haptic Discrimination of Softness}, booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation}, year = {1999}, pages = {305-310}, abstract = {

Many applications in teleoperation and virtual reality call for the implementation of effective means of displaying to the human operator information on the softness and other mechanical properties of objects being touched. The ability of humans to detect softness of different objects by tactual exploration is intimately related to both kinesthetic and cutaneous perception, and haptic displays should be designed so as to address such multimodal perceptual channel. Unfortunately, accurate detection and replication of cutaneous information in all its details appears to be a formidable task for current technology, causing most of today{\textquoteright}s haptic displays to merely address the kinesthetic part of haptic information. In this paper we investigate the possibility of surrogating detailed tactile information for softness discrimination, with information on the rate of spread of the contact area between the finger and the specimen. Devices for implementing this new perceptual channel are described, and some preliminary psychophysical test results are reported, validating the effectiveness and practicality of the proposed approach.

}, keywords = {Bioengineering, Haptics, Robotics}, author = {G. Ambrosi and A. Bicchi and D. De Rossi and E. P. Scilingo} } @conference {SBDRI-98, title = {Haptic display able to replicate the rheological behaviour of surgical tissues}, booktitle = {Proc. 20th International Conference IEEE/EMBS}, year = {1998}, pages = {1738-1741}, address = {Hong Kong}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and A. Bicchi and D. De Rossi and P. Iacconi} } @conference {SDRBI97-ASME, title = {Haptic display for replication of rheological behaviour of surgical tissues: modelling, control, and experiments}, booktitle = {Proc. Annual ASME Symp. on Haptic Interfaces for Virtual Environments and Teleoperator Systems}, year = {1997}, address = {Dallas}, keywords = {Bioengineering, Haptics, Robotics}, author = {E. P. Scilingo and D. De Rossi and A. Bicchi and P. Iaccone} } @article {1763, title = {Contractile behaviour of electrically activated mechanochemical polymer actuators}, journal = {ASAIO TRANSACTIONS}, volume = {32}, year = {1986}, pages = {157{\textendash}162}, keywords = {Robotics}, issn = {0889-7190}, author = {D. De Rossi and Chiarelli, P and G. Buzzigoli and C. Domenici and L. Lazzeri} }