Gionata Salvietti

Affiliated Researcher
Research Affiliate - ADVR

Contacts

Loc. Badicorte 10

About

Gionata Salvietti received the PhD on Information Engineering and the "Laurea Specialistica" (con Lode) in Information Engineering, specialization in Robotics and Automation, from the University of Siena on 2012 and 2009 respectively. 
He was visiting researcher at DLR Institute for Robotics and Mechatronics, Germany in 2012 and visiting student at TAMS group, University of Hamburg, Germany in 2008. From 2012 to 2015 he was Post-Doc at Advanced Robotic Lab at Istituto Italiano di Tecnologia. From 2016 he is Assistant Professor of Robotics and Automatics at Department of Information Engineering and Mathematics of University of Siena and he is Affiliate Resercher at Advanced Robotic Lab at Istituto Italiano di Tecnologia.

Projects

I'm currently involved in the project SOMA - Soft Manipulation and in the project SoftPro - Synergy-based Open Source Technologies for Prosthetics and RehabilitatiOn


Previous EU-Projects:

WEARHAP - WEARable HAPtics for humans and robots

ACTIVE - http://www.active-fp7.eu

THE - The Hand Embodied

HANDS.DVI - A DeVice Indipendent programming and control framework for robotic HANDS

ROBOCAST: ROBOt ans sensor integration for Computer Assisted Surgery and Therapy

Selected Publications

Publications

IIT Publications

  • 2019
  • Malvezzi M.iit, Valigi M.C., Salvietti G.iit, Iqbal Z., Hussain I., Prattichizzo D.iit
    DOI

    Design criteria for wearable robotic extra–fingers with underactuated modular structure

    Mechanisms and Machine Science, vol. 68, pp. 509-517
  • Malvezzi M.iit, Salvietti G.iit, Prattichizzo D.iit
    DOI

    Evaluation of Grasp Stiffness in Underactuated Compliant Hands Exploiting Environment Constraints

    CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 584, pp. 409-416
  • 2018
  • Beckerle P., Bianchi M., Castellini C., Salvietti G.iit
    DOI

    Mechatronic designs for a robotic hand to explore human body experience and sensory-motor skills: a Delphi study

    Advanced Robotics, vol. 32, (no. 12), pp. 670-680
  • Salvietti G.iit
    DOI

    Replicating human hand synergies onto robotic hands: A review on software and hardware strategies

    Frontiers in Neurorobotics, vol. 12, (no. JUN)
  • 2017
  • Beckerle P., Salvietti G., Unal R., Prattichizzo D., Rossi S., Castellini C., Hirche S., Endo S., Amor H.B., Ciocarlie M., Mastrogiovanni F., Argall B.D., Bianchi M.
    DOI

    A human-robot interaction perspective on assistive and rehabilitation robotics

    Frontiers in Neurorobotics, vol. 11, (no. MAY)
  • Hussain I., Salvietti G.iit, Spagnoletti G., Cioncoloni D., Rossi S., Prattichizzo D.iit
    DOI

    A soft robotic extra-finger and arm support to recover grasp capabilities in chronic stroke patients

    Biosystems and Biorobotics, vol. 16, pp. 57-61
  • Hussain I., Salvietti G.iit, Spagnoletti G., Malvezzi M.iit, Cioncoloni D., Rossi S., Prattichizzo D.iit
    DOI

    A soft supernumerary robotic finger and mobile arm support for grasping compensation and hemiparetic upper limb rehabilitation

    Robotics and Autonomous Systems, vol. 93, pp. 1-12
  • Salvietti G., Hussain I., Cioncoloni D., Taddei S., Rossi S., Prattichizzo D.iit
    DOI

    Compensating Hand Function in Chronic Stroke Patients Through the Robotic Sixth Finger

    IEEE Transactions on Neural Systems and Rehabilitation Engineering, vol. 25, (no. 2), pp. 142-150
  • Salvietti G.iit, Hussain I., Malvezzi M., Prattichizzo D.iit
    DOI

    Design of the Passive Joints of Underactuated Modular Soft Hands for Fingertip Trajectory Tracking

    IEEE Robotics and Automation Letters, vol. 2, (no. 4), pp. 2008 - 2015
  • Maisto M., Pacchierotti C., Chinello F., Salvietti G.iit, De Luca A., Prattichizzo D.iit
    DOI

    Evaluation of wearable haptic systems for the fingers in augmented reality applications

    IEEE Transactions on Haptics, vol. 10, (no. 4), pp. 511-522
  • Beckerle P., Salvietti G., Unal R., Mastrogiovanni F.
    DOI

    Human-oriented approaches for assistive and rehabilitation robotics — Engineering methods, technical implementation, and treatment

    Robotics and Autonomous Systems, vol. 96, pp. 238-241
  • Seigneur J.-M., Nanayakkara S., Paradiso J., Mistry P., Maes P., Bendale A., Kang N., Kim C., Chung R., Noh M., Rukzio E., Rieser M., Koike H., Huber J., Woo W., Taiar R., Shilkrot R., Schoning J., Gurrin C., Maidenbaum S., Chen B.-Y., Huseynov E., Van Laerhoven K., Graeser A., Caon M., Luyten K., Nijholt A., Nojima T., Murphy J., Pedersen I., Fukumoto M., Withana A., Moreau G., Vourvopoulos A., Lotte F., Holz C., Itoh Y., Moccozet L., Gouveia P., Meier R., Oakley I., Alt F., Wimmer R., Salvietti G., Colley A., McCullagh P., Normand J.-M., Domaszewicz J., Bulling A., Iurgel I., Wessolek D.

    Introduction

    ACM International Conference Proceeding Series
  • Salvietti G.iit, Meli L., Gioioso G., Malvezzi M.iit, Prattichizzo D.iit
    DOI

    Multicontact Bilateral Telemanipulation With Kinematic Asymmetries

    IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 1), pp. 445-456
  • Hussain I., Salvietti G.iit, Malvezzi M.iit, Prattichizzo D.iit
    DOI

    On the role of stiffness design for fingertip trajectories of underactuated modular soft hands

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 3096-3101
  • Music S., Salvietti G., Budde Gen Dohmann P., Chinello F., Prattichizzo D., Hirche S.
    DOI

    Robot team teleoperation for cooperative manipulation using wearable haptics

    IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 2556-2563
  • Hussain I., Spagnoletti G., Salvietti G.iit, Prattichizzo D.iit
    DOI

    Toward wearable supernumerary robotic fingers to compensate missing grasping abilities in hemiparetic upper limb

    International Journal of Robotics Research, vol. 36, (no. 13-14), pp. 1414-1436
  • 2016
  • Hussain I., Spagnoletti G., Salvietti G.iit, Prattichizzo D.iit
    DOI

    An EMG interface for the control of motion and compliance of a supernumerary robotic finger

    Frontiers in Neurorobotics, vol. 10, (no. NOV)
  • Santello M., Bianchi M.iit, Gabiccini M.iit, Ricciardi E., Salvietti G., Prattichizzo D.iit, Ernst M., Moscatelli A., Jorntell H., Kappers A.M.L., Kyriakopoulos K., Albu-Schaffer A., Castellini C., Bicchi A.iit
    DOI

    Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands

    Physics of Life Reviews, vol. 17, pp. 1-23
  • Aggravi M., Salvietti G., Prattichizzo D.
    DOI

    Haptic assistive bracelets for blind skier guidance

    ACM International Conference Proceeding Series, vol. 25-27-February-2016
  • Aggravi M., Salvietti G.iit, Prattichizzo D.iit
    DOI

    Haptic wrist guidance using vibrations for Human-Robot teams

    25th IEEE International Symposium on Robot and Human Interactive Communication, RO-MAN 2016, pp. 113-118
  • Meli L., Salvietti G.iit, Gioioso G., Malvezzi M.iit, Prattichizzo D.iit
    DOI

    Multi-contact Bilateral telemanipulation using wearable haptics

    IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 1431-1436
  • Hussain I., Salvietti G., Prattichizzo D.iit
    DOI

    On control interfaces for the robotic sixth finger

    ACM International Conference Proceeding Series, vol. 25-27-February-2016
  • Pacchierotti C.iit, Salvietti G., Hussain I., Meli L.iit, Prattichizzo D.iit
    DOI

    The hRing: A wearable haptic device to avoid occlusions in hand tracking

    IEEE Haptics Symposium, HAPTICS, vol. 2016-April, pp. 134-139
  • Hussain I., Salvietti G., Spagnoletti G., Prattichizzo D.iit
    DOI

    The Soft-SixthFinger: A Wearable EMG Controlled Robotic Extra-Finger for Grasp Compensation in Chronic Stroke Patients

    IEEE Robotics and Automation Letters, vol. 1, (no. 2), pp. 1000-1006
  • Santello M., Bianchi M.iit, Gabiccini M.iit, Ricciardi E., Salvietti G., Prattichizzo D.iit, Ernst M., Moscatelli A., Jorntell H., Kappers A.M.L., Kyriakopoulos K., Schaeffer A.A., Castellini C., Bicchi A.iit
    DOI

    Towards a synergy framework across neuroscience and robotics: Lessons learned and open questions. Reply to comments on: “Hand synergies: Integration of robotics and neuroscience for understanding the control of biological and artificial hands”

    Physics of Life Reviews, vol. 17, pp. 54-60
  • 2015
  • Hussain I., Salvietti G.iit, Malvezzi M., Prattichizzo D.iit
    DOI

    Design guidelines for a wearable robotic extra-finger

    2015 IEEE 1st International Forum on Research and Technologies for Society and Industry, RTSI 2015 - Proceedings, pp. 54-60
  • Salvietti G.iit, Malvezzi M., Gioioso G.iit, Prattichizzo D.iit
    DOI

    Modeling compliant grasps exploiting environmental constraints

    Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 4941-4946
  • Malvezzi M., Gioioso G., Salvietti G.iit, Prattichizzo D.
    DOI

    SynGrasp: A MATLAB toolbox for underactuated and compliant hands

    IEEE Robotics and Automation Magazine, vol. 22, (no. 4), pp. 52-68
  • Hussain I., Salvietti G.iit, Meli L.iit, Pacchierotti C.iit, Cioncoloni D., Rossi S., Prattichizzo D.iit
    DOI

    Using the robotic sixth finger and vibrotactile feedback for grasp compensation in chronic stroke patients

    IEEE International Conference on Rehabilitation Robotics, vol. 2015-September, pp. 67-72
  • Hussain I., Meli L.iit, Pacchierotti C.iit, Salvietti G.iit, Prattichizzo D.iit
    DOI

    Vibrotactile haptic feedback for intuitive control of robotic extra fingers

    IEEE World Haptics Conference, WHC 2015, pp. 394-399
  • 2014
  • Prattichizzo D.iit, Salvietti G.iit, Chinello F., Malvezzi M.
    DOI

    An object-based mapping algorithm to control wearable robotic extra-fingers

    IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1563-1568
  • Salvietti G., Gioioso G., Malvezzi M., Prattichizzo D., Serio A., Farnioli E., Gabiccini M., Bicchi A., Sarakoglou I.iit, Tsagarakis N.iit, Caldwell D.iit
    DOI

    HANDS.DVI: A device-independent programming and control framework for robotic hands

    Springer Tracts in Advanced Robotics, vol. 94, pp. 197-215
  • Scheggi S., Salvietti G.iit

    Haptic guidance in urban search and rescue scenarios with reduced visibility

    20th IMEKO TC4 Symposium on Measurements of Electrical Quantities: Research on Electrical and Electronic Measurement for the Economic Upturn, Together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC 2014, pp. 423-428
  • Sanfilippo F., Zhang H., Pettersen K.Y., Salvietti G.iit, Prattichizzo D.iit
    DOI

    ModGrasp: An open-source rapid-prototyping framework for designing low-cost sensorised modular hands

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 951-957
  • Salvietti G.iit, Malvezzi M., Gioioso G.iit, Prattichizzo D.iit
    DOI

    On the use of homogeneous transformations to map human hand movements onto robotic hands

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 5352-5357
  • Gioioso G., Franchi A., Salvietti G., Scheggi S., Prattichizzo D.iit
    DOI

    The flying hand: A formation of UAVs for cooperative aerial tele-manipulation

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 4335-4341
  • Prattichizzo D.iit, Malvezzi M., Hussain I., Salvietti G.iit
    DOI

    The Sixth-Finger: A modular extra-finger to enhance human hand capabilities

    IEEE RO-MAN 2014 - 23rd IEEE International Symposium on Robot and Human Interactive Communication: Human-Robot Co-Existence: Adaptive Interfaces and Systems for Daily Life, Therapy, Assistance and Socially Engaging Interactions, pp. 993-998
  • Salvietti G.iit, Meli L.iit, Gioioso G.iit, Prattichizzo D.iit

    Toward a general bilateral teleoperation framework between dissimilar kinematic structures

    20th IMEKO TC4 Symposium on Measurements of Electrical Quantities: Research on Electrical and Electronic Measurement for the Economic Upturn, Together with 18th TC4 International Workshop on ADC and DCA Modeling and Testing, IWADC 2014, pp. 325-330
  • 2013
  • Gioioso G., Salvietti G., Malvezzi M., Prattichizzo D.iit

    An object-based approach to map human hand synergies onto robotic hands with dissimilar kinematics

    Robotics: Science and Systems, vol. 8, pp. 97-104
  • Salvietti G.iit, Wimbock T., Prattichizzo D.iit
    DOI

    A static intrinsically passive controller to enhance grasp stability of object-based mapping between human and robotic hands

    IEEE International Conference on Intelligent Robots and Systems, pp. 2460-2465
  • Gioioso G.iit, Salvietti G.iit, Malvezzi M., Prattichizzo D.iit
    DOI

    Mapping synergies from human to robotic hands with dissimilar kinematics: An approach in the object domain

    IEEE Transactions on Robotics, vol. 29, (no. 4), pp. 825-837
  • Salvietti G.iit, Meli L.iit, Gioioso G.iit, Malvezzi M., Prattichizzo D.iit
    DOI

    Object-based bilateral telemanipulation between dissimilar kinematic structures

    IEEE International Conference on Intelligent Robots and Systems, pp. 5451-5456
  • Malvezzi M., Gioioso G.iit, Salvietti G.iit, Prattichizzo D.iit, Bicchi A.iit
    DOI

    SynGrasp: A MATLAB toolbox for grasp analysis of human and robotic hands

    Proceedings - IEEE International Conference on Robotics and Automation, pp. 1088-1093
  • 2012
  • Sanfilippo F., Salvietti G., Zhang H.X., Hildre H.P., Prattichizzo D.
    DOI

    Efficient modular grasping: An iterative approach

    Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 1281-1286
  • 2010
  • Zhang H., Salvietti G., Wang W., Li G., Yu J., Zhang J.
    DOI

    Efficient kinematic solution to a multi-robot with serial and parallel mechanisms

    IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems, IROS 2010 - Conference Proceedings, pp. 6101-6106
  • Scheggi S., Salvietti G., Prattichizzo D.iit
    DOI

    Shape and weight rendering for haptic augmented reality

    Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 44-49
  • 2009
  • Salvietti G., Zhang H.X., Gonzalez-Gomez J., Prattichizzo D., Zhang J.W.
    DOI

    Task priority grasping and locomotion control of modular robot

    2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1069-1074