Gionata Salvietti
Affiliated Researcher
Research Affiliate - ADVR

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
IIT Publications
- 2019
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DOI
Design criteria for wearable robotic extra–fingers with underactuated modular structure
Mechanisms and Machine Science, vol. 68, pp. 509-517 -
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
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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 -
DOI
Replicating human hand synergies onto robotic hands: A review on software and hardware strategies
Frontiers in Neurorobotics, vol. 12, (no. JUN) - 2017
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DOI
A human-robot interaction perspective on assistive and rehabilitation robotics
Frontiers in Neurorobotics, vol. 11, (no. MAY) -
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 -
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 -
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 -
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 -
DOI
Evaluation of wearable haptic systems for the fingers in augmented reality applications
IEEE Transactions on Haptics, vol. 10, (no. 4), pp. 511-522 -
DOI
Human-oriented approaches for assistive and rehabilitation robotics — Engineering methods, technical implementation, and treatment
Robotics and Autonomous Systems, vol. 96, pp. 238-241 -
Introduction
ACM International Conference Proceeding Series -
DOI
Multicontact Bilateral Telemanipulation With Kinematic Asymmetries
IEEE/ASME Transactions on Mechatronics, vol. 22, (no. 1), pp. 445-456 -
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 -
DOI
Robot team teleoperation for cooperative manipulation using wearable haptics
IEEE International Conference on Intelligent Robots and Systems, vol. 2017-September, pp. 2556-2563 -
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
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DOI
An EMG interface for the control of motion and compliance of a supernumerary robotic finger
Frontiers in Neurorobotics, vol. 10, (no. NOV) -
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 -
DOI
Haptic assistive bracelets for blind skier guidance
ACM International Conference Proceeding Series, vol. 25-27-February-2016 -
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 -
DOI
Multi-contact Bilateral telemanipulation using wearable haptics
IEEE International Conference on Intelligent Robots and Systems, vol. 2016-November, pp. 1431-1436 -
DOI
On control interfaces for the robotic sixth finger
ACM International Conference Proceeding Series, vol. 25-27-February-2016 -
DOI
The hRing: A wearable haptic device to avoid occlusions in hand tracking
IEEE Haptics Symposium, HAPTICS, vol. 2016-April, pp. 134-139 -
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 -
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
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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 -
DOI
Modeling compliant grasps exploiting environmental constraints
Proceedings - IEEE International Conference on Robotics and Automation, vol. 2015-June, (no. June), pp. 4941-4946 -
DOI
SynGrasp: A MATLAB toolbox for underactuated and compliant hands
IEEE Robotics and Automation Magazine, vol. 22, (no. 4), pp. 52-68 -
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 -
DOI
Vibrotactile haptic feedback for intuitive control of robotic extra fingers
IEEE World Haptics Conference, WHC 2015, pp. 394-399 - 2014
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DOI
An object-based mapping algorithm to control wearable robotic extra-fingers
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1563-1568 -
DOI
HANDS.DVI: A device-independent programming and control framework for robotic hands
Springer Tracts in Advanced Robotics, vol. 94, pp. 197-215 -
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 -
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 -
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 -
DOI
The flying hand: A formation of UAVs for cooperative aerial tele-manipulation
Proceedings - IEEE International Conference on Robotics and Automation, pp. 4335-4341 -
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 -
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
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An object-based approach to map human hand synergies onto robotic hands with dissimilar kinematics
Robotics: Science and Systems, vol. 8, pp. 97-104 -
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 -
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 -
DOI
Object-based bilateral telemanipulation between dissimilar kinematic structures
IEEE International Conference on Intelligent Robots and Systems, pp. 5451-5456 -
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
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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
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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 -
DOI
Shape and weight rendering for haptic augmented reality
Proceedings - IEEE International Workshop on Robot and Human Interactive Communication, pp. 44-49 - 2009
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DOI
Task priority grasping and locomotion control of modular robot
2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009, pp. 1069-1074