My research on Haptics started in 2003 at the beginning of the PhD, that ended with a Thesis entitled "Multirate and Perceptual Techniques for Haptic Rendering in Virtual Environments". During the PhD I've worked mainly on Haptic Rendering, dealing with 3 DOF (EU PureForm project) and 6 DOF algorithm for the exploration and interaction with surfaces. During the PhD I've contributed also to the EU FET Project HapTex dealing with haptic interaction with TeXtiles.

In addition I've been interested in the software and architectures for haptic rendering, working both on benchmarking and on Web based approaches for haptic development. Finally part of research has been dedicated to perceptual aspects, mainly related to multi-finger grasping.

After the PhD research on haptics has been associated with the activities of the EU Project SKILLS, specifically in haptic feedback associated to the skill training.

In the period 2009-2011 I've worked on the MOTORE Haptic Desktop interface developed by Humanware in collaboration with PERCRO. My contribution has been on the adoption of the optical sensing and support in the control development.

In 2010-2011 I've joined the Mantes team on the simulation of Haptic Textiles working on a GPU/OpenCL engine for simulation and Haptic Rendering.

Encountered Haptics

  • J7) Ruffaldi,E., Tripicchio, P., Avizzano, C.A., Bergamasco, M. (2011) Haptic Rendering of Juggling with Encountered Haptic Interfaces. PRESENCE 20-5 Website
  • Tripicchio P.,Ruffaldi E.,Avizzano C.A.,Bergamasco M. Control Strategies and Perception Effects in Co-located and Large Workspace Dynamical Encountered Haptics. Proceedings of The third joint WorldHaptics Conference 2009 Website

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Mobile Haptic Interface

  • Carlo A. Avizzano, Massimo Satler, Giovanni Cappiello, Andrea Scoglio, Emanuele Ruffaldi, Massimo Bergamasco, MOTORE: a Mobile Haptic Interface for Neuro-Rehabilitation, Proceedings of the 20th IEEE RO-MAN Conference, Atlanta, August 2011
  • Satler Massimo, Carlo Alberto Avizzano, Emanuele Ruffaldi. Control of a desktop mobile haptic interface, WorldHaptics Conference, Istanbul, 2011

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Project Website

Haptic Rendering Papers

  • Ruffaldi, E.; Morris, D.; Barbagli, F.; Salisbury, K. & Bergamasco, M. Voxel-Based Haptic Rendering Using Implicit Sphere Trees Haptic Symposium, 2008
  • Ruffaldi, E.; Morris, D.; Girod, S.; Barbagli, F.; Bergamasco, M. & Salisbury, K. Haptic simulation of bone placement based on voxel models Proceedings of the 21th Computer Assisted Radiology and Surgery CARS, 2007
  • Bergamasco, M.; Salsedo, F.; Fontana, M.; Tarri, F.; Avizzano, C. A.; Frisoli, A.; Ruffaldi, E. & Marcheschi, S. High Performance Haptic Device for Force Rendering in Textile Exploration The Visual Computer, Springer, 2007, 23, 247-256
  • Salsedo, F.; Fontana, M.; Tarri, F.; Ruffaldi, E.; Bergamasco, M.; Magnenat-Thalmann, N.; Volino, P.; Bonanni, U.; Brady, A.; Summers, I.; Qu, J.; D.Allerkamp; Bottcher, G.; Wolter, F.-E.; M.Makinen & H.Meinander Architectural Design of the Haptex System HAPTEX’05 Workshop on Haptic and Tactile Perception of Deformable Objects, 2005

Software and Evaluation for Haptics

  • Ruffaldi, E.; Morris, D.; Timothy; Edmunds; Barbagli, F. & K.Pai, D. Standardized evaluation of haptic rendering systems Haptic Symposium, 2006
  • Ruffaldi, E.; Frisoli, A.; Gottlieb, C.; Tecchia, F. & Bergamasco, M. A Haptic toolkit for the development of immersive and Web enabled games Short paper in “Haptics for VR” of ACM Symposium on Virtual Reality Software and Technology (VRST),Cyprus, 2006
  • Ruffaldi, E.; Frisoli, A. & Bergamasco, M. Evaluation of a haptic game in an immersive environment 3rd International Conference on Enactive Interfaces, Montpelier, 2006

Perception

  • Bergamasco, M.; Avizzano, C. A.; Frisoli, A.; Ruffaldi, E. & Marcheschi, S. Design and validation of a complete haptic system for manipulative tasks Advanced Robotics Journal, special issue on Haptic Display of Advanced Robotics, 2006, 20, 367-389
  • Frisoli, A.; Barbagli, F.; Ruffaldi, E.; Bergamasco, M. & Salisbury, K. A Limit-Curve Based Soft Finger god-object Algorithm Haptic Symposium, 2006
  • Frisoli, A.; Wu, S.-L.; Ruffaldi, E. & Bergamasco, M. Barbagli, F.; Prattichizzo, D. & Salisbury, K. (ed.) Multi-point Interaction with Real and Virtual Objects Evaluation of multipoint contact interfaces in haptic perception of shapes Springer, 2005, 18, 177-188

Haptics for Virtual Environments

  • Ruffaldi, E.; Avizzano, C. A.; Tripicchio, P.; Frisoli, A. & Bergamasco, M. Surface Perception in a Large Workspace Encounter Interface 17th International Symposium on Robot and Human Interactive Communication RO-MAN, 2008

Other papers

  • Ruffaldi, E.; Bergamasco, M. & Frisoli, A. Casciaro, S. (ed.) New Technology Frontiers in Minimally Invasive Therapies Haptic Volume Rendering for Virtual Reality and Medicine Lupiensis Biomedical Publication, 2007