Multi-point Interaction in Robotics and Virtual Reality
Full day Workshop - April 27th 2004 - Salon B - Room 12

8:30-8:45 "Opening Note" - F. Barbagli, D. Prattichizzo, K. Salisbury

8:45-10:00 Graping Control

- L. Biagiotti, C. Melchiorri, P. Tiezzi and G. Vassura
"Modelling and Controlling the Compliance of a Robotic Hand with Soft Finger-pads"

- C. Borst, M. Fischer and G. Hirzinger
"Efficient and Precise Grasp Planning for Real World Objects"

- T. Murphey
"On Observing Contact States in Overconstrained Manipulation"

10:30-11:30 Haptic rendering

- G. Niemeyer
"Dynamic Proxies and Constraint Implementations"

- D. Kaufman and D. K. Pai
"Rapid Collision Dynamics for Multiple Contacts with Friction"

- L. N. Verner, K. A. Jeung and A. M. Okamura
"Effects of Grip and Wrist Forces on Teleoperation with Sensor/Actuator Asymmetry"

11:30-12:30 Grasping Modelling

- P. Song, V. Kumar, and JS. Pang
"Contact models and Numerical Methods for Simulation and Optimization of Processes with Frictional Contacts"

- J. Burdick and E. Rimon
"Robust Contact Modeling of Grasps and Fixtures"

- N. S. Pollard and A. Wolf
"Grasp synthesis from example can be improved by selecting an appropriate reduced-dimensional space"

14:00-15:30 Haptic Perception

- G. Baud Bovy
"Insights in the Human Control of Fingertip Forces in Grasping"

- A. Bicchi, P. Scilingo & E. Ricciardi
"Tactile Flow on Multiple Fingers"

- A. Frisoli, F. Barbagli, S-L. Wu, E. Ruffaldi, M. Bergamasco and K. Salisbury
"Comparison of Multipoint Contact Interfaces in Haptic Percpetion"

- H. Dostmohamed and V. Hayward
"Contact Location Trajectory on the Fingertip as a Sufficient Requisite for Illusory Perception of Haptic Shape and Effect of Multiple Contacts"

16:00-17:00 Grasping Applications

- S. Berard, K. Egan and J. Trinkle
"Sensorless Acquisition of Multiple Contact Points Between Planar Parts"

- M. Kaneko and M. Higasimori
"The 100G Capturing Robot -Too Fast To See"

- P. Rani, M. Sarkar, R. Brackin & N. Sarkar
"Semi-Autonomous Human-Robot Interaction for People with Disability"

17:00-18:00 Haptic+Telerobotics

- G. Prisco & D.Q. Larkin
"Intuitive Self-assisted Surgery with the daVinci System"

- S. Stramigioli
"Intrinsically Passive Control using Sampled Data System Passivity"

- C. A. Avizzano, S. Marcheschi & M. Bergamasco
"Haptic Interfaces: Collocation and Coherence Issues"

Format: each talk is 15 minutes long + 7 minutes for discussion