English - Percro - Scuola Superiore Sant'Anna

Antonio Frisoli
Curriculum vitae
Analysis of position accuracy of parallel manipulators under joint clearances
Antonio Frisoli and colleagues developed and proposed a new method for the analytical
characterization of position accuracy of parallel manipulators. In particular with reference
to purely translating and purely rotational parallel manipulators an exact analytical
methodology was derived to identify the poses corresponding to the worst case accuracy
in terms respectively of rotations and translations of the upper platform [R8].
Robotic systems with elastic transmissions and multiple degrees of
freedom
Antonio Frisoli has dealt in detail the analysis and design of cable-actuated systems, both
with non-redundant and redundant implementations. In particular Antonio Frisoli has
introduced a new system of transmission cables for the implementation of parallel
manipulators, optimizing some geometric solutions to obtain the best conditions of
isotropy and force transmission ratio, which has led to the realization of an innovative
haptic interface with two degrees of freedom with high kinematic isotropy properties
[106,107]. In addition he was responsible for the experimental characterization of the
performance of cable-driven robots, particularly in the case of complex transmissions as
those required by exoskeleton systems, deriving methods for the dynamic identification of
natural modes and of the characteristic frequencies of the systems with lumped models
[R17,R24]..
Antonio Frisoli has developed non-linear friction of the observers that can capture the
complex nature of the friction generated by long cable transmissions and estimate the
distribution of the torque on the joints in the case transmission joint coupling. The
dynamic models of friction, thus developed, used in a feedforward control loop in the
base, have been shown to greatly increase robot performance [73,L15].
Multimodal interaction in virtual environments and applications
Antonio Frisoli has been responsible for numerous projects in virtual reality applications
based on the above the technologies [R20]. He has worked the University Pompeu Fabra
in Barcelona as part of a clinical protocol for testing the use of bimanual haptic interfaces
for rehabilitation [R3].
He was involved in the development of a complete application for the simulation of a
virtual museum, the Museum of Pure Form, within which you can touch the statues of
digital systems using an haptic interface [R26].
Antonio Frisoli has investigated presence and multimodal interaction in virtual
environments. Within the European project Presenccia, he studied how the perception of
the virtual environment is affected by the perception of one's body and the specific role of
touch with simulated haptic interfaces on the sense of presence and immersion
[R2,R10,R16].
Advanced interfaces for training
He developed a first prototype of virtual reality simulator for simulating operations of
medical assistance in case of cardiac arrest. The system was successfully demonstrated
in the Italian national congress of the association IRC (Italian Resurrection Council). In
collaboration with the Maggiore Hospital of Bologna is developing a virtual reality
simulator for the simulation of resuscitation procedures [R7].
A second system based on 3D Kinect motion sensor has been developed, capable of
providing feedback in real time on the frequency and depth of performed chest
compressions. The system was successfully validated in an experimental study with 80
subjects involved in medical and lay personnel specialist at the Maggiore Hospital in
Bologna and the SSSA [R1].
Page 11 of 46