• TIGHT - Tactile InteGration for Humans and arTificial systems (III Edition)

    IEEE RO-MAN 2022 Full Day Workshop

    Hybrid format, Sept. 2nd, 2022


During the COVID-19 pandemic, social and work activities have become mostly virtual, and haptic interaction with people (and things) have become in most cases impossible, due to lock-downs and limitations. In addition, even when possible, fundamental communication gestures like hugging, or shaking hands are now perceived as dangerous in view of the spread of the contagion. Haptic technologies may play a key role in helping us regain the haptic communication channel. In this workshop, we will discuss how new tactile communication interfaces and paradigms can be exploited in human-human interactions to convey emotions, guidance, and confidence, with a focus on visually impaired users. Part of the workshop will be devoted to applications of tactile communication in human-robot collaborative and assistive scenarios. In fact, in the last 10 years, especially with the advent of wearable technologies, it has been shown that haptic feedback plays an important role also in interfacing humans with robotic devices. Going beyond sensory substitution in teleoperation tasks, where the haptic interface feeds back the force exerted by the robot on a remote environment, wearable interfaces enable new uses of haptic feedback. When adopted in conjunction with assistive and collaborative robots, for example, tactile alerts or acknowledgments (e.g., ad-hoc designed vibration patterns) can increase the mutual understanding between the human and the robotic agents. Speakers with different backgrounds will talk about advantages and disadvantages of exploiting the tactile channel to transmit information in human-human and human-robot interactions, focusing, in particular, on the neuroscientific and technological challenges that derive from the use of wearable haptic interfaces.


  • Maria Pozzi, University of Siena, Homepage
  • Tommaso Lisini Baldi, University of Siena, Homepage
  • Gionata Salvietti, University of Siena, Homepage
  • Matteo Bianchi, University of Pisa, Homepage
  • Monica Malvezzi, University of Siena, Homepage
  • Domenico Prattichizzo, University of Siena, Homepage


  • Tactile feedback from assistive and collaborative robots
  • Human-human tactile emotional communication
  • Wearable haptics
  • Design of haptic interfaces
  • Human guidance algorithms
  • Haptic guidance for visually impaired people
  • Neuroscientific foundations of the sense of touch
  • Evaluation methods for multimodal Human-Robot Interaction
  • Human-robot co-manipulation

Tentative Program (UTC+2, Italy)

09:00 - 09:15 Welcome and presentation of workshop objectives - Organizers
09:15 - 09:45 Yoshihiro Tanaka - Sensorimotor augmentation with tactile sharing interfaces
09:45 - 10:15 Filippo SanFilippo - A Haptic-enabled Framework for Hands-on e-Learning to Facilitate Safe, Digital Access to Laboratories in the Metaverse
10:15 - 10:30 Guido Gioioso - Weart: Just a Touch Away
10:30 - 10:45
  • Marta Lorenzini - Multi-modal haptic-based control of back tissues mechanics
  • Hareesh Chitikena – Human Robot Coexistence in Search and Rescue: An Ethical Perspective Framework
  • 10:45 - 11:15 Coffee Break
    11:15 - 11:30
  • Saishashank Balaji - A Multimodal Training and Prototyping Simulator for Users with Sensory Processing Difficulties for VR/AR/XR Applications
  • Minh Tuan Hua – A Low-Cost, Wearable Wireless Haptic Device for Human-Robot Collaboration
  • 11:30 - 12:00 Gionata Salvietti - Bilateral haptic communication for human robot cooperation
    12:00 - 12:30 Andrea Maria Zanchettin - Collaborative robotics: the quest for an intelligent co-worker
    12:30 - 13:00 Philippe Beckerle - User experience of assistive robotics: what can we achieve via haptics?
    13:00 - 14:30 Lunch Break
    14:30 - 15:00 Barbara Leporini - Talk 7
    15:00 - 15:30 Matteo Bianchi - Enhancing human performance through wearable haptics
    15:30 - 16:00 Gijs Huisman - Talk 8
    16:00 - 16:15 Coffee Break
    16:15 - 16:30
  • Enrico Turco - Learning from Humans Grasping Strategies using a Soft Non-Anthropomorphic Hand
  • Nicole d'Aurizio - How Tactile Stimulation Impacts on Pleasantness
  • 16:30 - 17:00 Heather Culbertson - Data-Driven Social Touch Interfaces for Emotional Communication
    17:00 - 17:30 Round table discussion


    Philipp Beckerle

    Full Professor of Autonomous Systems, Friedrich-Alexander-Universität Erlangen-Nürnberg

    Heather Culbertson

    Assistant Professor of Computer Science and Aerospace and Mechanical Engineering, University of Southern California

    Gionata Salvietti

    Assistant Professor of Robotics and Automation at University of Siena

    Filippo Sanfilippo

    Professor at the Department of Engineering Sciences, Faculty of Engineering and Science, University of Agder (UiA), Grimstad, Norway.

    Saishashank Balaji

    PhD Candidate, University of Agder (UiA), Norway

    Minh Tuan Hua

    PhD Candidate, University of Agder (UiA), Norway

    Enrico Turco

    PhD Candidate, University of Pisa and Italian Institute of Technology (IIT)

    Yoshihiro Tanaka

    Professor at Department of Electrical and Mechanical Engineering, Nagoya Institute of Technology

    Gijs Huisman

    Assistant Professor of embodied interaction at the Faculty of Industrial Design Engineering, Delft University of Technology.

    Matteo Bianchi

    Associate Professor at the University of Pisa. He is also clinical research affiliate at Mayo Clinic (Rochester, USA)

    Barbara Leporini

    Researcher in the Human-Computer Interaction field at the ISTI-CNR in Pisa.

    Andrea Maria Zanchettin

    Associate Professor of Automatic Control at Dipartimento di Elettronica, Informazione e Bioingegneria Politecnico di Milano.

    Nicole d'Aurizio

    PhD Candidate, University of Siena

    Hareesh Chitikena

    PhD Candidate, University of Agder (UiA), Norway

    Guido Gioioso

    Co-Founder, Weart S.r.l.

    Previous events

    The first edition of TIGHT workshop was held during I-RIM 3D 2019, in Rome.
    The speakers were: Domenico Prattichizzo, Gemma Carolina Bettelani, Gionata Salvietti, Matteo Bianchi, Barbara Leporini, and Andrea Maria Zanchettin

    The second edition of TIGHT workshop was held during IEEE RO-MAN 2020, virtually.
    The speakers were: Alessandro Moscatelli, Luka Peternel, Carlo Alberto Avizzano, Arash Ajoudani, Christian Secchi, and Andrea Maria Zanchettin

    If you have inquiries please send an email to
    maria.pozzi@unisi.it and tommaso.lisini@unisi.it