Claudio Pacchierotti
- Sensor-based and interactive robotics (RAINBOW)
- Institut de Recherche en Informatique et Systèmes Aléatoires (IRISA)
Présentation
Claudio Pacchierotti is a tenured researcher at CNRS-IRISA in Rennes, France, since 2016. He was previously a postdoctoral researcher at the Italian Institute of Technology, Genova, Italy. Pacchierotti earned his PhD at the University of Siena in 2014. He was Visiting Researcher in the Penn Haptics Group at University of Pennsylvania in 2014, the Dept. of Innovation in Mechanics and Management at University of Padua in 2013, the Institute for Biomedical Technology and Technical Medicine (MIRA) at University of Twente in 2014, and the Dept. Computer, Control and Management Engineering of the Sapienza University of Rome in 2022. Pacchierotti received the 2014 EuroHaptics Best PhD Thesis Award and the 2022 CNRS Bronze Medal. He was Chair of the IEEE Technical Committee on Haptics. He is Co-Chair of the IEEE Technical Committee on Telerobotics, and Secretary of the Eurohaptics Society. He has published more than 100 peer-reviewed papers on the topics of robotic teleoperation, cutaneous haptics, and wearable interfaces.
Domaines de recherche
Compétences
Publications
Publications
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Haptixel: Encoding Data through Cutaneous Force-based Encountered-Type Fingertip HapticsCHI 2026 - ACM Conference on Human Factors in Computing Systems, Apr 2026, Barcelona, Spain. ⟨10.1145/3772318.3791027⟩ |
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Simplified 3D control of magnetic objects by a triple-coil static unit on a robotic armICRA 2026 - IEEE International Conference on Robotics and Automation, Jun 2026, Vienna, Austria |
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Stiffness regulation co-pilot in bilateral teleimpedance control: a preliminary user studyICRA 2025 - IEEE International Conference on Robotics and Automation,, May 2025, Atlanta (Georgia), United States. pp.5622-5628, ⟨10.1109/ICRA55743.2025.11127810⟩ |
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Walk on Hands: Can Vibrations in the Hands Support Walking Experience in Virtual Reality?WHC 2025 - IEEE World Haptics Conference, Jul 2025, Suwon, South Korea. pp.1-7, ⟨10.1109/WHC64065.2025.11123244⟩ |
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Occlusion-Safe Shared Micromanipulation in Vision-Constrained EnvironmentsTelepresence 2025 - Second IEEE Conference on Telepresence, Sep 2025, Leiden, Netherlands. pp.1-4 |
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Flexible Reality: Can Pseudo-Haptics Enhance Vibration Intensity Perception in Co-Located AR Interaction?IHM 2025 - 36e Conférence Internationale Francophone sur l'Interaction Humain-Machine, AFIHM; Université de Toulouse; ENAC, Nov 2025, Toulouse, France. ⟨10.1145/3765712.3765724⟩ |
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Model-Based Analysis and Evaluation of an Origami Encounter-type Wearable DeviceTELEPRESENCE 2025 - Second IEEE Conference on Telepresence, Sep 2025, Leiden, Netherlands. pp.1-6 |
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Studying the Perception of Vibrotactile Stimulation on the Arm via a Modular Wearable SleeveWHC 2025 - IEEE World Haptics Conference, IEEE, Jul 2025, Suwon, South Korea. pp.499-505, ⟨10.1109/WHC64065.2025.11123226⟩ |
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Haptic Shared Control of a Pair of Microrobots for Telemanipulation using Constrained OptimizationIROS 2025, Oct 2025, Hangzhou, China |
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In-Hand Haptic Representation of User's Surroundings in Virtual RealityWHC 2025 - IEEE World Haptics Conference, IEEE, Jul 2025, Suwon, South Korea. pp.1-7, ⟨10.1109/WHC64065.2025.11123356⟩ |
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Reducing Cognitive Load in Teleoperating Swarms of Robots through a Data-Driven Shared Control ApproachIROS 2024 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2024, Abu-Dhabi, United Arab Emirates. pp.1-8 |
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Designing 3D Object Rendering Techniques for Ultrasound Mid-Air Haptics using Intersection StrategiesSAP 2024 - ACM Symposium on Applied Perception, ACM, Aug 2024, Dublin, Ireland. pp.1-8, ⟨10.1145/3675231.3675235⟩ |
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Graph Neural Network-Based Real-Time 3D Tracking for Micro-Agent ControlMARSS 2024 - International Conference on Manipulation, Automation and Robotics at Small Scales, Jul 2024, Delft, Netherlands. pp.1-6, ⟨10.1109/MARSS61851.2024.10612750⟩ |
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XR-HAP-Enabling Haptic Interaction in Extended Reality: Challenges, Directions, and OpportunitiesISMAR 2024 - 23rd IEEE International Symposium on Mixed and Augmented Reality, Oct 2024, Seattle, United States. pp.672-677, ⟨10.1109/ISMAR-Adjunct64951.2024.00205⟩ |
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Do Vibrotactile Patterns on both Hands Improve Guided Navigation with a Walker?EuroHaptics 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.391-404, ⟨10.1007/978-3-031-70058-3_32⟩ |
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Liquid-Graph Time-Constant Network for Multi-Agent Systems ControlCDC 2024 - 63rd IEEE Conference on Decision and Control, IEEE, Dec 2024, Milan (Italie), Italy. pp.793-800, ⟨10.1109/CDC56724.2024.10886394⟩ |
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The HapticSpider: a 7-DoF Wearable Device for Cutaneous Interaction with the PalmEUROHAPTICS 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.285-292, ⟨10.1007/978-3-031-70058-3_23⟩ |
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Multi-actuator Haptic Handle Using Soft Material for Vibration IsolationEuroHaptics 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.251-263, ⟨10.1007/978-3-031-70061-3_21⟩ |
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Studying the influence of contact force on thermal perception at the fingertipEUROHAPTICS 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.154-161, ⟨10.1007/978-3-031-70061-3_13⟩ |
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Haptic interaction with virtual deformable objectsI-RIM 3D 2024 -Conference on Italian Institute of Robotics and Intelligent Machines, Oct 2024, Rome, Italy. pp.1-3 |
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Distributed Connectivity-maintenance Control of a Team of Unmanned Aerial Vehicles using Supervised Deep LearningICCAR 2024 - 10th International Conference on Control, Automation and Robotics, IEEE, Apr 2024, Singapore, Singapore. pp.232-239, ⟨10.1109/ICCAR61844.2024.10569813⟩ |
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Warm regards: Influence of thermal haptic feedback during social interactions in VRISMAR 2024 - IEEE International Symposium on Mixed and Augmented Reality, Oct 2024, Seattle (USA), United States. pp.1216-1225, ⟨10.1109/ISMAR62088.2024.00138⟩ |
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Comparing the Haptic Perception of Directional Information Using a Uni-manual or Bi-manual Strategy on a WalkerIEEE Haptics Symposium 2024, IEEE, Apr 2024, Long Beach (CA), United States. pp.98-103, ⟨10.1109/HAPTICS59260.2024.10520843}⟩ |
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How Different Is the Perception of Vibrotactile Texture Roughness in Augmented versus Virtual Reality?VRST 2024 - 30th ACM Symposium on Virtual Reality Software and Technology, Oct 2024, Trier, Germany. pp.1-10, ⟨10.1145/3641825.3687738⟩ |
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Cool Me Down: Effects of Thermal Feedback on Cognitive Stress in Virtual RealityEurohaptics 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.433-439, ⟨10.1007/978-3-031-70061-3_35⟩ |
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Augmenting the Texture Perception of Tangible Surfaces in Augmented Reality using Vibrotactile HapticsEUROHAPTICS 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.469-484, ⟨10.1007/978-3-031-70061-3_39⟩ |
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Conception d'une poignée haptique multi-actionneurs pour l'aide à la navigationHandicap 2024 – 13ème édition de la conférence Handicap francophone, IFRATH, Jun 2024, Paris, France. pp.1-6 |
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Design of Haptic Rendering Techniques for Navigating with a Multi-Actuator Vibrotactile HandleEurohaptics 2024 - 14th International Conference on Human Haptic Sensing and Touch Enabled Computer Applications, Jun 2024, Lille, France. pp.224-236, ⟨10.1007/978-3-031-70058-3_18⟩ |
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Can We Increase the Perceived Intensity of Mid-Air Haptic Shapes Rendered With Dynamic Tactile Pointers?IEEE World Haptics conference (Work-in-Progress paper), Jul 2023, Delft, Netherlands |
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Decentralized Connectivity Maintenance for Quadrotor UAVs with Field of View ConstraintsIROS 2023 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2023, Detroit, United States. pp.11111-11118, ⟨10.1109/IROS55552.2023.10342003⟩ |
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The Stare-in-the-Crowd Effect When Navigating a Crowd in Virtual RealitySAP 2023 - ACM Symposium on Applied Perception, Aug 2023, Los Angeles, United States. pp.1-10, ⟨10.1145/3605495.3605796⟩ |
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Encounter-Type Haptic Device Enabling Edges, Vertexes and Plane Palm Interaction: the Haptic Origami DeviceIEEE World Haptics (Work-in-Progress paper), Jul 2023, Delft, Netherlands |
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Persuasive Vibrations: Effects of Speech-Based Vibrations on Persuasion, Leadership, and Co-Presence During Verbal Communication in VRVR 2023 - IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2023, Shanghai, China. pp.1-9, ⟨10.1109/VR55154.2023.00070⟩ |
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Optimized time-domain control of passive haptic teleoperation systems for multi-DoF interaction2023 - IEEE World Haptics Conference, Jul 2023, Delft, Netherlands. pp.1-7 |
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Haptic Mushroom: a 3-DoF shape-changing encounter-type haptic device with interchangeable end-effectorsWHC 2023 - IEEE World Haptics Conference, IEEE, Jul 2023, Delft, Netherlands. ⟨10.1109/WHC56415.2023.10224373⟩ |
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Fostering empathy in social Virtual Reality through physiologically based affective haptic feedbackWHC 2023 - IEEE World Haptics Conference, Michaël Wiertlewski; Astrid Kappers, Jul 2023, Delft, Netherlands |
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Somabotics Toolkit for Rapid Prototyping Human-Robot Interaction Experiences using Wearable HapticsIEEE World Haptics Conference 2023 (Work-in-Progress paper), Jul 2023, Delft, Netherlands |
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Haptic Rattle: Multi-Modal Rendering of Virtual Objects Inside a Hollow ContainerEuroHaptics 2022 - International conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.1-8, ⟨10.1007/978-3-031-06249-0_22⟩ |
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Perception of spatialized vibrotactile impacts in a hand-held tangible for Virtual RealityEuroHaptics 2022 - International conference on haptic science and technology, Applications, May 2022, Hamburg, Germany. pp.1-8 |
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Multi-robot persistent environmental monitoring based on constraint-driven execution of learned robot tasksICRA 2022 - IEEE International Conference on Robotics and Automation, May 2022, Philadelphia, United States. pp.6853-6859, ⟨10.1109/ICRA46639.2022.9811673⟩ |
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Electrotactile Patterns for Single Finger Interactions in VREuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.498-500, ⟨10.1007/978-3-031-06249-0⟩ |
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Rolling Handle for Hand Motion Guidance and TeleoperationEuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.1-3 |
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The Stare-in-the-Crowd Effect in Virtual RealityVR 2022 - IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2022, Christchurch, New Zealand. pp.281-290, ⟨10.1109/VR51125.2022.00047⟩ |
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Wearable cutaneous device for applying position/location haptic feedback in navigation applicationsHAPTICS 2022 - IEEE Haptics Symposium, Mar 2022, Santa Barbara, United States. pp.1-6, ⟨10.1109/HAPTICS52432.2022.9765619⟩ |
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Design and Evaluation of Electrotactile Rendering Effects for Finger-Based Interactions in Virtual RealityVRST - 28th ACM Symposium on Virtual Reality Software and Technology, Nov 2022, Tsukuba, Japan. pp.1-11, ⟨10.1145/3562939.3565634⟩ |
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Speed Discrimination in the Apparent Haptic Motion IllusionEuroHaptics 2022 - International Conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.1-8 |
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Neural Style Transfer with Twin-Delayed DDPG for Shared Control of Robotic ManipulatorsICRA 2022 - 39th IEEE International Conference on Robotics and Automation, May 2022, Philadelphia, United States. pp.4073-4079, ⟨10.1109/ICRA46639.2022.9812245⟩ |
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Tap Stimulation": An Alternative To Vibrations To Convey The Apparent Haptic Motion IllusionHAPTICS 2022 - IEEE Haptics Symposium, Mar 2022, Santa Barbara, United States |
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Design of a 2-DoF Haptic Device for Motion GuidanceEuroHaptics 2022 - International conference on Haptics: Science, Technology, Applications, May 2022, Hamburg, Germany. pp.1-8 |
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Reactive Virtual Agents: A Viewpoint-Driven Approach for Bodily Nonverbal CommunicationIVA 2021: ACM International Conference on Intelligent Virtual Agents, Sep 2021, Virtual Event Japan, France. pp.164-166, ⟨10.1145/3472306.3478351⟩ |
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DOLPHIN: A Framework for the Design and Perceptual Evaluation of Ultrasound Mid-Air Haptic StimuliSAP 2021 - ACM Symposium on Applied Perception, Sep 2021, Rennes, France. pp.1-10, ⟨10.1145/3474451.3476232⟩ |
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Electrotactile Feedback For Enhancing Contact Information in Virtual RealityICAT-EGVE 2021 - International Conference on Artificial Reality and Telexistence and Eurographics Symposium on Virtual Environments, Sep 2021, Sankt Augustin, Germany. ⟨10.2312/egve.20211331⟩ |
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Generating apparent haptic motion for assistive devicesWHC 2021 - IEEE World Haptics Conference, Jul 2021, Montréal / Virtual, Canada. pp.1 |
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A Low-Cost Multi-Modal Auditory-Visual-Tactile Framework for Remote TouchICICT 2020 - 3rd International Conference on Information and Computer Technologies, Mar 2020, San Jose, United States. pp.213-218, ⟨10.1109/ICICT50521.2020.00040⟩ |
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Haptic shared control for enhanced user comfort in robotic telemanipulationSALC 2020 - IEEE ICRA workshop on Shared Autonomy: Learning and Control, Jun 2020, online, France. pp.1-2 |
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Haptic Shared-Control Methods for Robotic CuttingI-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2 |
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Can Stiffness Sensations be Rendered in VirtualReality Using Mid-air Ultrasound Haptic Technologies?EUROHAPTICS 2020 - 12th International Conference on Haptics, Sep 2020, Leiden, Netherlands. pp.297-306 |
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WeATaViX: WEarable Actuated TAngibles forVIrtual reality eXperiencesEUROHAPTICS 2020 - 12th International Conference on Haptics, Sep 2020, Leiden, Netherlands. pp.262-270 |
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Shared Control Active Perception for Human-Assisted NavigationI-RIM 2020 - 2nd Italian Conference on Robotics and Intelligent Machines, Dec 2020, Online, Italy. pp.1-2 |
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Haptic Shared-Control Methods for Robotic Cutting under Nonholonomic ConstraintsIROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, Macau SAR China. pp.8151-8157, ⟨10.1109/IROS40897.2019.8968494⟩ |
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How different tangible and virtual objects can be while still feeling the same?WHC 2019 - IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.580-585, ⟨10.1109/WHC.2019.8816164⟩ |
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Toward Universal Tangible Objects: Optimizing Haptic Pinching Sensations in 3D InteractionVR 2019 - 26th IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2019, Osaka, Japan. pp.321-330, ⟨10.1109/VR.2019.8798205⟩ |
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Collision detection and isolation on a robot using joint torque sensingIROS 2019 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Nov 2019, Macau, Macau SAR China. pp.7604-7609, ⟨10.1109/IROS40897.2019.8967998⟩ |
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Investigating the recognition of local shapes using mid-air ultrasound hapticsWHC 2019 - IEEE World Haptics Conference, Jul 2019, Tokyo, Japan. pp.1-6, ⟨10.1109/WHC.2019.8816127⟩ |
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Transparency-oriented passivity control design for haptic-enabled teleoperation systems with multiple degrees of freedomCDC 2018 - 57th IEEE Conference on Decision and Control, Dec 2018, Miami Beach, FL, USA, United States. pp.1-6, ⟨10.1109/CDC.2018.8618970⟩ |
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Transparency-optimal passivity layer design for time-domain control of multi-DoF haptic-enabled teleoperationIROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.1-7 |
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User evaluation of a haptic-enabled shared-control approach for robotic telemanipulationIROS 2018 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2018, Madrid, Spain. pp.1-8 |
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Enhancing the Stiffness Perception of Tangible Objects in Mixed Reality Using Wearable HapticsIEEE VR 2018 - 25th IEEE Conference on Virtual Reality and 3D User Interfaces, Mar 2018, Reutlingen, Germany. pp.81-90, ⟨10.1109/VR.2018.8446280⟩ |
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Teleoperation in cluttered environments using wearable haptic feedbackIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS'17, Sep 2017, Vancouver, Canada. pp.3401-3408 |
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Human-subject Evaluation of Shared-Control Approaches for Robotic Telemanipulation2017 IEEE/RSJ IROS Workshop Human in-the-loop robotic manipulation: on the influence of the human role, Sep 2017, Vancouver, Canada |
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Toward EEG discrimination of fingers movements during motor imagery vs passive movement2025 - Doctoriales Laval Virtual, Apr 2025, Laval, France. pp.1-4, 2025 |
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Combined tracking and vibrotactile rendering with a wearable armbandHands- on demostration at IEEE Haptics Symposium (HAPTICS), Mar 2020, Washington, United States. 2020 |
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Interaction Fields: Sketching Collective BehavioursMIG 2020: Motion, Interaction, and Games, Oct 2020, N. Charleston, United States |
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PUMAH : Pan-tilt Ultrasound Mid-Air HapticsHands-on demostration at IEEE Haptics Symposium (HAPTICS), Mar 2020, Washington, United States. 2020 |
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Rendering of pressure and textures using wearable haptics in immersive VR environmentsIEEE Virtual Reality, VR'2018, Mar 2018, Reutlingen, Germany. 2018 |
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Shared control for assistive and collaborative roboticsGiacinto Barresi; Sascha Wischniewski. Ergonomics in Robotics: Advances and Innovations, 1, Springer, 2026, 978-3-032-19374-2 |
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Virtual Reality and HapticsB. Siciliano. Robotics Goes MOOC, Springer Nature Switzerland, pp.111-158, 2025, 978-3-319-77270-7. ⟨10.1007/978-3-319-77270-7_4⟩ |
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Digital Twins and Healthcare: Quick Overview and Human-Centric PerspectivesmHealth and Human-Centered Design Towards Enhanced Health, Care, and Well-being, 120, Springer Nature, pp.57-78, 2023, Studies in Big Data, ⟨10.1007/978-981-99-3989-3_4⟩ |
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Ultrasound Mid-Air Tactile Feedback for Immersive Virtual Reality InteractionUltrasound Mid-Air Haptics for Touchless Interfaces, Springer International Publishing, pp.147-183, 2022, Human–Computer Interaction Series, ⟨10.1007/978-3-031-04043-6_6⟩ |
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Mid-Air Haptics: Future Challenges and OpportunitiesGeorgiou et al. Ultrasound Mid-Air Haptics for Touchless Interfaces, Springer International Publishing, pp.385-397, In press, Human–Computer Interaction Series, 978-3-031-04043-6. ⟨10.1007/978-3-031-04043-6_18⟩ |
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Soft wearable assistive robotics: exosuits and supernumerary limbsInstitution of Engineering and Technology. Wearable Exoskeleton Systems: Design, control and applications, pp.219-254, 2018, 9781785613029. ⟨10.1049/pbce108e_ch10⟩ |
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Walk on Hands: Experiencing Vibrations in the Hands to represent Virtual WalkingHands-on demonstration at WHC 2025 - IEEE World Haptics Conference, 2025, pp.1-1 |
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When Machines Feel and Cooperate: Engineering Human-Cyberphysical Synergyrevue Télécom n° 217, 2025, pp.45-47 |
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Survey of Wearable Haptic Technologies for Navigation Guidance2023 |
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Cutaneous haptic feedback for robotics and Virtual RealityRobotics [cs.RO]. Université de Rennes 1 (UR1), Rennes, FRA., 2022 |
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Tutorial in “Frontiers in Haptic Technology and Interaction Design: the Challenges, the Technology, the Perspectives”NordiCHI 2022 - Nordic Human-Computer Interaction Conference, Oct 2022, Aarhus, Denmark. ACM, pp.1-3, ⟨10.1145/3547522.3558898⟩ |