Publications

Title Immersive virtual reality-based interfaces for character animation / Cannavò, Alberto; Demartini, Claudio Giovanni; Morra, Lia; Lamberti, Fabrizio. IEEE Access, ISSN 2169-3536, (In press), pp. 1-18.
Abstract Virtual Reality (VR) has increasingly attracted the attention of the computer animation community in search of more intuitive and effective alternatives to the current sophisticated user interfaces. Previous works in the literature already demonstrated the higher affordances offered by VR interaction, as well as the enhanced spatial understanding that arises thanks to the strong sense of immersion guaranteed by virtual environments. These factors have the potential to improve the animators’ job, which is tremendously skill-intensive and time-consuming. The present paper explores the opportunities provided by VR-based interfaces for the generation of 3D animations via armature deformation. To the best of the authors’ knowledge, for the first time a tool is presented which allows users to manage a complete pipeline supporting the above animation method, by letting them execute key tasks such as rigging, skinning and posing within a well-known animation suite using a customizable interface. Moreover, it is the first work to validate, in both objective and subjective terms, character animation performance in the above tasks and under realistic work conditions involving different user categories. In our experiments, task completion time was reduced by 26%, on average, while maintaining almost the same levels of accuracy and precision for both novice and experienced users.
Related project or activity: Computer animation

Title VR@Polito: the virtual reality initiative of Politecnico di Torino – the experience of the Virtual tour for foreign students / Castaldo, U.; Conti, F.; Lamberti, F.; Mezzalama, M.; Venuto, E. Proc. BYOD, realtà aumentata e virtuale: opportunità o minaccia per la formazione? Reggio Calabria, Italy, May 16-17 2019 (2019), pp. 63-66.
Abstract Immersive content overcomes traditional multimedia one-way communication, encouraging visitor participation, combining 360° visuals with interaction and movement. Virtual Tours evoke emotions in a virtual reality, augmented with additional multimedia information: an amplified experience where the prospect student not only sees the place but he or she feels to be there and can p
Related project or activity: Education and training

Title On the usability of consumer locomotion techniques in serious games: Comparing arm swinging, treadmills and walk-in-place / Calandra, Davide; Lamberti, Fabrizio. Proc. 9th IEEE International Conference on Consumer Electronics, Berlin, Germany, September 8-11, 2019
Abstract When we refer to locomotion in Virtual Reality (VR) we subtend a vast and variegated number of investigations, solutions and devices coming from both research and industry. Despite this richness, a consolidated methodology for evaluating the many locomotion techniques available is still lacking. The present paper extends a previous work in which authors performed a user study-based comparison between two common locomotion techniques, i.e., Arm Swinging, and an omni-directional treadmill with a containment ring. In the study, users were engaged in a realistic immersive VR scenario depicting a fire event in a road tunnel. Remaining adherent to the previously defined methodology, the current work widens the comparison to consider two other locomotion methods (keeping results obtained with the former technique above for reference purposes), namely, a different treadmill constraining the user through a top-mounted independent support structure, and Walk-in-Place, a technique which allows the user to move in the virtual environment by performing a natural marching gesture by exploiting two sensors placed on his or her legs. less
Related project or activity: Human-machine interaction

Title Investigating tangible user interaction in mixed-reality robotic games / Prattico', Filippo Gabriele; Baldo, Piero; Cannavo', Alberto; Lamberti, Fabrizio. Proc. 9th IEEE International Conference on Consumer Electronics, Berlin, Germany, September 8-11, 2019, (In press), pp. 1-6.
Abstract Among the emerging trends in Human-Robot Inter- action, some of the most frequently used paradigms of interaction involve the use of Tangible User Interfaces. This is especially true also in the field of robotic gaming and, more specifically, in application domains in which commercial off-the-shelf robots and projected Mixed Reality (MR) technology are combined together. The popularity of such interfaces, also in other domains of Human-Machine Interaction, has led to an abundance in the number of gestures that can be used to perform tangible action using these interfaces. However, there are not sufficient pieces of evidence on how these different modalities can impact the user experience, in particular when interacting with a robot in a “phygital play” environment. By moving from this consideration, this paper reports on the efforts that are ongoing with the aim to investigate the impact of diverse gesture sets (which can be performed with the same physical prop) on the perception of interaction with the robotic system. It also presents preliminary insights obtained, which could be exploited to orient further research about the use of such interfaces for interaction in MR- based robotic gaming and related scenarios.
Related project or activity: Human-machine interaction

Title Building trust in autonomous vehicles: Role of virtual reality driving simulators in HMI design / Morra, Lia; Lamberti, Fabrizio; Prattico', Filippo Gabriele; La Rosa, Salvatore; Montuschi, Paolo. In: IEEE Transactions on Vehicular Technology. ISSN 0018-9545 (In press), pp. 1-12.
Abstract The investigation of factors contributing at making humans trust Autonomous Vehicles (AVs) will play a fundamental role in the adoption of such technology. The user's ability to form a mental model of the AV, which is crucial to establish trust, depends on effective user-vehicle communication; thus, the importance of Human-Machine Interaction (HMI) is poised to increase. In this work, we propose a methodology to validate the user experience in AVs based on continuous, objective information gathered from physiological signals, while the user is immersed in a Virtual Reality-based driving simulation. We applied this methodology to the design of a head-up display interface delivering visual cues about the vehicle' sensory and planning systems. Through this approach, we obtained qualitative and quantitative evidence that a complete picture of the vehicle's surrounding, despite the higher cognitive load, is conducive to a less stressful experience. Moreover, after having been exposed to a more informative interface, users involved in the study were also more willing to test a real AV. The proposed methodology could be extended by adjusting the simulation environment, the HMI and/or the vehicle's Artificial Intelligence modules to dig into other aspects of the user experience.
Related project or activity: Human-machine interaction

Title User perception of robot's role in floor projection-based Mixed-Reality robotic games / Prattico', Filippo Gabriele; Cannavo', Alberto; Chen, Junchao; Lamberti, Fabrizio (In press), pp. 1-6, Proc. IEEE 23rd International Symposium on Consumer Technologies (ISCT 2019), Ancona, Italy, June 19-21, 2019.
Abstract Within the emerging research area represented by robotic gaming and, specifically, in application domains in which the recent literature suggests to combine commercial off-the-shelf (COTS) robots and projected mixed reality (MR) technology in order to develop engaging games, one of the crucial issues to consider in the design process is how to make the player perceive the robot as having a key role, i.e., to valo
Related project or activity: Human-machine interaction

Title Holo-BLSD – A holographic tool for self-training and self-evaluation of emergency response skills / Strada, Francesco; Bottino, Andrea Giuseppe; Lamberti, Fabrizio; Mormando, Giulia; Luigi Ingrassia, Pier. In: IEEE Transactions on Emerging Topics in Computing. ISSN 2168-6750 (In press), pp. 1-14.
Abstract In case of cardiac arrest, prompt intervention of bystanders can be vital in saving lives. Basic Life Support and Defibrillation (BLSD) is a procedure designed to deliver a proficient emergency first response. Developing skills in BLSD in a large part of the population is a primary educational goal of resuscitation medicine. In this context, novel computer science technologies like Augmented Reality (AR) and Virtual Reality (VR) can alleviate some of the drawbacks of traditional instructor-led courses, especially concerning time and cost constraints. This paper presents Holo-BLSD, an AR system that allows users to learn and train the different operations involved in BLSD and receive an automatic assessment. The system uses a standard manikin which is quotes{augmented} by an interactive virtual environment that reproduces realistic emergency scenarios. The proposed approach has been validated through a user study. Subjective results confirmed the usability of the devised tool and its capability to stimulate learners' attention. Objective results indicated no statistical significance in the differences between the examiners' evaluation of users who underwent traditional and AR training; they also showed a close agreement between expert and automatic assessments, suggesting that Holo-BLSD can be regarded as an effective self-learning method and a reliable self-evaluation tool.
Related project or activity: Education and training

Title Is immersive virtual reality the ultimate interface for 3D animators? / Lamberti, Fabrizio; Cannavo', Alberto; Montuschi, Paolo. IEEE Computer. ISSN 0018-9162 (In press), pp. 1-12.
Abstract Creating computer animations is a labor-intensive task that requires animators to deal with sophisticated interaction paradigms. Virtual Reality, which is becoming commonplace in many domains, recently started to be considered as being capable to ease also the animators' job, by improving their spatial understanding of the animated scene and providing them with interfaces characterized by higher affordances. However, current VR-based animation solutions only offer heterogeneous subsets of traditional tools' functionalities, and/or are not integrated into them. In this paper, we present an add-on for the well-known Blender animation suite that allows the animators to seamlessly switch between the native and an immersive VR-based interface, and to use the latter to perform a representative set of common animation tasks. A user study including both professional and non-professional users showed that VR can improve usability and reduce animation time while letting animators achieve quality results, though with differences from task to task.
Related project or activity: Computer animation

Title Automatic recognition of sport events from spatio-temporal data: An application for virtual reality-based training in basketball / Cannavo', Alberto; Calandra, Davide; Lamberti, Fabrizio. - In: 14th International Conference on Computer Graphics Theory and Applications (GRAPP 2019)
Abstract Data analysis in the field of sport is growing rapidly due to the availability of datasets containing spatio-temporal positional data of the players and other sport equipment collected during the game. This paper investigates the use of machine learning for the automatic recognition of small-scale sport events in a basketball-related dataset. The results of the method discussed in this paper have been exploited to extend the functionality of an existing Virtual Reality (VR)-based tool supporting training in basketball. The tool allows the coaches to draw game tactics on a touchscreen, which can be then visualized and studies in an immersive VR environment by multiple players. Events recognized by the proposed system can be used to let the tool manage also previous matches, which can be automatically recreated by activating different animations for the virtual players and the ball based on the particular game situation, thus increasing the realism of the simulation. less
Related project or activity: Education and training

Title Asteroid Escape: A serious game to foster teamwork abilities. Prattico', Filippo Gabriele; Strada, Francesco; Lamberti, Fabrizio; Bottino, Andrea Giuseppe (In press), pp. 1-4. Proc. 40th Annual Conference of the European Association for Computer Graphics (Eurographics 2019), Genova, Italy, May 6-10, 2019.
Abstract skills have become a fundamental asset in the labor market. Modern organizations are increasingly implementing team building activities, aimed to improve or assess their employees' skills. Research suggests that serious games could be promising tools capable to support the creation of engaging and effective team building experiences. However, the design and development of serious games targeting these activities is still sparse and requires further investigation. This work introduces \emph{Asteroid Escape}, an immersive serious game for team building, whose design was based on theoretical models on teamwork effectiveness. Although conducted on a restricted user sample, preliminary experiments suggest that tools like the devised one could positively contribute to ongoing research and implementation efforts targeting the exploitation of technology-enhanced learning methods for the development of teamwork skills and, more in general, of so-called soft skills.
Related project or activity: Education and training

Title Building reconfigurable passive haptic interfaces on demand using off-the-shelf construction bricks. Calandra, Davide; Prattico', F. Gabriele; Cannavo', Alberto; Micelli, Luca; Lamberti, Fabrizio (In press), pp. 1-2. Proc. 26th IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR 2019), Osaka, Japan, March 23-27, 2019.
Abstract Although passive haptic interfaces have been shown to be capable to enhance the user’s sense of presence in Mixed Reality experiences, their use is still constrained by the need to rely on exact replicas of virtual objects or on custom-made devices mimicking the original ones. Unfortunately, the former are not flexible enough in terms of reconfigurability, whereas the latter may be difficult to reproduce. To tackle these issues, this paper explores the possibility to build passive haptic interfaces using off-the-shelf toy construction bricks. Bricks can be assembled to provide the intended feedback in more than one task. Moreover, they may be reassembled in another application to mimic completely new objects and support totally different tasks.
Related project or activity: Human-machine interaction

Title Extending upper limb user interactions in AR, VR and MR headsets employing a custom-made wearable device. Micelli, Luca; Acosta, David; Uribe-Quevedo, Alvaro; Lamberti, Fabrizio; Kapralos, Bill (In press), pp. 1-4. Proc. 9th IEEE International Conference on Information, Intelligence, Systems, and Applications (IISA 2018), Zakynthos, Greece, July 23-25, 2018.
Abstract Upper limb interactions play an important role in scenarios employing virtual, augmented, and mixed reality. Nu- merous sensors (e.g., optical, magnetic, mechanical, myography), have been employed to provide natural interactions, in some cases requiring additional hardware. Recently, virtual, augmented, and mixed reality headsets have started embedding sensors to avoid the use of external hardware that can be cumbersome, thus increasing their ease of use and setup. Microsoft’s recent approach to embedded sensors is known as inside/out tracking, comprised of integrated cameras that allow interactions through fingers and eye tracking with the Hololens, or controller tracking with the mixed reality headsets. However, the motion capture area of the inside/out sensors is limited to the field of view of the cameras. In this paper, we introduce a custom upper limb motion tracking device that extends the user interactions while employing a VR, AR, or MR headset. Our 3D motion tracking system is a compact wireless wearable prototype employing inertial measurement units that provide orientation and position data that provides upper limb user interaction outside the field of view of the inside/out sensors.
Related project or activity: Human-machine interaction

Title A multimodal interface for virtual character animation based on live performance and natural language processing / Lamberti, Fabrizio; Gatteschi, Valentina; Sanna, Andrea; Cannavo', Alberto. International Journal of Human-Computer Interaction. ISSN 1532-7590 (In press), pp. 1-46.
Abstract Virtual character animation is receiving an ever-growing attention by researchers, who proposed already many tools with the aim to improve the effectiveness of the production process. In particular, significant efforts are devoted to create animation systems suited also to non-skilled users, in order to let them benefit from a powerful communication instrument that can improve information sharing in many contexts like product design, education, marketing, etc. Apart from methods based on the traditional Windows-Icons-Menus-Pointer (WIMP) paradigms, solutions devised so far leverage approaches based on motion capture/retargeting (the so-called performance-based approaches), on non-conventional interfaces (voice inputs, sketches, tangible props, etc.), or on natural language processing (NLP) over text descriptions (e.g., to automatically trigger actions from a library). Each approach has its drawbacks, though. Performance-based methods are difficult to use for creating non-ordinary movements (flips, handstands, etc.); natural interfaces are often used for rough posing, but results need to be later refined; automatic techniques still produce poorly realistic animations. To deal with the above limitations, we propose a multimodal animation system that combines performance- and NLP-based methods. The system recognizes natural commands (gestures, voice inputs) issued by the performer, extracts scene data from a text description and creates live animations in which pre-recorded character actions can be blended with performer’s motion to increase naturalness.
Related project or activity: Computer animation

Title Robotic gaming and user interaction: Impact of autonomous behaviors and emotional features / Lamberti, Fabrizio; Pratticò, Filippo G.; Calandra, Davide; Piumatti, Giovanni; Bazzano, Federica; Villani, Thiago R. K. (In press), pp. 1-8. Proc. IEEE Games, Entertainment, and Media (GEM 2018), Galway, Ireland, August 15-17, 2018.
Abstract This paper aims to investigate the impact associated with the introduction of emotional features and autonomous behaviors in robotic games leveraging drones. To this purpose, a game named Protoman Revenge incorporating the above elements is implemented by following known guidelines regarding game design, in general, and so-called Physically Interactive Robotic Games (PIRGs), in particular. A user study is devised to evaluate how the above traits affect the individual’s experience and engagement. Obtained results could be possibly exploited to orient further research in the field of robotic gaming and other applications (not necessarily involving drones) w.r.t. to the perception of robot’s autonomy and of emotional encoding strategies.
Related project or activity: Education and training

Title Mobile robot-based exergames for navigation training and vestibular rehabilitation / Lamberti, Fabrizio; Cannavo', Alberto; Pirone, Paolo; Montuschi, Carla; Albera, Roberto (In press), pp. 1-8. Proc. 9th IEEE Annual Ubiquitous Computing, Electronics & Mobile Communication Conference, New York, NY, USA, November 8-10, 2018.
Abstract The vestibular system is the leading sensory system that contributes to the sense of balance and to spatial orien- tation for the purpose of movement coordination. Vestibular disorders are incredibly common, and exhibit many different symptoms including vertigo, unsteadiness and navigation issues, but also emotional and social problems. Many of the assessment, training and rehabilitation approaches developed so far cannot guarantee the necessary degree of usability, measurability and repeatability. This paper presents the preparatory steps towards the design of a methodology for treating vestibular disorders that combines established methods with innovative, robot-based exergames to foster, among others, engagement and flexibility. Preliminary results obtained through a user study that involved non-pathological subjects offered helpful indications that could be exploited in the design and validation of novel rehabilitation protocols in the field.
Related project or activity: Education and training

Title Designing interactive robotic games based on mixed reality technology / Lamberti, Fabrizio; Cannavo', Alberto; Pirone, Paolo. (In press), pp. 1-4. Proc. 37th IEEE International Conference on Consumer Electronics (ICCE2019), Las Vegas, USA, January 11-13, 2019.
Abstract This paper focuses on an emerging research area represented by robotic gaming and aims to explore the design space of interactive games that combine commercial-off-the-shelf robots and mixed reality. To this purpose, a software platform is developed which allows players to interact with both physical elements and virtual content projected on the ground. A game is then created to show designers how to maximize opportunities offered by such a technology and to build playful experiences.
Related project or activity: Education and training

Title RobotQuest: A robotic game based on projected mixed reality and proximity interaction / Lamberti, Fabrizio; Calandra, Davide; Bazzano, Federica; Prattico, Filippo G.; Destefanis, Davide M. (In press), pp. 1-4. Proc. IEEE Games, Entertainment, and Media (GEM 2018), Galway, Ireland, August 15-17, 2018.
Abstract The appearance of video games in modern society introduced a number of modifications in the recreational and socialization habits of both youths and adults. In particular, various studies have associated the excessive use of this media with health and social problems, being the “classical” video game often a sedentary and solitary activity. The purpose of this work is to propose a possible way to deal with the above issues, which consists in exploiting a platform for robotic gaming based on consumer hardware that is being developed with the aim to reintroduce the physical and social dimensions in digital games. The proposed solution encompasses a floor-projected Mixed Reality (MR) environment, an autonomous toy robot and a set of tangible interfaces created using proximity beacons, which are combined in a robotic game concept named RobotQuest that is meant to show how to favor an engaging room-scale interaction between players and real/virtual game elements.
Related project or activity: Education and training

Title A participative system for tactics analysis in sport training based on immersive virtual reality / Cannavo', Alberto; Musto, Marco; Prattico', FILIPPO GABRIELE; Raho, Francesco; Lamberti, Fabrizio. (In press), pp. 1-4. Proc. 4th Workshop on Everyday Virtual Reality (WEVR 2018) - 25th IEEE Conference on Virtual Reality and 3D User Interfaces (IEEE VR 2018), Reutlingen, Germany, March 18-22, 2018.
Abstract The use of new technologies is becoming a common practice in many competitive sports, from soccer to football, basketball, golf, tennis, swimming, etc. In particular, virtual reality (VR) is increasingly being used to cope with a number of aspects that are essential in athletes’ preparation. Within the above context, this paper presents a platform that allows coaches to interactively create and modify game tactics, which can be then visualized simultaneously by multiple players wearing VR headsets into an immersive 3D environment.
Related project or activity: Education and training

Title A movement analysis system based on immersive virtual reality and wearable technology for sport training / Alberto, Cannavò; Filippo Gabriele Pratticò, ; Giuseppe, Ministeri; Fabrizio, Lamberti. (In press), pp. 1-6. Proc. 4th International Conference on Virtual Reality (ICVR2018), Hong Kong, February 24-26, 2018.
Abstract The use of virtual reality (VR) is widespread in a growing number of application domains. Continuous technological advancements in the field of computer graphics made VR an interesting tool for learning purposes, especially in sport. Examples can be found in different sports such as rugby, baseball, soccer, golf, etc. This paper presents a VR-based training system that can be used as a self-learning tool to improve the execution of a given technical gesture. In particular, the basketball free throw gesture is considered. To assess the usefulness of the proposed system, experimental tests were carried out in a small-scale setup by involving 18 non-skilled volunteers. Results demonstrated that the designed system can improve the execution of the considered gesture in terms of both timing and spatial positioning compared to an alternative technique based on video projection.
Related project or activity: Education and training

Title Arm swinging vs treadmill: A comparison between two techniques for locomotion in virtual reality / Calandra, Davide; Bill, Michele; Lamberti, Fabrizio; Sanna, Andrea; Borchiellini, Romano. (In press), pp. 1-4. Proc. Eurographics 2018, Delft, The Netherlands, April 16-20, 2018.
Abstract When it comes to locomotion in Virtual Reality (VR), a wide range of different techniques has been proposed in the scientific literature or as commercial products. However, the best choice for a specific application is still not immediate, being each technique characterized by different advantages and drawbacks. The present work reports on the results of a user study-based comparison between two methods: a locomotion treadmill, which supports omni-directional movements through walking in place over a hardware device, and Arm Swinging, which recognizes movement from the swinging back and forth of the user's arms (e.g., gathered by sensors embedded in hand controllers). Experiments have been carried out in a realistic immersive VR scenario, which requested users to respond to a fire emergency in a road tunnel by moving and interacting with the environment.
Related projects or activities: Human-machine interaction, Education and training

Title A virtual character animation system based on reconfigurable tangible user interfaces and immersive virtual reality / Cannavo', Alberto; Lamberti, Fabrizio (In press), pp. 1-11. Proc. Smart Tools and Applications in Graphics (STAG2018), Brescia, Italy, October 18-19, 2018.
Abstract Computer animation and, particularly, virtual character animation, are very time consuming and skill-intensive tasks, which require animators to work with sophisticated user interfaces. Tangible user interfaces (TUIs) already proved to be capable of making character animation more intuitive, and possibly more efficient, by leveraging the affordances provided by physical props that mimic the structure of virtual counterparts. The main downside of existing TUI-based animation solutions is the reduced accuracy, which is due partly to the use of mechanical parts, partly to the fact that, despite the adoption of a 3D input, users still have to work with a 2D output (usually represented by one or more views displayed on a screen). However, output methods that are natively 3D, e.g., based on virtual reality (VR), have been already exploited in different ways within computer animation scenarios. By moving from the above considerations and by building upon an existing work, this paper proposes a VR-based character animation system that combines the advantages of TUIs with the improved spatial awareness, enhanced visualization and better control on the observation point in the virtual space ensured by immersive VR. Results of a user study with both skilled and unskilled users showed a marked preference for the devised system, which was judged as more intuitive than that in the reference work, and allowed users to pose a virtual character in a lower time and with a higher accuracy.
Related project or activity: Computer animation