Emanuele Ruffaldi

Assistant Professor

PERCRO Laboratory
TeCiP Institute
Scuola Superiore Sant’Anna, Pisa, Italy


2pp CVCV / Academic CV / Research Statement (PDF)
Google Scholar / Code Projects / Github

Research and Development on interfaces and systems for humans in Augmented and Virtual environments. Engineering competence in the area of Virtual Reality, computer graphics and haptics.


Short Bio
Assistant Professor at SSSA (2007-)
Visiting researcher at Stanford University (2005-2006)
Scuola Superiore Sant’Anna (PhD 2003-2006)
Visiting scholar at UCL (2003)
University of Pisa (MS, Computer Engineering 1997-2002)


Update Code Page
Added my  Personal Timeline in VR/AR

Feb 2017 – The Course on Computer Vision for Human and Robots just started (link)
Feb-Apr 2017 – Three review of European Projects are coming, one per month RAMCIP, PELARS and REMEDI. Busy time ahead!
Jan 2017 – The paper entitled “Characterization of the Disruption of Neural Control Strategies for Dynamic Fingertip Forces from Attractor Reconstruction” has been accepted by PLOS One. Well done Lorenzo. This brings me to Erdos 5: Cuevas, Guckenheimer, Misiurewicz, Bergelson.

Oct. 2016 – The paper on mapping human motion to Humanoid robots has been accepted by IEEE Humanoids 2016 “Multi-Contact Motion Retargeting from Human to Humanoid Robot“.
Sep. 2016 – Our paper on “Self-organizing trajectories” with my former PhD student Leonard Johard has been accepted by the Pattern Recognition Letters (here)
Sep. 2016 – Speaking at the IEEE MISS 2016 – Medical Informatics Summer School in Puglia with a talk entitled “Wearable body tracking for Occupational Biomechanics and Telemedicine”
Sep. 2016 – The Compact Components framework repository is out on github
Jul. 2016 – Public event for the termination of the SMOOTI Project about Occupational Biomechanics funded by Telecom Italia
Jul. 2016 – Speaking at the seminar “Personal injury damages compensation and biomechanics” at SSSA on the topic “Occupational Biomechanics and Virtual Ergonomy”

May. 2016 – Our poster on Sensorimotor Control dynamics and Strength dexterity test has been accepted at the Neuromechanics 2016 workshop, in collaboration with Prof. Valero-Cuevas.
May. 2016 – The paper about ArchGenTool for collaborative architecture design in robotics has been accepted at 21st IEEE MMAR, in collaboration with CERTH.
May. 2016 – The work in collaboration with Prof. Rizzolatti group on Vitality Forms, related to mirror neurons, has been accepted on the Frontiers in Human Neuroscience
Mar. 2016 – We hosted Prof. Valero Cuevas (USC) giving a talk on “A computational approach to the neural control of limbs” before the PhD defense of Lorenzo Peppoloni

Research Topics

While the research listing is being updated please find below the visual listing of publications


Interaction in Virtual Environments – 2003-
Research in different aspect of the interaction in Virtual Environments spanning from embodiment, haptic interaction, interaction modalities. This is also related to the Personal timeline on VR. One of the interests is the mataphor of Information Landscape in immersive (dimea08) and desktop contexts.
Haptic Interaction Techniques and Haptic Rendering – 2006-
Investigation of haptic rendering techniques in different scenarios.
  • 6DOF haptic rendering based on volume data (haptics08).
  • Co-Located haptic rendering for USG training based on implicit surfaces (embc15)
  • Exoskeleton based virtual embodiment with avatars (eh2014_exos)
Full spectrum research in the use of VE for training sport with specific focus on Rowing. The research spanned from the technical design and construction of the environment, to human motion data analysis, training protocol design up to assessment experiments in different skills of the rowing task such as energy, team coordination and technique.
When the computing problem is not explicitly parallel, but it instead organised in multiple concurrent flows there is the need of optimizing the resource usage. This  The SOMA framework proposes an approach based on static code analysis and profiling for producing new efficient scheduling. The CoCo system, instead, proposed a concurrent data-flow for Mixed Reality applications. Finally research is undergoing in the area of code generation for multicore probabilistic graphical model inference.
Research in the area of wearable inertial sensor fusion and wearable EMG for the analysis of actions in working environments, also called Occupational Biomechanics. Experimental results are reported for the reconstruction with multiple sensors based on Unscented Kalman Filtering toward the use of Probabilistic Graphical Models. Working load experiments have been performed comparing the system with manual annotations.
Investigation of haptic rendering solution and embedding for a novel type of roboti
c rehabilitation device that generates forces using the wheels. The resulting systems allows to perform several types of rehabilitation devices. Additional research in the area of sensor-fusion
Current Students and Staff 
Lorenzo Peppoloni (Postdoc) – RAMCIP
Lorenzo Landolfi (PhD) – PELARS
Giacomo Dabisias (PhD) – PELARS, RAMCIP
Alessandro Graziano (PhD) – RAMCIP
Giulia Bassani (PhD)
Filippo Brizzi (c/o PhD) – REMEDI, Industrial
Emiliano Palermiti
Alessandro Cattaneo (master thesis)