Saverio Farsoni

About

Saverio Farsoni is a leading researcher in the intersection of robotics, control systems, and human-robot interaction, with a focus on industrial and surgical applications. His work centers on developing safe, intelligent robotic systems that can operate in dynamic, human-shared environments. A key contribution is his research on safety barrier functions and multi-camera tracking for human-robot shared spaces (82 citations), which provides a framework for ensuring safe collaboration. Farsoni has also made significant advances in admittance control, notably through a quaternion-based Kalman filter that compensates for load dynamics in interactive industrial robots (53 citations). In the surgical domain, he has pioneered work on augmented reality and robotic assistance for percutaneous nephrolithotomy (26 citations), as well as dynamic motion planning for autonomous assistive surgical robots (25 citations). His research on autonomous depalletizing systems (28 citations) demonstrates his commitment to practical industrial automation. With over 290 total citations across his most-cited works, Farsoni’s contributions are shaping the future of both collaborative industrial robotics and minimally invasive surgical assistance.

Research Focus

Key Achievements

Top Papers

1. 1
   Safety barrier functions and multi-camera tracking for human–robot shared environment

   82 citations · 2019
2. 2
   Compensation of Load Dynamics for Admittance Controlled Interactive Industrial Robots Using a Quaternion-Based Kalman Filter

   53 citations · 2017
3. 3
   Toward Future Automatic Warehouses: An Autonomous Depalletizing System Based on Mobile Manipulation and 3D Perception

   28 citations · 2021
4. 4
   Augmented Reality and Robotic-Assistance for Percutaneous Nephrolithotomy

   26 citations · 2020
5. 5
   Dynamic Motion Planning for Autonomous Assistive Surgical Robots

   25 citations · 2019
6. 6
   Safety-oriented robot payload identification using collision-free path planning and decoupling motions

   22 citations · 2019
7. 7
   Technical and Functional Validation of a Teleoperated Multirobots Platform for Minimally Invasive Surgery

   19 citations · 2020
8. 8
   Real-Time Identification of Robot Payload Using a Multirate Quaternion-Based Kalman Filter and Recursive Total Least-Squares

   17 citations · 2018
9. 9
   Augmented Reality and Robotic Systems for Assistance in Percutaneous Nephrolithotomy Procedures: Recent Advances and Future Perspectives

   13 citations · 2022
10. 10
    A low-cost high-fidelity ultrasound simulator with the inertial tracking of the probe pose

    9 citations · 2016

Key Collaborators

Contact & Links