M.Eng. in Computer Engineering in 2011 from the University of Siena – Thesis « Implementation of the Object Motion-Decoupled Internal Force Control and evaluation on the multifingered robotic hand DLR Hand II », advisor Prof. Domenico Prattichizzo.
PhD in Information Engineering and Science (Automatic Control and Robotics) in 2016 from the University of Siena – Thesis « Vibro-tactile Haptic Guidance for Human-Robot Interaction and Cooperation Tasks », advisor Prof. Domenico Prattichizzo.
Visiting student from March 2011 to September 2011 at the Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Oberpfaffenhofen, Munich, Germany.
Visiting scholar from September 2016 to January 2017 at the GRITSlab, Georgia Institute of Technology, Atlanta, GA, USA.
Currently, Postdoctoral researcher at the CNRS, Rainbow Team at Irisa and Inria Rennes Bretagne Atlantique (IRISA, INRIA).