A5045080493- Soft Robotics and Applications
- Muscle activation and electromyography studies
- Stroke Rehabilitation and Recovery
- Surgical Simulation and Training
- EEG and Brain-Computer Interfaces
- Motor Control and Adaptation
- Augmented Reality Applications
- Neuroscience and Neural Engineering
- Spaceflight effects on biology
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Anatomy and Medical Technology
- Balance, Gait, and Falls Prevention
- Robotics and Sensor-Based Localization
- Neural dynamics and brain function
- Space Exploration and Technology
- Neurological disorders and treatments
- Photoreceptor and optogenetics research
- Total Knee Arthroplasty Outcomes
- Advanced Radiotherapy Techniques
- Inertial Sensor and Navigation
- Advanced Vision and Imaging
- Prosthetics and Rehabilitation Robotics
- Hand Gesture Recognition Systems
- Cerebral Palsy and Movement Disorders
Politecnico di Milano
2016-2025
Sapienza University of Rome
2024
Institute of Electrical and Electronics Engineers
2021
Stevens Institute of Technology
2021
University of Science and Technology of China
2021
Gorgias Press (United States)
2021
University of Verona
2019
Bioengineering Technology and Systems (Italy)
2015-2018
Fondazione Salvatore Maugeri
2015
Ospedale Valduce
2011
The system illustrated in this paper has been designed and developed particularly for automatic reliable analysis of body movement various conditions environments. It is based on real-time processing the TV images to recognize multiple passive markers compute their coordinates. This performance achieved by using a special algorithm allowing recognition only if shape matches predetermined "mask." main feature two-level architecture, first which includes dedicated peripheral fast processor...
An improved human-robot collaborative control scheme is proposed in a teleoperated minimally invasive surgery scenario, based on hierarchical operational space formulation of seven-degree-of-freedom redundant robot. Redundancy exploited to guarantee remote center motion (RCM) constraint and provide compliant behavior for the medical staff. Based implemented framework, an RCM safe are applied nullspace achieve surgical tasks with interaction. Due physical interactions, safety accuracy may be...
Learning manipulation skills from open surgery provides more flexible access to the organ targets in abdomen cavity and this could make surgical robot working a highly intelligent friendly manner. Teaching by demonstration (TbD) is capable of transferring human humanoid robots employing active learning multiple demonstrated tasks. This work aims transfer motion demonstrations manipulators robot-assisted minimally invasive (RA-MIS) using TbD. However, kinematic constraint should be respected...
For bilateral teleoperation, the haptic feedback demands availability of accurate force information transmitted from remote site. Nevertheless, due to limitation size, sensor is usually attached outside patient's abdominal cavity for surgical operation. Hence, it measures not only interaction forces on tip but also tool dynamics. In this letter, a model-free based deep convolutional neural network (DCNN) structure proposed dynamics identification, which features fast computation and noise...
Cala, S. J., C. M. Kenyon, G. Ferrigno, P. Carnevali, A. Aliverti, Pedotti, T. Macklem, and D. F. Rochester. Chest wall lung volume estimation by optical reflectance motion analysis. J. Appl. Physiol. 81(6): 2680–2689, 1996.—Estimation of chest surface measurements only allows one-dimensional the wall. We have assessed an system (OR), which tracks reflective markers in three dimensions (3-D) for respiratory use. used 86 (6-mm-diameter) hemispherical arranged circumferentially on seven rows...
Aliverti, A., S. J. Cala, R. Duranti, G. Ferrigno, C. M. Kenyon, A. Pedotti, Scano, P. Sliwinski, Peter T. Macklem, and Yan. Human respiratory muscle actions control during exercise. Appl. Physiol. 83(4): 1256–1269, 1997.—We measured pressures power of diaphragm, rib cage, abdominal muscles quiet breathing (QB) exercise at 0, 30, 50, 70% maximum workload (W˙max) in five men. By three-dimensional tracking 86 chest wall markers, we calculated the volumes lung- diaphragm-apposed cage...
MUNDUS is an assistive framework for recovering direct interaction capability of severely motor impaired people based on arm reaching and hand functions. It aims at achieving personalization, modularity maximization the user’s involvement in systems. To this, exploits any residual control end-user can be adapted to level severity or progression disease allowing user voluntarily interact with environment. target pathologies are high-level spinal cord injury (SCI) neurodegenerative genetic...
This study assessed whether cycling induced by functional electrical stimulation (FES) was more effective than passive with placebo in promoting motor recovery and walking ability postacute hemiparetic patients.In a double-blind, randomized, controlled trial, 35 patients were included randomized to receive FES-induced training or FES cycling. The 4-week treatment consisted of 20 sessions lasting 25 minutes each. Primary outcome measures the leg subscale Motricity Index gait speed during...
Recently, the human-like behavior on anthropomorphic robot manipulator is increasingly accomplished by kinematic model establishing relationship of an and human arm motions. Notably, growth broad availability advanced data science techniques facilitate imitation learning process in robotics. However, enormous dataset causes labeling prediction burden. In this article, swivel motion reconstruction approach was applied to imitate using mapping redundancy. For sake efficient computing, a novel...
It is known that cell density influences the maturation process of in vitro neuronal networks. Neuronal cultures plated with different densities differ number synapses per neuron and thus single synaptic transmission, which results a density-dependent network activity. Although many authors provided detailed information about effects on culture activity, dedicated report age influence hippocampal activity has not yet been reported. Therefore, this work aims at providing reference data to...
A real-time, adaptive algorithm based on two inertial and magnetic sensors placed the shanks was developed for gait-event detection. For each leg, detected Initial Contact (IC), as minimum of flexion/extension angle, End (EC) Mid-Swing (MS), maximum angular velocity, respectively. The consisted calibration, real-time detection, step-by-step update. Data collected from 22 healthy subjects (21 to 85 years) walking at three self-selected speeds were used validate against GaitRite system....
As a significant role in healthcare and sports applications, human activity recognition (HAR) techniques are capable of monitoring humans' daily behavior. It has spurred the demand for intelligent sensors been giving rise to explosive growth wearable mobile devices. They provide most availability data (big data). Powerful algorithms required analyze these heterogeneous high-dimension streaming efficiently. This paper proposes novel fast robust deep convolutional neural network structure...
Frailty is a clinical condition affecting the elderly population which results in an increased risk of falls. Previous studies demonstrated that falls prevention programs are effective, but they suffer from low adherence, especially when subjects have to train unsupervised their homes. To try improve treatment virtual reality and social media been proposed as promising strategies for increase users' motivation thus willingness practice. In context smart homes, this work presents SocialBike,...
It has been largely suggested in neuroscience literature that to generate a vast variety of movements, the central nervous system (CNS) recruits reduced set coordinated patterns muscle activities, defined as synergies. Recent neurophysiological studies recommended analysis synergies finely assess patient's impairment, design personalized interventions based on specific nature and evaluate treatment outcomes. In this scope, aim study was multi-channel functional electrical stimulation (FES)...
In the human–robot interaction, especially when hand contact appears directly on robot arm, dynamics of human arm presents an essential component in interaction and object manipulation. Modeling estimation show great potential for achieving more natural safer interaction. To enrich dexterity guarantee accuracy manipulation, mapping motor functionality muscle using biosignals becomes a popular topic. this article, novel algorithm was constructed deep learning to explore model between surface...
A method for kinematic analysis of chest wall motion is presented, based on a television-image processor that allows three-dimensional assessment volume change the trunk by automatically computing coordinates several passive markers placed relevant landmarks thorax and abdomen. The parallel computation used image processing real time recognition with necessary accuracy. geometric model also online contribution to different parts. For this purpose, presented here 54 tetrahedrons can be...
The standard account of motor control considers descending outputs from primary cortex (M1) as commands and efference copy. This has been challenged recently by an alternative formulation in terms active inference: M1 is considered part a sensorimotor hierarchy providing top-down proprioceptive predictions. key difference between these accounts that predictions are sensitive to the current context, whereas copy not. Using functional electric stimulation experimentally manipulate...
Computer-aided surgery systems provide visual guidance to surgeons by showing the real-time pose of surgical instruments overlaid on preoperative medical images patient. Surgical instrument poses are localized in space using mainly optical tracking (OTS) and electromagnetic (EMTS). OTS require clear line-of-sight, which is difficult ensure current overcrowded operating rooms. On other hand, EMTSs less accuracy suffer from magnetic field distortion presence metal objects. In this paper, we...