A5030883123- Prosthetics and Rehabilitation Robotics
- Stroke Rehabilitation and Recovery
- Muscle activation and electromyography studies
- Balance, Gait, and Falls Prevention
- Cerebral Palsy and Movement Disorders
- Robotic Locomotion and Control
- Robot Manipulation and Learning
- Biomimetic flight and propulsion mechanisms
- Soft Robotics and Applications
- Robotic Mechanisms and Dynamics
- Effects of Vibration on Health
- Neuroscience and Neural Engineering
- Peripheral Artery Disease Management
- Musculoskeletal pain and rehabilitation
- Advanced Data Processing Techniques
- Engine and Fuel Emissions
- Injury Epidemiology and Prevention
- Wireless Sensor Networks for Data Analysis
- Design Education and Practice
- Teleoperation and Haptic Systems
- Trauma and Emergency Care Studies
- Diabetic Foot Ulcer Assessment and Management
- EEG and Brain-Computer Interfaces
- Gaze Tracking and Assistive Technology
- Hydraulic and Pneumatic Systems
Italian Institute of Technology
2009-2022
Istituto Nazionale per l'Assicurazione Contro gli Infortuni sul Lavoro
2018
King's College School
2009-2010
King's College London
2008-2009
University College London
2008
Polytechnic University of Turin
2007
A prosthetic hand with human-like grasping behavior outperforms what is required in the execution of activities daily living.
This paper presents the control architecture and experimental results of high-performance Ankle Rehabilitation roBOT, ARBOT. The goal this study is to design suitable algorithms for assisted training rehabilitation ankle joint in presence musculoskeletal injuries. A position scheme used patient-passive exercises, while an admittance technique employed perform patient-active exercises with without motion assistance. selection are based on analysis protocol taking into account dynamics system...
In this paper we present a redundantly actuated parallel mechanism for ankle rehabilitation. The proposed device has the advantage of mechanical and kinematic simplicity when compared with state-of-the-art multi-degree-of-freedom prototypes while at same time it is fully capable carrying out exercises required by rehabilitation protocols. Optimization workspace, dexterity, torque output size was carried during design phase device. development system involved realization new customized linear...
The "iCub "is a robotic platform that was developed by the RobotCub [1] consortium to provide cognition research community with an open "child-like "humanoid for understanding and development of cognitive systems [1]. In this paper we present mechanical realization lower body "cCub robot, derivative original "iCub", which has passive compliance in major joints legs. It is hypothesized will give robot high versatility cope unpredictable disturbance ranging from small uneven terrain variations...
This paper investigates the behavior of a type parallel mechanisms with central strut. The mechanism is lower mobility, redundantly actuated, and used for sprained ankle rehabilitation. Singularity dexterity are investigated this based on Jacobian matrix in terms rank deficiency condition number, throughout workspace. nonredundant cases three two limbs compared actuated case limbs. analysis demonstrates advantage introducing actuation redundancy to eliminate singularities improve justifies...
Stroke survivors show greater postural oscillations and altered muscular activation compared to healthy control. This results in difficulties walking standing, an increased risk of falls. A proper control the trunk is related a stable walk lower falling risk; this extent, rehabilitative protocols are currently working on core stability. The main objective work was evaluate effectiveness balance training performed with hunova, new robotic device designed for evaluation stability, improving...
This paper presents the mechanical design of an ankle rehabilitation robotic device based on a 2-dof, redundantly actuated parallel mechanism. The mechanism introduced in this has advantage and kinematic simplicity when compared to existing platforms while at same time it is fully capable carrying out all exercises required by protocols. proposed makes use actuation redundancy eliminate singularity greatly improve workspace dexterity. In addition, requirements for high torque capacity...
In this paper, a knee exoskeleton device and its Tele-Impedance based assistive control scheme is presented. The an inherently compliant actuated system that was implemented on the series elastic actuation (SEA) to provide improved intrinsically soft interaction behaviour. Details of design are A detailed musculoskeletal model developed experimentally identified in order map electromyographic signals antagonistic muscle torques, acting human joint. estimated torques used determine user's...
This article describes the motivation behind and technical aspects at basis of development innovative rehabilitation robot hunova®. The paper in detail hardware software design system summarizes clinical studies carried out to validate technology.
Background Falls in the elderly are a major public health concern because of their high incidence, involvement many risk factors, considerable post-fall morbidity and mortality, health-related social costs. Given that falls preventable, early identification older adults at falling is crucial order to develop tailored interventions prevent such falls. To date, however, fall-risk assessment tools currently used have not shown sufficiently predictive validity distinguish between subjects low...
For decades, powered exoskeletons have been considered for possible employment in rehabilitation and personal use. Yet, these devices are still far from addressing the needs of users. Here, we introduce TWIN, a novel modular lower limb exoskeleton use spinal-cord injury (SCI) subjects. This system was designed according to set user requirements (lightweight autonomous portability, quick donning setup, stability when standing/walking, cost effectiveness, long battery life, comfort, safety)...
This paper presents the control architecture and preliminary experimental results of a high performance parallel robot used for ankle rehabilitation. The goal this work was to design suitable algorithms diagnostic, training rehabilitation in presence musculoskeletal injuries. A position scheme is patient-passive exercises while an admittance technique perform patient-active with without motion assistance. based on analysis protocol taking into account dynamics system interaction between...
Impedance control, as method to improve the interaction ability of robotic systems, has gained great attention by community and a large number different implementations have been reported in literature. Most are based on an outer impedance loop nested inner loops. In this paper, various active Control (IC) schemes designed, analyzed tested control loops, namely velocity, position torque. IC link motor side considered. Stability, passivity, safety performance presented. All evaluated 1-dof...
This paper is aimed at describing a technique to compensate undesired yaw moment, which inevitably induced about the support foot during single phases while bipedal robot in motion. The main strategy this method rotate upper body way exert secondary moment that counteracts factors create moment. In order compute by considering all factors, we utilized Eulerian ZMP Resolution, as it capable of characterizing robot's rotational inertia, crucial component its dynamics. doing so, intrinsic...
The paper introduces the control of a redundantly actuated parallel mechanism for ankle rehabilitation which is based on online inverse kinematics calculation to generate required actuating parameters and achieve dynamic response. geometry described design are investigated in analysis singularity dexterity. model developed tuning gains performed by analysing level actuation conflict tracking error that have been minimized varying controller parameters. further examines evaluates its...
It is known that bipedal robots with passive compliant structures have obvious advantages over stiff robots, as they are able to handle the potential energy management. Therefore, this paper aimed at presenting a jumping pattern generation method takes advantage of property via utilization base resonance frequency, which special importance. To begin with, frequency determined through system identification procedure on our actual robot. Consequentially, vertical component CoM generated...
This paper describes a novel technique to analytically generate feasible hopping trajectories that can be applied passively compliant bipedal humanoid robots. The proposed method is based on exploiting the inherent passive compliance through reduced model, while dynamic balance maintained via zero moment point (ZMP) criterion. To begin with, computational resonance frequency analysis and system identification routine are performed for actual robot so as determine base frequency, which of...
Postural responses to unstable conditions or perturbations are important predictors of the risk falling and can reveal balance deficits in people with neurological disorders, such as Parkinson's Disease (PD). However, there is a lack evidences related devices protocols providing comprehensive quantitative evaluation postural different stability conditions. We tested ten PD controls on robotic platform capable provide mechanical interactions measure center pressure displacement, while trunk...
This paper presents the design of an admittance-based assistive controller and preliminary experimental results for a high performance parallel robot used ankle rehabilitation. The goal this work was to suitable control algorithm diagnosis, training rehabilitation in presence musculoskeletal injuries. An admittance technique is perform patient-active exercises with without motion assistance. Electromyographic (EMG) signals are evaluate patient's effort during training/exercising. indicate...
This paper presents the geometry and kinematic analysis of a parallel manipulator developed for ankle rehabilitation, as beginning control system design process. First mechanism is described, secondly equations inverse forward kinematics are obtained, then analyzed in order to define all possible configurations moving platform. Finally Jacobian matrix rig obtained by differentiating position singularities investigated, comparing non-redundant redundant type mechanism.