A5073326156- Muscle activation and electromyography studies
- Prosthetics and Rehabilitation Robotics
- Stroke Rehabilitation and Recovery
- Teleoperation and Haptic Systems
- Tactile and Sensory Interactions
- Advanced Sensor and Energy Harvesting Materials
- Soft Robotics and Applications
- Railway Engineering and Dynamics
- Electrical Contact Performance and Analysis
- Spinal Cord Injury Research
- Botulinum Toxin and Related Neurological Disorders
- Robotic Path Planning Algorithms
- Virtual Reality Applications and Impacts
- Copper Interconnects and Reliability
- Semiconductor materials and devices
- Robotics and Sensor-Based Localization
- Motor Control and Adaptation
- Mechanics and Biomechanics Studies
- Robotics and Automated Systems
- Robot Manipulation and Learning
- Face and Expression Recognition
- Interactive and Immersive Displays
- Distributed Control Multi-Agent Systems
- Railway Systems and Energy Efficiency
- Elevator Systems and Control
Scuola Superiore Sant'Anna
2016-2024
Institute of Electrical and Electronics Engineers
2019-2021
Gorgias Press (United States)
2019-2021
Stevens Institute of Technology
2021
Vrije Universiteit Brussel
2019
Polytechnic University of Bari
2014
KU Leuven
2004
IMEC
2004
Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance people with motor impairments. Understanding how these devices affect the physiology mechanics human movements is fundamental quantifying their benefits drawbacks, assessing suitability different applications guiding continuous design refinement. We present novel exosuit...
The use of soft materials to transmit power the human body has numerous advantages, amongst which safety and kinematic transparency stand out. In previous work we showed that a tethered fabric-based exosuit for elbow joint, driven by an electric motor through Bowden cable transmission, reduces muscular effort associated with flexion movements working in parallel its wearer's muscles. We herein propose refined design suit present untethered control architecture gravity compensation...
Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate places too dangerous humans and therefore assist accomplishing hazardous tasks while their human operators work at a safe distance. We developed system that consists the highly flexible Centauro robot suitable control interfaces, including an immersive telepresence suit support-operator controls offering different levels autonomy.
Ultraviolet type-C irradiation (UV-C) is an effective no-contact disinfection procedure for surfaces and environments to reduce the spread of severe acute respiratory syndrome coron avirus 2 (SARS-CoV-2), virus that causes COVID-19. This work evaluates effect adoption mobile robots UV-C irradiation, compared conventional methods based on static lamps. On-field evaluation was conducted measure energy dose delivered by a robot-based moving source radiation at different locations in indoor...
The intention-detection strategy used to drive an exosuit is fundamental evaluate the effectiveness and acceptability of device. Yet, current literature on wearable soft robotics lacks evidence comparative performance different control approaches for online intention-detection. In present work, we compare two complementary controllers a robotic suit, previously formulated tested by our group; model-based myoelectric ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML"...
Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in industrial field, where use more symbiotic wearable robots can avoid excessive worker fatigue improve quality work. One challenges design soft is choice right amount softness to balance load transfer, ergonomics, weight. This article presents cable-driven based wrist exosuit flexion with an ergonomic reinforced glove. The flexible highly compliant three-dimensional (3D)-printed plastic...
In this paper, we present a prototype of an innovative portable shoulder exoskeleton for human assistance and augmentation. The device provides torques to flexion/extension movements the shoulder, compensating gravitational forces, is passively compliant along remaining degrees freedom letting moving them. novelty our system flexible link, made hyper-redundant passive structure, that avoids joint misalignment by adapting complex humerus head, similarly soft component. link rotations around...
Abstract This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies hand support large variety grasps with single actuator. lightweight, easy don, generates sufficient closing force assist activities daily living. Device efficiency was examined through characterization power transmission elements,...
In this paper, we present a mechanical hand-tracking system with tactile feedback designed for fine manipulation in teleoperation scenarios. Alternative tracking methods based on artificial vision and data gloves have become an asset virtual reality interaction. Yet, occlusions, lack of precision, the absence effective haptic beyond vibrotactile still appear as limit applications. work, propose methodology to design linkage mechanism hand pose purposes, preserving complete finger mobility....
Rehabilitation in virtual reality offers advantages terms of flexibility and parametrization exercises, repeatability, continuous data recording analysis the progress patient, also promoting high engagement cognitive challenges. Still, most proposed settings provide a quality, immersive visual audio feedback, without involving sense touch. In this paper, we show design, implementation, first evaluation gaming scenario for upper limb rehabilitation children with cerebral palsy. particular,...
We present a novel soft exoskeleton providing active support for hand closing and opening. The main novelty is different tendon routing, folded laterally on both sides of the hand, adding clenching forces when activated. It improves stability glove, diminishing slippage detachment tendons from palm toward grasping workspace. effect released relaxed, thus enhancing user's comfort. alternative routing allowed embedding single actuator dorsum, resulting more compact with no remote cable...
This work presents the design of Rehab-Exos, a novel upper limb exoskeleton designed for rehabilitation purposes. It is equipped with high-reduction-ratio actuators and compact elastic joints to obtain torque sensors based on strain gauges. In this study, we address sensor performances aspects that could cause unwanted non-axial moment load crosstalk. Moreover, new full-state feedback controller by modeling multi-DOF, non-linear system dynamics providing compensation effects such as friction...
Summary It is well known that the sense of presence in a tele-robot system for both home-based tele-rehabilitation and rescue operations enhanced by haptic feedback. Beyond several advantages, communication delay feedback can lead to an unstable teleoperation system. During last decades, control techniques have been proposed ensure good trade-off between transparency stability bilateral systems under time delays. These approaches extensively tested with based on identical master slave robots...
The cognitive human-robot interaction between an exosuit and its wearer plays a key role in determining both the biomechanical effects of device on movements perceived effectiveness. There is lack evidence, however, comparative performance different control methods, implemented same device. Here, we compare two approaches robotic suit: model-based myoelectric (myoprocessor), which estimates joint torque from activation target muscles, dynamic-based that provides support against gravity using...
In this paper, we present Flexos, a fully portable shoulder exoskeleton developed for logistic and industrial tasks. The device presents simplified design with only single, series elastic actuated joint employing an active torque control that assists the user in performing weight-lifting is lightweight can be easily worn as backpack. Ergonomic-shaped human-robot interfaces have been custom designed 3D printed order to achieve maximum comfort wearer. has hyper-redundant kinematic chain -...
The design and control of a new series-viscous-elastic joint are presented. proposed consists 3D printed parts compressing nonlinear elastic silicone springs. use springs is the main novelty system; they exhibit internal damping, which enhances system performance allowing simpler more stable control. Their stiffness allows to bear torque about 4.5 Nm at deformation angle 20 degrees. In this article, modeled using Neo-Hookean material model then characterized through experiments build...
Search and rescue robotics is becoming a relevant topic in the last years growing number of robotic platforms dedicated projects evidence interest this area. In context, possibility to drive remote robot with an exoskeleton promising strategy enhance dexterity, reduce operator effort save time. However, use haptic feedback (bilateral teleoperation) may lead instability presence communication delay more complex case bimanual teleoperation where two arms can exchange energy. work, we present...
Hydraulic and pneumatic actuators in haptics offer the advantage of soft compliant interfaces, with drawback cumbersome driving devices limited modulation capabilities. We propose a miniature hydraulic actuator based on linear electromagnetic motor an embedded ferrofluid sealing. The solution has two main advantages: it shows no static friction due to magnetohydrodynamic levitation effect ferrofluid, output force can be scaled (by varying radius actuator) without introducing noise mechanical...
Manipulation involves both fine tactile feedback, with dynamic transients perceived by fingerpad mechanoreceptors, and kinaesthetic force involving the whole hand musculoskeletal structure. In teleoperation experiments, these fundamental aspects are usually divided between different setups at operator side: those making use of lightweight gloves optical tracking systems, oriented toward tactile-only implementing exoskeletons or grounded manipulators as haptic devices delivering feedback. At...