A5057697306- Teleoperation and Haptic Systems
- Virtual Reality Applications and Impacts
- Tactile and Sensory Interactions
- Robot Manipulation and Learning
- Stroke Rehabilitation and Recovery
- Muscle activation and electromyography studies
- Augmented Reality Applications
- Prosthetics and Rehabilitation Robotics
- EEG and Brain-Computer Interfaces
- Motor Control and Adaptation
- Robotic Mechanisms and Dynamics
- 3D Surveying and Cultural Heritage
- Soft Robotics and Applications
- Computer Graphics and Visualization Techniques
- Human Motion and Animation
- Advanced Sensor and Energy Harvesting Materials
- Interactive and Immersive Displays
- Hand Gesture Recognition Systems
- Botulinum Toxin and Related Neurological Disorders
- Museums and Cultural Heritage
- Robotics and Automated Systems
- Modular Robots and Swarm Intelligence
- Gaze Tracking and Assistive Technology
- Advanced Vision and Imaging
- Action Observation and Synchronization
Scuola Superiore Sant'Anna
2015-2024
Excelia Business School
2018
University of Milano-Bicocca
2018
University of Technology Sydney
2015
University of Modena and Reggio Emilia
2014
University of Pavia
2014
University of Udine
2013
Piaggio Aerospace (Italy)
2003-2012
Politecnico di Milano
2010-2012
Piaggio (Italy)
1989-2011
Our body schema gives the subjective impression of being highly stable. However, a number easily-evoked illusions illustrate its remarkable malleability. In rubber-hand illusion, illusory ownership is evoked by synchronous visual and tactile stimulation on visible rubber arm hidden real arm. Ownership concurrent with proprioceptive illusion displacement position towards fake We have previously shown that this plus also occurs virtual 3D projection an when appropriate visuotactile provided....
This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed was designed with two distinctive features: (a) kinematics intrinsic adaptability to patient's size, and (b) free-palm free-fingertip design, preserving the residual sensory perceptual capability touch during assistance real objects. In envisaged training strategy, non paretic acted as guidance tasks. Grasping force exerted by estimated real-time from...
The paper presents the mechanical design of L-EXOS, a new exoskeleton for human arm. is tendon driven wearable haptic interface with 5 dof 4 actuated ones, and characterized by workspace very close to one has been optimized obtain solution reduced mass high stiffness, employing special components carbon fiber structural parts. devised effective simulating touch hand large objects or manipulation within whole main features first prototype that developed at PERCRO are presented, together an...
This paper proposes a new multimodal architecture for gaze-independent brain-computer interface (BCI)-driven control of robotic upper limb exoskeleton stroke rehabilitation to provide active assistance in the execution reaching tasks real setting scenario. At level action plan, patient's intention is decoded by means an vision system, through combination Kinect-based which can online robustly identify and track 3-D objects, eye-tracking system objects selection. generation, BCI used move...
The control of exploratory and manipulative procedures in teleoperation virtual environments requires the availability adequate advanced interfaces capable not only recording movements human hands arms, but also replicating sensations contact collisions. In this paper problem external forces acting against remote/virtual arm is addressed. design an exoskeleton system developed authors' laboratory presented. consists a 7 DOF actuated sensorized mechanical structure wrapping up completely...
Several studies demonstrate the importance of an early, constant and intensive rehabilitation following cerebral accidents. This kind therapy is expensive procedure in terms human resources time, increase both life expectance world population incidence stroke making administration such therapies more important. The development new robotic devices for can help to reduce this cost lead effective therapeutic procedures. In paper we present exoskeleton robotic-assisted upper limb. article...
This study, conducted in a group of nine chronic patients with right-side hemiparesis after stroke, investigated the effects robotic-assisted rehabilitation training an upper limb robotic exoskeleton for restoration motor function spatial reaching movements. The assisted was administered period 6 weeks including and antigravity To assess carry-over observed improvements movement during into improved function, kinesiologic assessment performed by means motion dynamic electromyographic...
Exoskeletons for lower and upper extremities have been introduced in neurorehabilitation because they can guide the patient's limb following its anatomy, covering many degrees of freedom most natural workspace, allowing control articular joints. The aims this study were to evaluate possible use a novel exoskeleton, Arm Light Exoskeleton (ALEx), robot-aided investigate effects some rehabilitative strategies adopted robot-assisted training. We studied movement execution muscle activities 16...
This paper deals with the mechanical design of a novel haptic hand exoskeleton (HE) that allows exerting controlled forces on fingertip index and thumb operator. The proposed device includes several solutions for optimizing accuracy performances. Remote centers motion mechanisms have been adopted delocalizing encumbrance linkages structure away from operator's fingers. An improved stiffness transmission reduced requirements actuators achieved thanks to patent pending principle integrating...
This paper presents the design and clinical validation of an upper‐limb force‐feedback exoskeleton, L‐EXOS, for robotic‐assisted rehabilitation in virtual reality (VR). The L‐EXOS is a five degrees freedom exoskeleton with wearable structure anthropomorphic workspace that can cover full range motion human arm. A specific VR application focused on reaching task was developed evaluated group eight post‐stroke patients, to assess efficacy system upper limb. evaluation showed significant...
This article introduces and describes an electrically powered full-body (FB) exoskeleton, called the body extender (BE), intended as a research platform for study of transport handling heavy loads up to 50 kg, with one hand at worst-load conditions (WLCs). The machine features 22-degrees-of-freedom (DoF) quasi-anthropomorphic kinematic scheme modular hardware/software architecture that made it possible manage complexity system design. Besides providing context some general guidelines, which...
The PERCRO laboratory of Scuola Superiore Sant'Anna has recently completed the development and functional assessment Body Extender (BE) system, an advanced wearable robot expressly conceived for augmenting human strength handling heavy materials in unstructured environment. system is composed by four robotic limbs with anthropomorphic kinematics a total 22 independently actuated degrees freedom. leg locomotion force servo-amplification allow operations environments that are hardly accessible...
This paper presents a novel haptic device providing both kinesthetic and cutaneous cues informative of shape geometry at the contact point. The system is composed supporting interface an innovative fingertip display that can instantaneously orient small plate along tangent plane point with virtual bring it in fingertip. We show how this local augmentation displayed information improve human performance exploration, by assessing perception thresholds curvature discrimination. When feedback...
The Beaming project recreates, virtually, a real environment; using immersive VR, remote participants can visit the virtual model and interact with people in environment. environment doesn't need extensive equipment be space such as an office or meeting room, domestic environment, social space.
In this paper we propose a full upper limb exoskeleton for motor rehabilitation of reaching, grasping and releasing in post-stroke patients. The presented system takes into account the hand pre-shaping object affordability it is driven by patient's intentional control through self-paced asynchronous Motor Imagery based Brain Computer Interface (MI-BCI). developed antropomorphic eight DoFs (two hand, two wrist four arm) allows support manipulation activity at level single joint. study, show...
The development of technological applications that allow people to control and embody external devices within social interaction settings represents a major goal for current future brain-computer interface (BCI) systems. Prior research has suggested embodied systems may ameliorate BCI end-user's experience accuracy in controlling devices. Along these lines, we developed an immersive P300-based application with head-mounted display virtual-local robotic-remote interactions explored group...
This paper presents models and algorithms that can be used to simulate contact between one or more fingertips a virtual object. First, the various for rotational friction obtained from in-vivo fingertip previously proposed in robotics biomechanics community. Then describes two sets of experiments were performed on order understand which presented fits best with real properties human fingertips. Finally an extension god object/proxy algorithm allows simulation soft finger contact, i.e....