A5025015594- Muscle activation and electromyography studies
- Stroke Rehabilitation and Recovery
- Shoulder Injury and Treatment
- Robotic Locomotion and Control
- Prosthetics and Rehabilitation Robotics
- Robotic Path Planning Algorithms
- Musculoskeletal pain and rehabilitation
- Robotic Mechanisms and Dynamics
- Motor Control and Adaptation
- Tactile and Sensory Interactions
- Sensor Technology and Measurement Systems
- Soil Mechanics and Vehicle Dynamics
- Soft Robotics and Applications
- Advanced Sensor and Energy Harvesting Materials
- Control and Dynamics of Mobile Robots
Delft University of Technology
2022-2024
Italian Institute of Technology
2023
Politecnico di Milano
2021
The complexity of the human shoulder girdle enables large mobility upper extremity, but also introduces instability glenohumeral (GH) joint. Shoulder movements are generated by coordinating superficial and deeper stabilizing muscles spanning numerous degrees-of-freedom. How coordinated to stabilize movement GH joint remains widely unknown. Musculoskeletal simulations powerful tools gain insights into actions individual particularly those that difficult measure. In this study, we analyze how...
While shoulder injuries resulting from the bench press exercise are commonly reported, no biomechanical evidence for lowering injury risk is currently available. Therefore, aim of present study was to compare musculoskeletal loads and potential during several variations. Ten experienced strength athletes performed 21 technical variations barbell press, including in grip width 1,1.5 2 bi-acromial widths (BAW), abduction angles 45°, 70° 90°, scapula poses neutral, retracted, released...
In this work, we propose a method for monitoring and managing rotator-cuff (RC) tendon strains in human-robot collaborative physical therapy shoulder rehabilitation. We integrate high-resolution biomechanical model with industrial robot arm an impedance controller to provide feedback human subject, therapist or both, which prevents the subject from entering unsafe poses during The estimates RC strain as function of configuration, muscle activation applied external forces. Subject-...
This paper presents a trajectory optimization approach to the motion generation problem of hybrid locomotion strategies for wheeled-legged quadrupedal robot with steerable wheels. To this end, traditional Single Rigid Body Dynamics has been employed and extended by adding unicycle model each leg, conveniently incorporating nonholonomic rolling constraints. The proposed can generate as well pure driving legged minimum effort user. effectiveness experimentally validated on humanoid quadruped...
Robotic devices hold promise for aiding patients in orthopedic rehabilitation. However, current robotic-assisted physiotherapy methods struggle including biomechanical metrics their control algorithms, crucial safe and effective therapy. This paper introduces BATON, a Biomechanics-Aware Trajectory Optimization approach to robotic Navigation of human musculoskeletal loads. The method integrates high-fidelity model the shoulder into real-time robot-patient interaction during rotator cuff...
This paper proposes a novel method to reliably calibrate pair of sensorized insoles utilizing an array capacitive tactile pixels (taxels). A new calibration setup is introduced that scalable and suitable for multiple kinds wearable sensors procedure the simultaneous each in presented. The relies on two-step optimization algorithm that, firstly, enables determination relevant set mathematical models based instantaneous measurement taxels alone, and, then, expands these include portion time...
Abstract The complexity of the human shoulder girdle enables large mobility upper extremity, but also introduces instability glenohumeral (GH) joint. Shoulder movements are generated by coordinating superficial and deeper stabilizing muscles spanning numerous degrees-of-freedom. How coordinated to stabilize movement GH joint remains widely unknown. Musculoskeletal simulations powerful tools gain insights into actions individual particularly those that difficult measure. In this study, we...
In this research, we propose a novel method to estimate and monitor rotator cuff tendon strains during active robotic-assisted rehabilitation. This is significant step forward from our previous work which estimated these passive exercises (i.e., no muscle activity). Physiotherapists adopt cautious approach rehabilitation treatment prevent (re-) injury given the limited available information about shoulder's internal condition. By leveraging robotic device musculoskeletal model, provides...
Hybrid wheeled-legged locomotion is a navigation paradigm only recently opened up by novel robotic designs,e.g. the centaur-type humanoid CENTAURO [1] or quadruped ANYmal [2] in its configuration featuring non-steerable wheels. The term Locomotion hereafter used to indicate particular type of locomotion, achieved with simultaneous and coordinate use legs wheels,see Fig. 1. Such choice stems at intersection between legged simpler wheeled navigation, order get best from both techniques:...