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AN AUGMENTED REALITY PLATFORM FOR REAL-TIME ERGONOMIC ASSESSMENT AND BIOMECHANICAL SIMULATION

AN AUGMENTED REALITY PLATFORM FOR REAL-TIME ERGONOMIC ASSESS...

ASME 2024 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC-CIE 2024

作者： Vitali, Andrea Lanzoni, Daniel Ferrari, Davide Regazzoni, Daniele Catalano, Manuel G. Rizzi, Caterina University of Bergamo Bergamo Italy Soft Robotics for Human Cooperation and Rehabilitation Italian Institution of Technology Genova Italy

ISBN: (纸本)9780791888353

Despite the existence of numerous innovative solutions aimed at enhancing the objectivity and efficiency of physical ergonomics analysis, traditional methods are still widely used among ergonomists, relying on direct observation of workers and their task performances. This research addresses this gap by introducing AR4Ergo, an Augmented Reality platform specifically designed to assist ergonomists by computing real-time standard indexes and simulating musculoskeletal loads using biomechanical virtual models. Xsens inertial motion capture system is employed to monitor human movements, while the OpenSim Application Programming Interface has been integrated into AR4Ergo for the simulation of musculoskeletal loads. Microsoft Hololens v2 is used to visualize human and workplace digital twins with information relative to ergonomic indexes and biomechanical simulations during the observation of the tasks performed by workers. A test was conducted to evaluate the functionalities of the platform, with three testers taking turns performing the roles of both the ergonomists and the operators. The results demonstrate how real-time analysis with a visual interface can be performed to augment ergonomists’ experience without modifying the basic observational procedure. Even if the feedback is positive, some improvements have been identified in order to allow the ergonomist to use AR4Ergo in daily practice for different industrial applications. Copyright © 2024 by ASME.

关键词： Ergonomics

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On the Relation of Skin Stretch and Finger Joint Angle Evolution in human Hand Grasping Tasks 14th

On the Relation of Skin Stretch and Finger Joint Angle Ev...

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14th International Conference on human Haptic Sensing and Touch Enabled Computer Applications, EuroHaptics 2024

作者： Fontana, Eleonora Catrambone, Vincenzo Catalano, Manuel Bicchi, Antonio Bianchi, Matteo Department of Information Engineering and Centro di Ricerca "Enrico Piaggio" University of Pisa Pisa Italy Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genoa Italy

ISBN: (纸本)9783031700606

In the human body, skin stretch is intrinsically related to motion execution, providing important proprioceptive cues for movement perception and control, as is the case of human hands and fingers. However, as of today, a quantification of the amount of skin stretch across multiple hand joints notably lacks. In this study, we aim at bridging this research gap, quantifying skin stretch on the dorsal part of hand fingers, and more specifically across Proximal InterPhalangeal (PIP) and MetaCarpal (MCP) joints. We correlated the estimated skin stretch with human hand kinematics, in grasping tasks with several items. Twelve able-bodied participants were required to grasp twenty objects. We used an RGB-D camera for reconstructing hand kinematics (more specifically PIP and MCP values), while optical markers were placed on the hand dorsum to estimate skin displacement across joints. We characterized the relationship between joint angles and the corresponding skin stretch estimation over time using a linear regression analysis, with no statistically significant differences between participants and objects. The experimental data we collected are publicly available at this link [1]. This research sheds light on the intricate interplay between skin stretch and hand/finger movements. These outcomes can pave the path to the design of non-invasive skin stretch-based feedback devices for accurately conveying hand proprioceptive cues, with interesting implications for rehabilitation and advanced human-machine interaction. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Motion estimation

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Design, Characterization, and Validation of a Variable Stiffness Prosthetic Elbow

arXiv

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arXiv 2024年

作者： Milazzo, Giuseppe Lemerle, Simon Grioli, Giorgio Bicchi, Antonio Catalano, Manuel G. Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova16163 Italy Research Center "Enrico Piaggio" Department of Information Engineering University of Pisa Pisa56126 Italy

Intuitively, prostheses with user-controllable stiffness could mimic the intrinsic behavior of the human musculoskeletal system, promoting safe and natural interactions and task adaptability in real-world scenarios. However, prosthetic design often disregards compliance because of the additional complexity, weight, and needed control channels. This paper focuses on designing a Variable Stiffness Actuator (VSA) with weight, size, and performance compatible with prosthetic applications, addressing its implementation for the elbow joint. While a direct biomimetic approach suggests adopting an Agonist-Antagonist (AA) layout to replicate the biceps and triceps brachii with elastic actuation, this solution is not optimal to accommodate the varied morphologies of residual limbs. Instead, we employed the AA layout to craft an elbow prosthesis fully contained in the user’s forearm, catering to individuals with distal transhumeral amputations. Additionally, we introduce a variant of this design where the two motors are split in the upper arm and forearm to distribute mass and volume more evenly along the bionic limb, enhancing comfort for patients with more proximal amputation levels. We characterize and validate our approach, demonstrating that both architectures meet the target requirements for an elbow prosthesis. The system attains the desired 120° range of motion, achieves the target stiffness range of [2, 60] Nm/rad, and can actively lift up to 3 kg. Our novel design reduces weight by up to 50% compared to existing VSAs for elbow prostheses while achieving performance comparable to the state of the art. Case studies suggest that passive and variable compliance could enable robust and safe interactions and task adaptability in the real world. © 2024, CC BY.

关键词： Machine design

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A General Control Method for human-Robot Integration

arXiv

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arXiv 2024年

作者： Feder, Maddalena Grioli, Giorgio Catalano, Manuel G. Bicchi, Antonio Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova16163 Italy Department of Information Engineering Centro di Ricerca "Enrico Piaggio" University of Pisa Pisa56122 Italy

This paper introduces a new generalized control method designed for multi-degrees-of-freedom devices to help people with limited motion capabilities in their daily activities. The challenge lies in finding the most adapted strategy for the control interface to effectively map user’s motions in a low-dimensional space to complex robotic assistive devices, such as prostheses, supernumerary limbs, up to remote robotic avatars. The goal is a system which integrates the human and the robotic parts into a unique system, moving so as to reach the targets decided by the human while autonomously reducing the user’s effort and discomfort. We present a framework to control general multi DoFs assistive systems, which translates user-performed compensatory motions into the necessary robot commands for reaching targets while canceling or reducing compensation. The framework extends to prostheses of any number of DoF up to full robotic avatars, regarded here as a sort of "whole-body prosthesis" of the person who sees the robot as an artificial extension of their own body without a physical link but with a sensory-motor integration. We have validated and applied this control strategy through tests encompassing simulated scenarios and real-world trials involving a virtual twin of the robotic parts (prosthesis and robot) and a physical humanoid *** Codes robotics (***) © 2024, CC BY-NC-ND.

关键词： Degrees of freedom (mechanics)

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Investigating the Performance of soft Robotic Adaptive Feet with Longitudinal and Transverse Arches

arXiv

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arXiv 2024年

作者： Pace, Anna Grioli, Giorgio Ghezzi, Alice Bicchi, Antonio Catalano, Manuel G. Soft Robotics for Human Cooperation and Rehabilitation Lab Fondazione Istituto Italiano di Tecnologia Genoa Italy Department of Information Engineering University of Pisa Pisa Italy Research center "E. Piaggio" University of Pisa Pisa Italy

Biped robots usually adopt feet with a rigid structure that simplifies walking on flat grounds and yet hinders ground adaptation in unstructured environments, thus jeopardizing stability. We recently explored in the softFoot the idea of adapting a robotic foot to ground irregularities along the sagittal plane. Building on the previous results, we propose in this paper a novel robotic foot able to adapt both in the sagittal and frontal planes, similarly to the human foot. It features five parallel modules with intrinsic longitudinal adaptability that can be combined in many possible designs through optional rigid or elastic connections. By following a methodological design approach, we narrow down the design space to five candidate foot designs and implement them on a modular system. Prototypes are tested experimentally via controlled application of force, through a robotic arm, onto a sensorized plate endowed with different obstacles. Their performance is compared, using also a rigid foot and the previous softFoot as a baseline. Analysis of footprint stability shows that the introduction of the transverse arch, by elastically connecting the five parallel modules, is advantageous for obstacle negotiation, especially when obstacles are located under the forefoot. In addition to biped robots' locomotion, this finding might also benefit lower-limb prostheses design. © 2024, CC BY-NC-ND.

关键词： Arches

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Modeling and Control of a Novel Variable Stiffness Three DoFs Wrist

arXiv

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arXiv 2023年

作者： Milazzo, Giuseppe Catalano, Manuel Giuseppe Bicchi, Antonio Grioli, Giorgio Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova Italy Centro di Ricerca Enrico Piaggio Università di Pisa Pisa Italy

This study introduces an innovative design for a Variable Stiffness 3 Degrees of Freedom actuated wrist capable of actively and continuously adjusting its overall stiffness by modulating the active length of non-linear elastic elements. This modulation is akin to human muscular cocontraction and is achieved using only four motors. The mechanical configuration employed results in a compact and lightweight device with anthropomorphic characteristics, making it potentially suitable for applications such as prosthetics and humanoid robotics. This design aims to enhance performance in dynamic tasks, improve task adaptability, and ensure safety during interactions with both people and objects. The paper details the first hardware implementation of the proposed design, providing insights into the theoretical model, mechanical and electronic components, as well as the control architecture. System performance is assessed using a motion capture system. The results demonstrate that the prototype offers a broad range of motion ([55,−45]° for flexion/extension, ±48° for radial/ulnar deviation, and ±180° for pronation/supination) while having the capability to triple its stiffness. Furthermore, following proper calibration, the wrist posture can be reconstructed through multivariate linear regression using rotational encoders and the forward kinematic model. This reconstruction achieves an average Root Mean Square Error of 6.6°, with an R2 value of 0.93. © 2023, CC BY-NC-ND.

关键词： Prosthetics

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Prosthetic Upper-Limb Sensory Enhancement (PULSE): a Dual Haptic Feedback Device in a Prosthetic Socket

Prosthetic Upper-Limb Sensory Enhancement (PULSE): a Dual Ha...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Alessia Silvia Ivani Federica Barontini Manuel G. Catalano Giorgio Grioli Matteo Bianchi Antonio Bicchi Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova Italy Centro di Ricerca E. Piaggio University of Pisa Pisa Italy Department of Information Engineering University of Pisa Pisa Italy

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

This study presents the Prosthetic Upper-Limb Sensory Enhancement (PULSE), a novel dual feedback device completely integrated into a prosthetic socket. The core of the system includes two compact vibrotactile actuators and two silicone chambers in contact with the user’s skin. These components provide high-frequency tactile cues for initial contact and surface information (e.g. texture) as well as pressure stimuli related to grasping force. Ten able-bodied participants and one subject with limb loss validated the system, accomplishing an object discrimination task in two different modalities (with and without the feedback). Standardized questionnaires evaluate users’ satisfaction and workload, enabling a systematic and robust device assessment. The results show that the PULSE device enhanced performance compared to its absence without causing discomfort for a prosthetic user and able-bodied participants. The findings highlight the potential of dual haptic feedback to enhance sensory perception in prosthetic applications and offer valuable insights for future prosthetic design.

关键词： Systematics Sockets Force Robot sensing systems Skin Surface texture Task analysis

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On The Evaluation of Collision Probability along a Path

arXiv

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arXiv 2023年

作者： Paiola, Lorenzo Grioli, Giorgio Bicchi, Antonio Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova16163 Italy Department of Information Engineering Centro di Ricerca Enrico Piaggio University of Pisa Pisa56122 Italy

Characterizing the risk of operations is a fundamental requirement in robotics, and a crucial ingredient of safe planning. The problem is multifaceted, with multiple definitions arising in the vast recent literature fitting different application scenarios and leading to different computational approaches. A basic element shared by most frameworks is the definition and evaluation of the probability of collision for a mobile object in an environment with obstacles. We observe that, even in basic cases, different interpretations are possible. This paper proposes an index we call "Risk Density", which offers a theoretical link between conceptually distant assumptions about the interplay of single collision events along a continuous path. We show how this index can be used to approximate the collision probability in the case where the robot evolves along a nominal continuous curve from random initial conditions. Indeed, under this hypothesis the proposed approximation outperforms some well-established methods either in accuracy or computational cost. © 2023, CC BY.

关键词： Risk perception

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Characterization, Experimental Validation and Pilot User Study of the Vibro-Inertial Bionic Enhancement System (VIBES)

arXiv

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arXiv 2024年

作者： Ivani, Alessia Silvia Barontini, Federica Catalano, Manuel G. Grioli, Giorgio Bianchi, Matteo Bicchi, Antonio Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia Genova16163 Italy Centro di ricerca E. Piaggio University of Pisa Pisa56122 Italy Department of Information Engineering University of Pisa Pisa56122 Italy

This study presents the characterization and validation of the VIBES, a wearable vibrotactile device that provides high-frequency tactile information embedded in a prosthetic socket. A psychophysical characterization involving ten able-bodied participants is performed to compute the Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the skin in two forearm positions, with the goal of optimising vibrotactile actuator position to maximise perceptual response. Furthermore, system performance is validated and tested both with ten able-bodied participants and one prosthesis user considering three tasks. More specifically, in the Active Texture Identification, Slippage and Fragile Object Experiments, we investigate if the VIBES could enhance users’ roughness discrimination and manual usability and dexterity. Finally, we test the effect of the vibrotactile system on prosthetic embodiment in a Rubber Hand Illusion (RHI) task. Results show the system’s effectiveness in conveying contact and texture cues, making it a potential tool to restore sensory feedback and enhance the embodiment in prosthetic users. © 2024, CC BY-NC-ND.

关键词： Sensory feedback

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Tactile-Driven Gentle Grasping for human-Robot Collaborative Tasks

Tactile-Driven Gentle Grasping for Human-Robot Collaborative...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Christopher J. Ford Haoran Li John Lloyd Manuel G. Catalano Matteo Bianchi Efi Psomopoulou Nathan F. Lepora Department of Engineering Mathematics and Bristol Robotics Laboratory University of Bristol UK the Department of Soft Robotics for Human Cooperation and Rehabilitation Istituto Italiano di Tecnologia (IIT) Italy the Department of Information Engineering Research Center “E. Piaggio” University of Pisa Italy

This paper presents a control scheme for force sensitive, gentle grasping with a Pisa/IIT anthropomorphic softHand equipped with a miniaturised version of the TacTip optical tactile sensor on all five fingertips. The tactile sensors provide high-resolution information about a grasp and how the fingers interact with held objects. We first describe a series of hardware developments for performing asynchronous sensor data acquisition and processing, resulting in a fast control loop sufficient for real-time grasp control. We then develop a novel grasp controller that uses tactile feedback from all five fingertip sensors simultaneously to gently and stably grasp 43 objects of varying geometry and stiffness, which is then applied to a human-to-robot handover task. These developments open the door to more advanced manipulation with underactuated hands via fast reflexive control using high-resolution tactile sensing.

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