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VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket

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VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthe...

IEEE International Conference on rehabilitation robotics (ICORR)

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

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user's skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (soft-Hand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants' Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one softHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users' roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish.

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VIBES: Vibro-Inertial Bionic Enhancement System in a Prosthetic Socket

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arXiv 2023年

作者： Ivani, Alessia Silvia Barontini, Federica Catalano, Manuel G. Grioli, Giorgio Bianchi, Matteo Bicchi, Antonio with 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

The use of vibrotactile feedback is of growing interest in the field of prosthetics, but few devices fully integrate this technology in the prosthesis to transmit high-frequency contact information (such as surface roughness and first contact) arising from the interaction of the prosthetic device with external items. This study describes a wearable vibrotactile system for high-frequency tactile information embedded in the prosthetic socket. The device consists of two compact planar vibrotactile actuators in direct contact with the user’s skin to transmit tactile cues. These stimuli are directly related to the acceleration profiles recorded with two IMUS placed on the distal phalanx of a soft under-actuated robotic prosthesis (softHand Pro). We characterized the system from a psychophysical point of view with fifteen able-bodied participants by computing participants’ Just Noticeable Difference (JND) related to the discrimination of vibrotactile cues delivered on the index finger, which are associated with the exploration of different sandpapers. Moreover, we performed a pilot experiment with one softHand Pro prosthesis user by designing a task, i.e. Active Texture Identification, to investigate if our feedback could enhance users’ roughness discrimination. Results indicate that the device can effectively convey contact and texture cues, which users can readily detect and distinguish. © 2023, CC BY-NC-ND.

关键词： Surface roughness

Iterative learning control as a framework for human-inspired control with bio-mimetic actuators 9th

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Iterative learning control as a framework for human-inspired...

9th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2020

作者： Angelini, Franco Bianchi, Matteo Garabini, Manolo Bicchi, Antonio Santina, Cosimo Della Centro di Ricerca "Enrico Piaggio" and DII Universitá di Pisa Pisa Italy Soft Robotics for Human Cooperation and Rehabilitation IIT Genova Italy Institute of Robotics and Mechatronics DLR Oberpfaffenhofen Weßling Germany Department of Informatics Technical University Munich Garching Germany Cognitive Robotics Department Delft University of Technology Delft Netherlands

ISBN: (纸本)9783030643126

The synergy between musculoskeletal and central nervous systems empowers humans to achieve a high level of motor performance, which is still unmatched in bio-inspired robotic systems. Literature already presents a wide range of robots that mimic the human body. However, under a control point of view, substantial advancements are still needed to fully exploit the new possibilities provided by these systems. In this paper, we test experimentally that an Iterative Learning Control algorithm can be used to reproduce functionalities of the human central nervous system - i.e. learning by repetition, after-effect on known trajectories and anticipatory behavior - while controlling a bio-mimetically actuated robotic arm. © Springer Nature Switzerland AG 2020.

关键词： Iterative methods

Tactile Perception in Upper Limb Prostheses: Mechanical Characterization, human Experiments, and Computational Findings

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arXiv 2024年

作者： Ivani, Alessia S. Catalano, Manuel G. Grioli, Giorgio Bianchi, Matteo Visell, Yon 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 Department of Mechanical Engineering and Bioengineering Program University of California Santa Barbara United States

Tactile feedback is essential for upper-limb prostheses functionality and embodiment, yet its practical implementation presents challenges. Users must adapt to non-physiological signals, increasing cognitive load. However, some prosthetic devices transmit tactile information through socket vibrations, even to untrained individuals. Our experiments validated this observation, demonstrating a user's surprising ability to identify contacted fingers with a purely passive, cosmetic hand. Further experiments with advanced soft articulated hands revealed decreased performance in tactile information relayed by socket vibrations as hand complexity increased. To understand the underlying mechanisms, we conducted numerical and mechanical vibration tests on four prostheses of varying complexity. Additionally, a machine-learning classifier identified the contacted finger based on measured socket signals. Quantitative results confirmed that rigid hands facilitated contact discrimination, achieving 83% accuracy in distinguishing index finger contacts from others. While human discrimination decreased with advanced hands, machine learning surpassed human performance. These findings suggest that rigid prostheses provide natural vibration transmission, potentially reducing the need for tactile feedback devices, which advanced hands may require. Nonetheless, the possibility of machine learning algorithms outperforming human discrimination indicates potential to enhance socket vibrations through active sensing and actuation, bridging the gap in vibration-transmitted tactile discrimination between rigid and advanced hands. © 2024, CC BY-NC-ND.

关键词： Knee prostheses

An Experimental Setup to Test Obstacle-Dealing Capabilities of Prosthetic Feet

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An Experimental Setup to Test Obstacle-Dealing Capabilities ...

IEEE International Conference on rehabilitation robotics (ICORR)

作者： Anna Pace Lukas Proksch Giorgio Grioli Oskar C. Aszmann Antonio Bicchi Manuel G. Catalano Soft Robotics for Human Cooperation and Rehabilitation Lab Fondazione Istituto Italiano di Tecnologia Genoa Italy Clinical Laboratory for Bionic Extremity Reconstruction Division of Plastic and Reconstructive Surgery Medical University of Vienna Austria Centro di Ricerca “Enrico Piaggio” University of Pisa Pisa Italy Department of Information Engineering University of Pisa Pisa Italy

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause of instability on uneven grounds. soft robotic feet were recently proposed to tackle that issue; however, they lack consistent experimental validation. Therefore, this paper describes the experimental setup realized to test soft and rigid prosthetic feet with lower-limb prosthetic users. It includes a wooden walkway and differently shaped obstacles. It was preliminary validated with an able-bodied subject, the same subject walking on commercial prostheses through modified walking boots, and with a prosthetic user. They performed walking firstly on even ground, and secondly on even ground stepping on one of the obstacles. Results in terms of vertical ground reaction force and knee moments in both the sagittal and frontal planes show how the poor performance of commonly used prostheses is exacerbated in case of obstacles. The prosthetic user, indeed, noticeably relies on the sound leg to compensate for the stiff and unstable interaction of the prosthetic limb with the obstacle. Therefore, since the limitations of non-adaptive prosthetic feet in obstacle-dealing emerge from the experiments, as expected, this study justifies the use of the setup for investigating the performance of soft feet on uneven grounds and obstacle negotiation.

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An Experimental Setup to Test Obstacle-dealing Capabilities of Prosthetic Feet

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arXiv 2023年

作者： Pace, Anna Proksch, Lukas Grioli, Giorgio Aszmann, Oskar C. Bicchi, Antonio Catalano, Manuel G. The Soft Robotics for Human Cooperation and Rehabilitation Lab Fondazione Istituto Italiano di Tecnologia Genoa16163 Italy The Clinical Laboratory for Bionic Extremity Reconstruction Division of Plastic and Reconstructive Surgery Medical University of Vienna Austria Centro di Ricerca Enrico Piaggio University of Pisa Pisa56122 Italy Department of Information Engineering University of Pisa Pisa56122 Italy

Small obstacles on the ground often lead to a fall when caught with commercial prosthetic feet. Despite some recently developed feet can actively control the ankle angle, for instance over slopes, their flat and rigid sole remains a cause of instability on uneven grounds. soft robotic feet were recently proposed to tackle that issue;however, they lack consistent experimental validation. Therefore, this paper describes the experimental setup realized to test soft and rigid prosthetic feet with lower-limb prosthetic users. It includes a wooden walkway and differently shaped obstacles. It was preliminary validated with an able-bodied subject, the same subject walking on commercial prostheses through modified walking boots, and with a prosthetic user. They performed walking firstly on even ground, and secondly on even ground stepping on one of the obstacles. Results in terms of vertical ground reaction force and knee moments in both the sagittal and frontal planes show how the poor performance of commonly used prostheses is exacerbated in case of obstacles. The prosthetic user, indeed, noticeably relies on the sound leg to compensate for the stiff and unstable interaction of the prosthetic limb with the obstacle. Therefore, since the limitations of non-adaptive prosthetic feet in obstacle-dealing emerge from the experiments, as expected, this study justifies the use of the setup for investigating the performance of soft feet on uneven grounds and obstacle negotiation. © 2023, CC BY-NC-ND.

关键词： Artificial limbs

soft Adaptive Feet for Legged Robots: An Open-Source Model for Locomotion Simulation

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arXiv 2024年

作者： Crotti, Matteo Rossini, Luca Hodossy, Balint K. Pace, Anna Grioli, Giorgio Bicchi, Antonio Catalano, Manuel G. Soft Robotics for Human Cooperation and Rehabilitation Fondazione Istituto Italiano di Tecnologia Genoa16163 Italy Department of Information Engineering Research Center "E. Piaggio " University of Pisa Pisa56122 Italy Humanoids and Human Centered Mechatronics Fondazione Istituto Italiano di Tecnologia Genoa16163 Italy Department of Bioengineering Imperial College London LondonSW7 2AZ United Kingdom

In recent years, artificial feet based on soft robotics and under-actuation principles emerged to improve mobility on challenging terrains. This paper presents the application of the MuJoCo physics engine to realize a digital twin of an adaptive soft foot developed for use with legged robots. We release the MuJoCo soft foot digital twin as open source to allow users and researchers to explore new approaches to locomotion. The work includes the system modeling techniques along with the kinematic and dynamic attributes involved. Validation is conducted through a rigorous comparison with bench tests on a physical prototype, replicating these experiments in simulation. Results are evaluated based on sole deformation and contact forces during foot-obstacle interaction. The foot model is subsequently integrated into simulations of the humanoid robot COMAN+, replacing its original flat feet. Results show an improvement in the robot’s ability to negotiate small obstacles without altering its control strategy. Ultimately, this study offers a comprehensive modeling approach for adaptive soft feet, supported by qualitative comparisons of bipedal locomotion with state of the art robotic feet. © 2024, CC BY-NC-ND.

关键词： Anthropomorphic robots

EMG-Based Control Strategies of a Supernumerary Robotic Hand for the rehabilitation of Sub-Acute Stroke Patients: Proof of Concept

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EMG-Based Control Strategies of a Supernumerary Robotic Hand...

IEEE International Conference on rehabilitation robotics (ICORR)

作者： Marina Gnocco Manuel G. Catalano Giorgio Grioli Carlo Trompetto Antonio Bicchi Soft Robotics for Human Cooperation and Rehabilitation lab Fondazione Istituto Italiano di Tecnologia Genova Italy Dipartimento di Ingegneria dell'Informazione Centro di Ricerca “Enrico Piaggio” Università di Pisa Pisa Italy Department of Neuroscience Rehabilitation Ophthalmology Genetics Maternal and Child Health University of Genova Genova Italy Department of Neuroscience Neurorehabilitation Unit IRCCS Ospedale Policlinico San Martino Genova Genova Italy

One of the most frequent and severe aftermaths of a stroke is the loss of upper limb functionality. Therapy started in the sub-acute phase proved more effective, mainly when the patient participates actively. Recently, a novel set of rehabilitation and support robotic devices, known as supernumerary robotic limbs, have been introduced. This work investigates how a surface electromyography (sEMG) based control strategy would improve their usability in rehabilitation, limited so far by input interfaces requiring to subjects some level of residual mobility. After briefly introducing the phenomena hindering post-stroke sEMG and its use to control robotic hands, we describe a framework to acquire and interpret muscle signals of the forearm extensors. We applied it to drive a supernumerary robotic limb, the softHand-X, to provide Task-Specific Training (TST) in patients with sub-acute stroke. We propose and describe two algorithms to control the opening and closing of the robotic hand, with different levels of user agency and therapist control. We experimentally tested the feasibility of the proposed approach on four patients, followed by a therapist, to check their ability to operate the hand. The promising preliminary results indicate sEMG-based control as a viable solution to extend TST to sub-acute post-stroke patients.

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EMG-based Control Strategies of a Supernumerary Robotic Hand for the rehabilitation of Sub-Acute Stroke Patients: Proof of Concept

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arXiv 2023年

作者： Gnocco, Marina Catalano, Manuel G. Grioli, Giorgio Trompetto, Carlo Bicchi, Antonio Soft Robotics for Human Cooperation and Rehabilitation lab Fondazione Istituto Italiano di Tecnologia Genova16163 Italy Department of Neuroscience Rehabilitation Ophthalmology Genetics Maternal and Child Health University of Genova Genova16132 Italy Neurorehabilitation Unit Department of Neuroscience IRCCS Ospedale Policlinico San Martino Genova Genova16132 Italy Centro di Ricerca Enrico Piaggio Dipartimento di Ingegneria lInformazione Universit di Pisa Pisa56122 Italy

关键词： Patient treatment