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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： M. Sperduti N. L. Tagliamonte F. Cordella L. Zollo Laboratory of Advanced Robotics and Human-Centred Technologies – CREO Lab Universitá Campus Bio-Medico di Roma Rome Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The restoration of mechanical somatosensory functions in amputees using instrumented prosthetic hands requires realistic feedback, grounded on the accurate knowledge of the human physiological mechanical innocuous and painful thresholds. Multiple technologies are commercially available to identify these thresholds. However, they have low repeatability and accuracy due to intrinsic limitations in the delivery of the stimulation force, which is either discrete or continuous but non-automated, as a result of a manual application of the stimulus. To overcome these issues, a new mechatronic testbed has been developed, that consists of a high-resolution positioning system and an automated mechanical stimulator. The testbed can deliver continuous stimulation forces with a positioning and force resolution of 0.5 $\mu \mathrm{m}$ and 1 mN respectively, and includes a small circular stimulation tip $(\varnothing 0.8\ \text{mm})$ . The developed testbed was employed to determine the mechanical innocuous and painful thresholds on the hand and the forearm of 12 healthy volunteers. No statistically significant difference was observed when comparing the results from the two stimulated anatomical sites. Furthermore, a statistically significant difference was found between innocuous sensation and pain on both sites, highlighting the importance of investigating accurately the range of force to appropriately discriminate thresholds. A direct comparison of our results on innocuous thresholds with literature data highlighted the difference between our continuously increasing force delivery and the discrete stimulations pursued with standard devices. Our painful thresholds were found to be consistent with literature results also confirming the dependency of the values from the dimension of the stimulation surface.

关键词： Somatosensory Accuracy Pain Force Manuals Skin Modeling Standards Robots Prosthetic hand

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Parametric 3D Modeling of a Customized Prosthetic Hand Finger for Additive Manufacturing

Parametric 3D Modeling of a Customized Prosthetic Hand Finge...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： L. Nini A. Ceccarelli N. L. Tagliamonte L. Zollo F. Taffoni Laboratory of Advanced Robotics and Human-Centred Technologies - CREO Lab Universitá Campus Bio-Medico di Roma Rome Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

In this paper, a new method to design a custom finger for a hand prosthesis is proposed. The prosthetic finger is composed of a linkage mechanism and three shells that resemble the shape of human phalanges (acquired with a 3D scanner). The proposed method is based on a parametric Computer-Aided Design (CAD) that allows the 3D modeling of the finger according to the different anthropometric parameters derived from of the user. The 3D modeling process takes into account also manufacturing constraints related to the production technology. Additive manufacturing has been selected to reduce costs and allow the production of components with a complex geometry resembling the human finger. The method has been tested on an adult volunteer by developing a replica of the index. The compliance of the mechanism dimensions with the anthropometric measures has been verified and a FEM-based analysis has been performed to estimate mechanism robustness and deformations. A deviation analysis has been also carried out to evaluate the similarity in shape between the finger scan and 3D-modeled shells. Finally, the finger prototype has been manufactured using a Selective Laser Sintering printer and the trajectory of the fingertip has been compared with the human one.

关键词： Three-dimensional displays Design automation Shape Sintering Prototypes Production Three-dimensional printing Robustness Trajectory Robots

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Mechanical Design of a Bioinspired and Customized Prosthetic Hand Finger Based on Six-Bar Linkage

Mechanical Design of a Bioinspired and Customized Prosthetic...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： A. Ceccarelli L. Nini F. Taffoni L. Zollo N. L. Tagliamonte Laboratory of Advanced Robotics and Human-Centred Technologies - CREO Lab Università Campus Bio-Medico di Roma Rome Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The customization of hand prostheses, by taking into account subject-specific motion and anthropometric characteristics, can potentially reduce the significant abandonment phenomenon and improve usability during activities of daily living. To this aim, additive manufacturing techniques can contribute in mimicking natural hand functions and aesthetics while still reducing complexity and costs. This work presents the design of a 1-DoF finger prosthesis based on a 6-bar linkage with a focus on the kinematic synthesis. We designed a device centered on the specific characteristics of a selected subject to be produced by means of additive manufacturing. The synthesis process is based on anthropometric data obtained with 3D scanning and kinematic joint trajectories collected with an optoelectronic motion capture system, and takes into account fabrication constraints. A set of possible solutions is calculated and multifactor performance is evaluated to maximize the similarity with human motion and minimize the reaction forces loading the mechanism components. An optimal mechanism is selected based on a performance evaluation and on a sensitivity analysis, which aims to guarantee tolerance to geometric parameter variations introduced by the fabrication process. The final solution, which exhibits a bioinspired linear coupling among joint flexion/extension trajectories and high similarity with the human fingertip motion, has been used for the 3D modeling of a finger that was prototyped and preliminary tested to verify the correspondence between the actual and the expected motion.

关键词： Couplings Fabrication Three-dimensional displays Sensitivity analysis Loading Thumb Three-dimensional printing Trajectory Usability Prosthetic hand

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A Hybrid Position/Force Control for Robot-Aided Pedicle Tapping in Spinal Surgery

A Hybrid Position/Force Control for Robot-Aided Pedicle Tapp...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： Rosaura Morfino Clemente Lauretti Francesca Cordella Loredana Zollo Unit of Advanced Robotics and Human-Centred Technologies (CREO lab) Università Campus Bio-Medico Rome Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Pedicle screw fixation is a widely adopted surgical technique to enhance column stability and promote spinal fusion. Robot-assisted spinal surgery represents a solution to the challenges associated with the tapping phase of this procedure, which requires high precision and can cause surgeon fatigue. Based on the promising results of Authors' previous study, which achieved an improvement in surgeons' overall physical comfort for robot-aided pedicle tapping, this study seeks to improve the intervention effectiveness and efficiency, and enhance at the same time the robotic system usability and acceptability, thereby contributing to increased patient safety and enhanced surgeon's comfort. To accomplish these goals, a new semi-autonomous control strategy based on a hybrid position/force control is proposed. This control strategy offers two operation modes that can be selected according to the surgeon's preference: pushing mode and torquing mode. Eleven subjects were recruited, and an ad hoc experimental setup and protocol were implemented. After a training phase, the subjects performed the tapping procedure on an anthropomorphic spine phantom. The study reveals that both operation modes are equally effective (error from the optimal tapping depth: $0.8\pm 0.4$ [mm]) and efficient, comparable to traditional robot-assisted pedicle tapping, and significantly improve ergonomics (rapid upper limb assessment score: $2.65\pm 0.75$ ). The torquing mode reduces muscular fatigue more than the pushing mode. Despite subjects' preference for the torquing mode, the possibility to choose between the two maximizes system usability and human-robot interaction acceptability by 18.8%.

关键词： Training Protocols Surgery Phantoms human-robot interaction Fasteners Fatigue Safety Usability Robots

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A human-human Physical Interaction System for Training Handwriting

A Human-Human Physical Interaction System for Training Handw...

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IEEE/RAS-EMBS International Conference on Biomedical robotics and Biomechatronics (BioRob)

作者： S. Buscaglione A. Noccaro C. Provenzale C. Bonsignori E. Ivanova L. Sparaci F. Taffoni E. Burdet D. Formica NEXT: Neurophysiology and Neuroengineering of Human-Technology Interaction Research Unit Università Campus Bio-Medico di Roma Italy Neurorobotics Lab Newcastle University Newcastle Upon Tyne UK Advanced Robotics and Human-Centred Technologies-CREO Laboratory Università Campus Bio-Medico di Roma Italy Department of Bioengineering Imperial College of Science Technology and Medicine UK School of Electric Engineering and Computer Science Queen Mary University of London UK Institute of Cognitive Sciences and Technologies (ISTC) National Research Council of Italy (CNR) Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Handwriting training in childhood is known to influence academic success, foster self-esteem, and contribute to overall development. Previous studies underscored the positive impact of haptic feedback on handwriting learning using one-way communication systems that provided the trainee with haptic feedback based on pre-recorded trainer's movements. In this study, we propose a system involving bidirectional physical coupling (haptic communication) between a trainee and a trainer to exploit the advantages of haptic communication for motor task improvement, proved in tracking tasks. The system, composed of an interactive display and a coupling spring, was tested in a handwriting task performed by a dyad of healthy adults with different cursive handwriting backgrounds. The participants' performance demonstrated the feasibility of using this system for handwriting, opening the way for further studies to assess its benefits in handwriting improvement and learning.

关键词： Training Couplings Tracking Communication systems Biomechatronics Motors Haptic interfaces Springs Robots

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Biomechanics of Exoskeleton-Assisted Treadmill Walking

Biomechanics of Exoskeleton-Assisted Treadmill Walking

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： F. Di Tommaso F. Tamburella M. Lorusso L. Gastaldi M. Molinari N. L. Tagliamonte Research Unit of Advanced Robotics and Human-Centred Technologies Università Campus Bio-Medico di Roma Rome Italy Neurorehabilitation 1 Department Laboratory of Robotic Neurorehabilitation Fondazione Santa Lucia Rome Italy Department of Mechanical and Aerospace Engineering Politecnico di Torino Turin Italy

To exploit the benefits of treadmill-based exoskeletons, it is crucial to assess possible deviations from natural walking depending on assistive parameters. This study evaluated the biomechanics of exoskeleton-assisted treadmill walking by comparing it with free gait. Five healthy participants walked freely on a treadmill and with the assistance of the Lokomat gait trainer, while changing Body Weight Support (BWS), Gait Speed (GS), and Guidance Force (GF). Results showed that the hip and knee joint kinematics depended on BWS and GS, while changes due to GF were limited. Moreover, joint kinematics and the activity of related muscles were altered with respect to free gait, for any combination of robot parameters in the case of the ankle, and especially for low GS and with BWS in the case of hip and knee. Overall, walking with the Lokomat can mostly resemble free gait at high speed and without BWS.

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Estimation of the metabolic rate in the occupational field: a regression model using accelerometers

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International Journal of Industrial Ergonomics 2023年第1期96卷

作者： Falcone, Tiziana Del Ferraro, Simona Molinaro, Vincenzo Zollo, Loredana Lenzuni, Paolo Laboratory of Ergonomics and Physiology Department of Occupational and Environmental Medicine Epidemiology and Hygiene INAIL via Fontana Candida 1 Monte Porzio Catone Rome Italy Unit of Advanced Robotics and Human-Centred Technologies Campus Bio-Medico University of Rome via Álvaro del Portillo 200 Rome Italy Tuscany Regional Research Center INAIL Florence Italy

The aim of this study is to investigate the ability of the acceleration vector magnitude (VM) to predict the metabolic rate (M) for a variety of work activities. Accurate knowledge of M is of vital importance to evaluate the energy cost of work activity. While precise estimates of M can be achieved using direct calorimetry, this is not a viable option in workplaces. Ten healthy subjects (5 males, 5 females) were enrolled in six tasks simulating specific work activities. During each test, oxygen consumption rate (V˙O2), carbon dioxide production rate (V˙CO2) and accelerations at three body positions were measured. V˙O2 and V˙CO2 were used to obtain M and accelerations to calculate VM. Three mono-linear zero-intercept regression models based on center-of-mass VM were developed. A zero-intercept functional relation between M and VM was applied to the whole data set yielding the Global model. A R2 of 0.30 was obtained which indicates limited predictive ability. Two other (Vertical and Horizontal) models were also developed by separating tasks with different kinematics. With R2 = 0.56 and 0.61 they represent a significant improvement over the Global model. The results reveal a low R2 for the Global model due to collecting in the same sample many tasks that have little in common. A large R2 improvement is achieved when the dominant direction of movement is considered. The proposed method is based on a non-invasive easy-to-measure physiological parameter and can be used to track the activity level during work activity in the industrial sector. © 2023 Elsevier B.V.

关键词： Carbon dioxide

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Design and development of an instrumented glove for hand rehabilitation in children suffering from cerebral palsy: a digital manufacturing approach

Design and development of an instrumented glove for hand reh...

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Workshop on Metrology for Industry 4.0 and IoT

作者： Giorgia Cusimano Alessia Longo Alessio Uffreduzzi Marco Bravi Fabrizio Taffoni Advanced Robotics and Human-Centred Technologies - CREO Lab Università Campus Bio-Medico di Roma Rome Italy Physical Medicine and Rehabilitation Research Unit Università Campus Bio-Medico di Roma Rome Italy

ISBN: (数字)9781728148922

ISBN: (纸本)9781728148939

Cerebral palsy in infancy represents one of the major causes of permanent motor deficit in the upper limb movements. An early diagnosis and timely rehabilitation therapy would facilitate the partial or total recovery of the physiological movement range. Unfortunately, currently available technological solutions for rehabilitation and assessment of upper limb are not suited for children younger than 5 years of age. The advancements in manufacturing technologies have made possible the fabrication of highly accurate custom physical models of patient anatomy and, more recently, patient specific implants. This work investigates the possibility to develop a workflow based on digital manufacturing technologies to design parametric solutions for rehabilitation and motor assessment in children younger than 5 years of age. In details, this work presents the development of an instrumented glove for the assessment of thumb therapy in children aged between 4 and 5 years suffering from the “thumb in the palm syndrome”.

关键词： smart glove digital manufacturing personalized therapy Digital manufacturing Manufacturing technology Rehabilitation Cerebral Palsy Child Gloves Upper Extremity Thumb rehabilitation therapy Lake Restoration

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