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A soft, scalable and adaptable multi-contact cuff electrode for targeted peripheral nerve modulation

Bioelectronic Medicine 2024年第1期10卷 1-16页

作者： Paggi, Valentina Fallegger, Florian Serex, Ludovic Rizzo, Olivier Galan, Katia Giannotti, Alice Furfaro, Ivan Zinno, Ciro Bernini, Fabio Micera, Silvestro Lacour, Stéphanie P. Geneva Switzerland Neurosoft Bioelectronics SA Geneva Switzerland Geneva Switzerland The BioRobotics Institute and Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy

Background: Cuff electrodes target various nerves throughout the body, providing neuromodulation therapies for motor, sensory, or autonomic disorders. However, when using standard, thick silicone cuffs, fabricated in discrete circular sizes, complications may arise, namely cuff displacement or nerve compression, due to a poor adaptability to variable nerve shapes and sizes encountered in vivo. Improvements in cuff design, materials, closing mechanism and surgical approach are necessary to overcome these issues. Methods: In this work, we propose a microfabricated multi-channel silicone-based soft cuff electrode with a novel easy-to-implant and size-adaptable design and evaluate a number of essential features such as nerve-cuff contact, nerve compression, cuff locking stability, long-term integration and stimulation selectivity. We also compared performance to that of standard fixed-size cuffs. Results: The belt-like cuff made of 150 μm thick silicone membranes provides a stable and pressure-free conformal contact, independently of nerve size variability, combined with a straightforward implantation procedure. The adaptable design and use of soft materials lead to limited scarring and demyelination after 6-week implantation. In addition, multi-contact designs, ranging from 6 to 16 electrodes, allow for selective stimulation in models of rat and pig sciatic nerve, achieving targeted activation of up to 5 hindlimb muscles. Conclusion: These results suggest a promising alternative to classic fixed-diameter cuffs and may facilitate the adoption of soft, adaptable cuffs in clinical settings. © The Author(s) 2024.

关键词： Silicones

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A Novel Assistive Imaging Device for Colon Map Reconstruction

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IEEE robotics and Automation Letters 2024年第12期9卷 10780-10787页

作者： Dei, Neri Niccolo Bano, Sophia Vasconcelos, Francisco Consumi, Vanni Stoyanov, Danail Stilli, Agostino Ciuti, Gastone Scuola Superiore sant'Anna Bio Robotics Institute Department of Excellence in Robotics and AI Pisa Italy University College London Hawkes Institute Department of Computer Science London United Kingdom

Colonoscopy, recognised as the gold standard for diagnosing and treating colorectal cancer, faces limitations that may result in overlooking some colonic regions. This can lead to missed lesions and interval cancer, leading to incomplete treatment. Addressing this challenge, the authors present a novel Assistive Imaging Device for Colon Map Reconstruction (aiD-CMR) to support clinicians in visualising the entire colonic mucosa and identifying areas that may have been missed during the procedure. The device is comprised of an overtube tooled with an imaging module on its distal end, which can be moved about a threaded silicone sleeve. The imaging module houses inflatable silicone chambers to distend the lumen, a side-viewing miniaturised full-HD camera with LEDs, a magnetic encoder, and an irrigation channel for camera cleansing. Before intervention, the device can be installed on standard colonoscopes or other tethered endoscopes. During the intervention, the device can be operated to (1) reconstruct assistive maps of the organ, (2) visualise the full anatomy, and (3) increase disease detection. Moreover, these maps may be employed for the quantification of missed regions during standard inspection. This paper introduces a proof of concept device and discusses locomotion and reconstruction tests conducted in two in-vitro conditions. These tests reveal overall procedural feasibility in terms of locomotion, exerted forces and colon map reconstruction, preserving polyp morphology. © 2024 IEEE.

关键词： Medical robotics

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Tactile Object Recognition with Recurrent Neural Networks through a Perceptive Soft Gripper

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IEEE robotics and Automation Letters 2025年第7期10卷 7023-7030页

作者： Donato, Enrico Pelliccia, David Hosseinzadeh, Matin Amiri, Mahmood Falotico, Egidio BRAin-Inspired Robotics (BRAIR) Lab The BioRobotics Institute Italy Scuola Superiore Sant'Anna Department of Excellence in Robotics and AI Pisa Italy University of Pisa Department of Computer Science Pisa Italy Kermanshah University of Medical Sciences Medical Technology Research Center Institute of Health Technology Kermanshah Iran

Soft robot perception integrates information from distributed, multi-modal sensors, broadening their application to active interaction. Our work introduces recurrent learning models for tactile-based object recognition, demonstrating comparable performance in virtual and real-world scenarios. The work focuses on soft grippers, which facilitate adaptation to objects of varying shapes and sizes thanks to passive finger compliance. Our model successfully identifies over sixteen heterogeneous objects. Findings underscore the significance of sensory multi-modality over single. We highlight how spatial distribution and sensory signal dynamics influence overall estimation accuracy, and what the minimal grasp set is to achieve certain recognition. © 2016 IEEE.

关键词： multi-modal integration object recognition soft gripper Tactile sensing

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A Direct-Drive, Wearable Armband Device to Experiment Combined Continuous and Vibrotactile Haptic Feedback for Guidance in Motor Tasks 14th

A Direct-Drive, Wearable Armband Device to Experiment Combi...

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

作者： KhalilianMotamed Bonab, Ali Camardella, Cristian Frisoli, Antonio Leonardis, Daniele Institute of Mechanical Intelligence and the Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy

ISBN: (纸本)9783031700606

Wearable haptic devices have been proposed to convey guidance and feedback information in a variety of applications, ranging from navigation to virtual interaction and prosthetics. A design approach for armband devices using an actuated fabric belt and gearmotors actuators has been proposed and widely experimented in the field. In this work we experiment whether the use of direct-drive actuation in place of servomotors proves effective in rendering lower intensity, but cleaner linear feedback. Interestingly, the method allows for modulation of vibrotactile feedback as well, with the same actuation design. Here we present the design of a wearable haptic device for the upper limb, implementing a 2 degrees of freedom direct drive transmission and a soft belt interface. Experiments evaluate the capability of the haptic feedback to guide participants in two different motor tasks, exploiting the two haptic modalities the device can render: clenching and lateral stretch. Moreover, the addition of modulated vibrotactile feedback to the conventional linear motor activation is explored as a viable modality to enhance the perception and effectiveness of the perceived stimuli. © The Author(s), under exclusive license to Springer Nature Switzerland AG 2025.

关键词： Linear motors

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A Novel Steerable Catheter Controlled with a Biohybrid Actuator: A Feasibility Study 12th

A Novel Steerable Catheter Controlled with a Biohybrid Actua...

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Proceedings of the 12th International Conference on Biomimetic and Biohybrid Systems, Living Machines 2023

作者： Salvatori, Carlotta Trucco, Diego Niosi, Ignazio Ricotti, Leonardo Vannozzi, Lorenzo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa56127 Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa56127 Italy

ISBN: (纸本)9783031395031

Targeted therapies allow increasing the efficacy of treatments for several diseases, including cancer. The release of drugs or chemicals directly in the site of interest will be beneficial for maximizing the therapy and minimize side effects. Here, we report the concept and a preliminary analysis of an innovative intravascular steerable catheter guided by an on-board biohybrid actuator, aiming to release drugs into deep and tortuous regions within the cardiovascular systems. The catheter performance has been estimated through analytical and numerical analyses, varying catheter diameter, wall thickness, and actuator force. Results show how larger catheter deflections can be obtained with a smaller outer diameter and decreasing wall thickness. Besides, improved outcomes can be achieved by applying the biohybrid actuator distant from the catheter tip extremity and maximizing the magnitude of the applied forces. Despite the need to further improve the performance of this concept (e.g., by decreasing material stiffness), these preliminary results show great promise in view of future experimentation of such kind of actuation to drive microcatheters through the cardiovascular network. © 2023, The Author(s).

关键词： Catheters

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LimbMATE: A Versatile Platform for Closed-loop Research in Prosthetics

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IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society 2025年 PP卷 PP页

作者： Erik Gasparini Rodolfo Cerqueira Carlo Preziuso Lucia Angelini Robinson Guachi Marco Controzzi Christian Cipriani Enzo Mastinu Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna BioRobotics Institute Pisa Italy Department of Mechatronics International University of Ecuador Quito Ecuador

The rapid advancements in machine learning methodologies carry a wide potential to match the increasing control demands of modern robotic hands. In particular, myoelectric pattern recognition is recognized nowadays as a viable means to facilitate the multi-functional control of prosthetic devices, for both lower and upper limb amputations. However, such solutions require dedicated and specific hardware: versatile yet robust, low-power yet computationally powerful. Here, we present LimbMATE: a compact and modular embedded system for the intuitive real-time control of prostheses by decoding either differential or pre-amplified bioelectric signals. It is compatible with various prosthetic components and feedback actuators, disposing of major communication peripherals to adapt to other devices' proprietary protocols. Moreover, it includes Bluetooth capabilities, and it implements an advanced real-time clock calendar-based logging system for tracking prosthesis usage, opening for long-term at-home longitudinal studies. The LimbMATE system was bench-verified to prove suitable power consumption (<200 mW), real-time operation, and long-term data storage (1 sec/day tolerance). Finally, it was validated with twelve able-bodied participants and two end-users with upper limb amputation via both virtual and real-life-inspired functional assessments. LimbMATE showed the capability for robust and responsive inference of the intended movements to enable intuitive bidirectional control of a multi-articulated prosthesis.

关键词： Prosthetics Real-time systems Pattern recognition Electromyography Protocols Clocks Amputation Process control Power demand Hands

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Neuroethology of natural actions in freely moving monkeys

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Science (New York, N.Y.) 2025年第6730期387卷 214-220页

作者： Lanzarini, Francesca Maranesi, Monica Rondoni, Elena Hilary Albertini, Davide Ferretti, Elena Lanzilotto, Marco Micera, Silvestro Mazzoni, Alberto Bonini, Luca Department of Medicine and Surgery University of Parma Parma Italy Biorobotics Institute Department of Excellence in AI and Robotics Scuola Superiore Sant'Anna Pisa Italy Interdisciplinary Health Center and Department of Excellence in AI and Robotics Scuola Superiore Sant'Anna Pisa Italy Modular Implantable Neuroprostheses Laboratory Università Vita-Salute San Raffaele & Scuola Superiore Sant'Anna Milan Italy Bertarelli Foundation Chair in Translational Neuroengineering School of Engineering Ecole Polytechnique Federale de Lausanne Genève Switzerland

The current understanding of primate natural action organization derives from laboratory experiments in restrained contexts (RCs) under the assumption that this knowledge generalizes to freely moving contexts (FMCs). In this work, we developed a neurobehavioral platform to enable wireless recording of the same premotor neurons in both RCs and FMCs. Neurons often encoded the same hand and mouth actions differently in RCs and FMCs. Furthermore, in FMCs, we identified cells that selectively encoded actions untestable during RCs and others that displayed mixed selectivity for multiple actions, which is compatible with an organization based on cortical motor synergies at different levels of complexity. Cross-context decoding demonstrated that neural activity in FMCs is richer and more generalizable than in RCs, which suggests that neuroethological approaches are better suited to unveil the neural bases of behavior.

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Progress and challenges of implantable neural interfaces based on nature-derived materials

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Bioelectronic Medicine 2021年第1期7卷 1-10页

作者： Redolfi Riva, Eugenio Micera, Silvestro The BioRobotics Institute and Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy Lausanne Switzerland

Neural interfaces are bioelectronic devices capable of stimulating a population of neurons or nerve fascicles and recording electrical signals in a specific area. Despite their success in restoring sensory-motor functions in people with disabilities, their long-term exploitation is still limited by poor biocompatibility, mechanical mismatch between the device and neural tissue and the risk of a chronic inflammatory response upon implantation. In this context, the use of nature-derived materials can help address these issues. Examples of these materials, such as extracellular matrix proteins, peptides, lipids and polysaccharides, have been employed for decades in biomedical science. Their excellent biocompatibility, biodegradability in the absence of toxic compound release, physiochemical properties that are similar to those of human tissues and reduced immunogenicity make them outstanding candidates to improve neural interface biocompatibility and long-term implantation safety. The objective of this review is to highlight progress and challenges concerning the impact of nature-derived materials on neural interface design. The use of these materials as biocompatible coatings and as building blocks of insulation materials for use in implantable neural interfaces is discussed. Moreover, future perspectives are presented to show the increasingly important uses of these materials for neural interface fabrication and their possible use for other applications in the framework of neural engineering. © 2021, The Author(s).

关键词： Biocompatibility

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Mechanics of tubular helical assemblies:ensemble response to axial compression and extension

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Acta Mechanica Sinica 2021年第2期37卷 173-186页

作者： Jacopo Quaglierini Alessandro Lucantonio Antonio DeSimone Department of Excellence in Robotics and AI The BioRobotics InstituteScuola Superiore Sant'Anna56127 PisaItaly SISSA-Scuola Intemazionale Superiore di Studi Avanzati 34136 TriesteItaly

Nature and technology often adopt structures that can be described as tubular helical ***,the role and mechanisms of these structures remain *** this paper,we study the mechanical response under compression and extension of a tubular assembly composed of 8 helical Kirchholf rods,arranged in pairs with opposite chirality and connected by pin joints,both analytically and *** first focus on compression and find that,whereas a single helical rod would buckle,the rods of the assembly deform coherently as stable helical shapes wound around a common ***,we investigate the response of the assembly under different boundary conditions,highlighting the emergence of a central region where rods remain circular ***,we study the effects of different hypotheses on the elastic properties of rods,i.e.,stress-free rods when straight versus when circular helices,Kirchhoff’s rod model versus Sadowsky’s ribbon *** up,our findings highlight the key role of mutual interactions in generating a stable ensemble response that preserves the helical shape of the individual rods,as well as some interesting features,and they shed some light on the reasons why helical shapes in tubular assemblies are so common and persistent in nature and technology.

关键词： Computational mechanics Helical assemblies Kirchhoff rod Sadowsky ribbon Ensemble response

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Identifying Key Hand Joints in Grasping Tasks for Wearable Applications*

Identifying Key Hand Joints in Grasping Tasks for Wearable A...

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

作者： C.F. Blanco-Díaz L. Cappello BioRobotics Institute Scuola Superiore Sant’ Anna Pisa Italy Department of Excellence in Robotics and AI The BioRobotics Institute Scuola Superiore Sant’ Anna Pisa Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Wearable robots have been used for the rehabilitation and assistance of people with reduced hand mobility, such as stroke and spinal cord injury survivors. Most of these devices rely on hand kinematic information to close the control loops. However, the biomechanical complexity of the hand makes kinematics data acquisition and processing an open challenge. To tackle this, we present a method to identify the most informative joints of the hand with respect to hand global posture. We processed kinematics data belonging to two public databases, gathered during the execution of grasping tasks of activities of daily living (ADLs). To carry the analysis, we employed principal component analysis (PCA), standard deviation (SD), and covariance matrix (CvM). Our results suggest that flexion/extension motions of the metacarpal joint of the ring finger bring the most informative content during grasping tasks, whilst abduction/adduction motions are the least relevant. The proposed method represents a simple yet powerful tool for the strategic identification of the most informative joints involved in grasping tasks, which can be used for minimizing the number of sensors and optimizing their placement in wearable hand robots, by generalizing the available information and reducing kinematic redundancy.

关键词： Databases Termination of employment Kinematics Grasping Wearable robots Stroke (medical condition) Robot sensing systems Wearable sensors Standards Principal component analysis

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