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A Wearable Device for Hand Sensorimotor Rehabilitation Through Augmented Sensory Feedback

A Wearable Device for Hand Sensorimotor Rehabilitation Throu...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： E. Vendrame A. Coletti L. Cappello E. Mastinu C. Cipriani Department of Excellence and AI The BioRobotics Institute Scuola Superiore Sant'Anna Pisa Italy

The loss of sensitivity of the upper limb due to central or peripheral neurological injuries severely limits the ability to manipulate objects, hindering personal independence. Non-invasive augmented sensory feedback techniques are used to promote neural plasticity hence to restore the grasping function. We devised a wearable device for hand sensorimotor rehabilitation capable of reliably detect transient tactile events based on custom piezoelectric polyvinylidene fluoride (PVDF) sensors and deliver discrete bursts of vibrations upon these events. We integrated the sensors into a fabric glove and tested the device in a pilot bench test exploring its ability to detect object contact and release as well as object slippage. Due to their broad bandwidth, the sensors proved to be suitable for both the applications: they responded with clear peaks when touching or releasing the object and increased the high-frequency content of the signal during slippage.

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Integrating Microfluidics and Deep Learning to Investigate Entomopathogenic Nematode Responses to Host Cues 46

Integrating Microfluidics and Deep Learning to Investigate E...

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46th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2024

作者： Manduca, Gianluca Zeni, Valeria Casadei, Anita Benelli, Giovanni Stefanini, Cesare Romano, Donato Sant'Anna School of Advanced Studies The BioRobotics Institute Viale R. Piaggio 34 Pontedera Pisa56025 Italy Sant'Anna School of Advanced Studies Department of Excellence in Robotics and Ai Piazza Martiri della Libertà 33 Pisa56127 Italy University of Pisa Department of Agriculture Food and Environment Via del Borghetto 80 Pisa856124 Italy

ISBN: (纸本)9798350371499

Entomopathogenic nematodes (EPNs) are effective biocontrol agents, reducing pesticide impact on health and the environment. Understanding their physiology and ethology is crucial for optimizing their application. This study offers innovative insights about Steinernema carpocapsae EPN behavior, contributing to the interdisciplinary field of engineering, biology, and entomology. The proposed hybrid approach combines microfluidics, deep learning, and optical flow. A Convolutional Neural Network (CNN) model discerned EPNs in the presence of stimuli within a specially designed microfluidic arena, highlighting motor behavior differences. At the video level, the CNN model accurately discriminated a context characterized by host-borne cues, achieving an overall accuracy of 0.938, precision of 1, and f1-score of 0.933. Integrating optical flow analysis unveiled a significant difference in motor activity, adding novel information on their dynamic responses. EPNs showed an increased activity in stimulus presence. This comprehensive approach advances our capability to detect and comprehend the responses of EPN to host stimuli for more precise and targeted biocontrol strategies. © 2024 IEEE.

关键词： Microfluidics

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Sea Shell Bioinspired Variable Stiffness Mechanism Enabled by Hybrid Jamming Transition

Sea Shell Bioinspired Variable Stiffness Mechanism Enabled b...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Luca Arleo Jasmine Pozzi Niccoló Pagliarani Matteo Cianchetti Department of Excellence in Robotics and AI Scuola Superiore Sant’ Anna BioRobotics Institute Scuola Superiore Sant'Anna Pontedera Italy Pisa Italy

Layer jamming and positive pressure jamming demonstrated great potential in soft robotic applications. The combination of these technologies can increase the performance of variable stiffness-oriented designs. Inspired by the shape of sea shell radial ribs, we introduce a planar lightweight device that can be easily adapted to different application scenarios, providing both significant stiffness variation and high load-bearing capabilities. Exploiting the ease of the system in terms of design and manufacturing, we tested the device with a different number of layers. It shows higher performances than standard layer jamming systems: in particular, the 1 layer per side version (7.5g) shows a variable stiffness ratio of 64:1 and a force required to reach a 10 mm deflection equal to 19N. The same values for the 5 layers per side version (17.2g) are 42.5:1 and 62N. These values are in line with the most promising innovative approaches reported in the literature on layer jamming. In addition, the presented results allow making a comparison between the introduced device and the biological counterpart in terms of performance, showing the validity of sea shells as a bioinspiration source for variable stiffness systems.

关键词： Performance evaluation Geometry Shape Biological system modeling Force Soft robotics Jamming

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How to Achieve Maneuverability and Adaptability in an Underactuated Robotic Fish by using a Bio-inspired Control Approach

How to Achieve Maneuverability and Adaptability in an Undera...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Gianluca Manduca Gaspare Santaera Paolo Dario Cesare Stefanini Donato Romano Scuola Superiore Sant’ Anna The BioRobotics Institute Pontedera (PI) Italy Department of Excellence in Robotics and AI Scuola Superiore Sant’ Anna Pisa Italy

Biomimetic robotics can help support underwater exploration and monitoring while minimizing ecosystem distur-bance. It also has potential applications in sustainable aqua-farming management, biodiversity preservation, and animal-robot interaction studies. This study proposes a bio-inspired control strategy for an underactuated robotic fish, which utilizes a single DC motor to drive a mechanism that converts the motor's oscillating motion into an oscillatory motion of the robotic fishtail through a magnetic coupling and a wire-driven system. The proposed control strategy for the robotic fish is based on central pattern generators (CPGs) and incorporates proprioceptive sensory feedback. The torque exerted on the fishtail is adjusted based on its position, allowing for increased or decreased body speed and steering with different angular speeds and radii of curvature despite the underactuated design. The robotic fish can vary the swimming speed of 0.08 body lengths per second (BL/s) with a related change in the tail-beating frequency up to 2.3 Hz, and it can vary the steering angular speed in the range of 0.08 rad/s with a relative change in the curvature radius of 0.25 m. The controller can adapt to changes in tail structure, weight, or the surrounding environment based on the proprioceptive feedback. Design changes to the modular design can improve speed and steering performances, maintaining the control strategy developed.

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Mamba-MSQNet: A Fast and Efficient Model for Animal Action Recognition

Mamba-MSQNet: A Fast and Efficient Model for Animal Action R...

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IEEE International Workshop on Metrology for Agriculture and Forestry (MetroAgriFor)

作者： Edoardo Fazzari Donato Romano Fabrizio Falchi Cesare Stefanini Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna The Biorobotics Institute Pisa Italy The Biorobotics Institute Scuola Superiore Sant‘Anna & Inf. Science and Technologies Inst. “A. Faedo” Consiglio Nazionale delle Ricerche Pisa Italy

ISBN: (数字)9798350355444

ISBN: (纸本)9798350355451

Animal action recognition is crucial for assessing animal well-being in agriculture and environmental monitoring. Recent advancements in this field rely on computer vision technologies. However, many current applications are restricted to recognizing actions within a single animal species or a limited set of actions, resulting in highly specific models and lacking generality. When addressing a broader range of actions and species, transformer models are typically required, which demand significant computational and processing power, potentially limiting their practical use. In this work, we introduce a deep learning model based on selective state spaces designed to reduce the computational cost of MSQNet, the current state-of-the-art model for action recognition in the Animal Kingdom dataset. Our approach achieves superior results with fewer parameters and lower FLOPs, thereby enhancing efficiency without compromising performance. Code available on https://***/edofazza/mamba-msqnet.

关键词： Deep learning Computer vision Limiting Animals Computational modeling Forestry Metrology Transformers Agriculture Environmental monitoring

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Miniaturisation and Evaluation of the SoftSCREEN System in Colon Phantoms

Miniaturisation and Evaluation of the SoftSCREEN System in C...

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IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

作者： Vanni Consumi Neri Niccolò Dei Gastone Ciuti Danail Stoyanov Agostino Stilli Wellcome/EPSRC Centre for Interventional and Surgical Sciences (WEISS) University College London London UK The BioRobotics Institute & Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy

ISBN: (数字)9798350377705

ISBN: (纸本)9798350377712

Screening of the lower gastrointestinal (GI) tract is of paramount importance for the early detection of precancerous lesions in the intestine, with an impact on reducing the high death rate of patients affected by cancer worldwide. Colonoscopy, i.e. standard procedure for screening the colon, is effective in reducing the incidence of colorectal cancer worldwide, nonetheless, this procedure remains an invasive method of screening, that typically causes discomfort and requires sedation for the patient. The SoftSCREEN system, a tethered robotic capsule designed for colonoscopy, aims to enable minimally invasive diagnosis of intestinal diseases through its innovative design that incorporates elastic tracks for locomotion and inflatable toroidal chambers for adaptable geometry to match the local lumen of the GI tract. After demonstrating the viability of the proposed design in a large-scale proof of concept in our previous work, the authors present here a miniaturised version of the SoftSCREEN system. We assess its performance in multiple phantom tests and evaluate the effect of pressure regulation on its locomotion. The conducted extensive tests demonstrate the capability of the soft robot to move inside intricate passages, capture internal images, and adjust its geometry to optimise traction. The results underscore the potential of the proposed design, offering promising advancements in the development of a robotic platform for efficient front-wheel locomotion and accurate intestinal screening.

关键词： Geometry Minimally invasive surgery Phantoms Colonoscopy Mortality Soft robotics Lumen Regulation Lesions Standards

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Modelling and characterization of a soft inverse pneumatic artificial muscle 17

Modelling and characterization of a soft inverse pneumatic a...

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17th International Conference and Exhibition on New Actuator Systems and Applications, ACTUATOR 2021

作者： Lorenzon, Lucrezia Zrinscak, Debora Maselli, Martina Cianchetti, Matteo The BioRobotics Institute Scuola Superiore Sant’Anna Pisa Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy

ISBN: (纸本)9783800754564

Pneumatic artificial muscles are some of the most famous linear actuators in bio-inspired robotics. In this study, improved manufacturing and modelling of a Soft Inverse Pneumatic Artificial Muscle (SIPAM) are presented. The proposed actuator is able to contract of nearly 70% while simultaneously applying a pulling force. The inverse actuation scheme consists in a muscle elongation upon pressurisation, followed by a passive contractile phase. Experimental tests were conducted to validate the proposed model. The results showed that our model is able to capture the SIPAM non-linear behaviours, and demonstrate that this artificial muscle can work at frequencies that are comparable to the ones of the natural muscle contraction. © VDE VERLAG GMBH · Berlin · Offenbach.

关键词： Linear actuators

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Mechanical Integration of a Sensorized Skin in an Anthropomorphic Hand: Design Pipeline and Tests

Mechanical Integration of a Sensorized Skin in an Anthropomo...

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

作者： Robinson Guachi Flavio Napoleoni Burim Kabashi Marco Controzzi The BioRobotics Institute Scuola Superiore Sant-Anna Pontedera Italy Department of Excellence in Robotics & AI Pisa Scuola Superiore Sant'Anna Italy Department of Mechatronics Universidad Internacional del Ecuador- UIDE Quito Ecuador The BioRobotics Institute Scuola Superiore Sant'Anna Pontedera Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

The ability to manipulate and grasp objects is largely affected by the tactile afferent provided by the skin in humans providing information that are used by the brain to guide motor actions. In the light of the recent advancements in neuroprosthetic, the quest for a hand prosthesis that integrate more sophisticated tactile sensor is increased. Electronic skin based on triboelectric phenomena holds significant promise in this respect, but the literature addressing its integration within a prosthetic hand is limited and scattered. Here we show a systematic and comprehensive pipeline for the design, development, and mechanical integration of a electronic skin. The paper addresses the identification of the technical requirements for the skin, the selection of material for the soft skin, and the definition of target contact area for optimizing the arrangement of 6 sensors within the size of a finger. After that, we discussed the design of the fingers for its integration and the manufacturing process. The proposed pipeline was validated through mechanical and electrical integrity tests. Compression tests applying 40 N demonstrate the e-skin's strength under realistic force conditions, and electrical tests show consistent sensors responses pre- and post- overload. Finally, we checked for activation of the sensors during the execution of three grasp types varying the size and the shape of the target object, to verify the arrangement of the sensors.

关键词： Mechanical sensors Technical requirements Systematics Shape Pipelines Tactile sensors Neuroprostheses Motors Triboelectricity Prosthetic hand

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MITEx: A Portable Hand Exoskeleton for Assessment and Treatment in Neurological Rehabilitation

MITEx: A Portable Hand Exoskeleton for Assessment and Treatm...

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IEEE International Conference on Rehabilitation robotics (ICORR)

作者： Davide Astarita Jun Pan Lorenzo Amato Paolo Ferrara Andrea Baldoni Filippo Dell’Agnello Simona Crea Nicola Vitiello Emilio Trigili Scuola Superiore San'Anna The Biorobotics Institute Pontedera Italy Department of Excellence in Robotics & AI Scuola Superiore Sant'Anna Pisa Italy Department of Excellence in Robotics & AI The Biorobotics Institute IRCCS Fondazione Don Gnocchi They have commercial interests in IUVO S.r.1. a spinoff company of Scuola Superiore Sant'Anna. Florence Italy

This work describes the design and preliminary characterization of a novel portable hand exoskeleton for poststroke rehabilitation. The platform actively mobilizes the index-metacarpophalangeal (I-MCP) joint, and it additionally offers individual rigid support to distal degrees of freedom (DoFs) of the index and thumb. The test-bench characterization proves the capability of the device to render torques at the I-MCP level with high fidelity within frequencies of interest for the application (up to 3 Hz). The introduction of a feed-forward friction compensation at the actuator level lowers the output mechanical stiffness by 32%, contributing to a highly transparent behavior; moreover, the functionality of the platform in rendering different interaction strategies (patient/robot-in-charge) is tested with three healthy subjects, showing the potential of the device to provide assistance as needed.

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Enriching Contact Information Through Fiber Bragg Gratings-Based Exteroception in Soft Bending Actuators

Enriching Contact Information Through Fiber Bragg Gratings-B...

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IEEE International Conference on Soft robotics (RoboSoft)

作者： Niccolò Pagliarani Mariangela Filosa Rana Muhammad Armaghan Ayaz Claudio J. Oton Calogero Maria Oddo Matteo Cianchetti Department of Excellence in Robotics and AI Scuola Superiore Sant’ Anna Pisa Italy BioRobotics Institute Scuola Superiore Sant’ Anna Pontedera Italy Mechanical Intelligence Institute Scuola Superiore Sant’ Anna Pisa Italy

Tactile sensing is of utmost importance for accomplishing fine manipulation tasks and extracting crucial physical features in soft grippers. A contact force estimation and localization approach based on sensing modalities using Fiber Bragg Grating (FBG) transducers and artificial intelligence models are proposed for pneumatically actuated soft fingers. The small packaged sensor unit enables modular design, ease of assembly, and high repeatability with negligible effects on the mechanical performance of the soft finger. The proposed neural networks process the output of the sensing modality and mitigate errors from material nonlinearity, fabrication, and assembly of soft fingers. This, in turn, enhances the accuracy and transferability of force and position estimations, leading to proper metrological indicators. These results provide a step forward in the development of smart soft grippers enabling them to attain “transparent” exteroception. As a result, this work contributes to empowering soft grippers with skillful capabilities to acquire precise tactile information for safe manipulation ranging from agricultural to biomedical fields.

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