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Complexity in Engineering (COMPENG)

作者： Elena Hilary Rondoni Matteo Pizzinga Francesca Lanzarini Monica Maranesi Davide Albertini Luca Bonini Eleonora Russo Alberto Mazzoni The Biorobotics Institute Scuola Superiore Sant’Anna Pisa Italy Dept. of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa Italy Department of Medicine and Surgery University of Parma Parma Italy Ernst Strüngmann Institute (ESI) for neuroscience with Max Planck Society

ISBN: (数字)9798350382792

ISBN: (纸本)9798350382808

Cortical decoding of motor intentions is a classic challenge in neural engineering. A candidate solution for tetraplegic patients is to decode motor intention from the activity of the frontal cortex. Here, we develop an algorithm to decode motor intentions from electrophysiological multi-single unit recordings. The algorithm identifies stereotypical spiking patterns for each of the recorded neurons and uses them as reference points to express and decode neuronal activity on different tasks. We tested the algorithm on recordings from the premotor cortex of two macaques performing different types of hand grasps and mouth movements associated with rewards. In the time window of highest performance, the decoder achieved average accuracies of 96%, 82%, and 67% in discriminating 2, 4, and 7 movement classes, respectively. Additionally, movement classes were decoded significantly above chance already in the window of 1000 to 500 ms before the grasp started, demonstrating decoding of motor intentions and the potential applicability of the approach for neuroprosthetic applications.

关键词： Firing Conferences Neurons Mouth Neuroprostheses Neural engineering Motors Decoding Recording Complexity theory

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Data-driven Methods Applied to Soft Robot Modeling and Control: A Review

arXiv

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arXiv 2023年

作者： Chen, Zixi Renda, Federico Le Gall, Alexia Mocellin, Lorenzo Bernabei, Matteo Dangel, Théo Ciuti, Gastone Cianchetti, Matteo Stefanini, Cesare The Biorobotics Institute the Department of Excellence in Robotics and AI Scuola Superiore Sant’Anna Pisa56127 Italy The Khalifa University Center for Autonomous Robotic Systems Khalifa University Abu Dhabi127788 United Arab Emirates

Soft robots show compliance and have infinite degrees of freedom. Thanks to these properties, such robots can be leveraged for surgery, rehabilitation, biomimetics, unstructured environment exploring, and industrial grippers. In this case, they attract scholars from a variety of areas. However, nonlinearity and hysteresis effects also bring a burden to robot modeling. Moreover, following their flexibility and adaptation, soft robot control is more challenging than rigid robot control. In order to model and control soft robots, a large number of data-driven methods are utilized in pairs or separately. This review first briefly introduces two foundations for data-driven approaches, which are physical models and the Jacobian matrix, then summarizes three kinds of data-driven approaches, which are statistical method, neural network, and reinforcement learning. This review compares the modeling and controller features, e.g., model dynamics, data requirement, and target task, within and among these categories. Finally, we summarize the features of each method. A discussion about the advantages and limitations of the existing modeling and control approaches is presented, and we forecast the future of data-driven approaches in soft robots. A website (https://***/view/23zcb) is built for this review and will be updated frequently. Copyright © 2023, The Authors. All rights reserved.

关键词： Reinforcement learning

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Robot-assisted Motion Compensation based on Optical Flow in Ultrasound Images

Robot-assisted Motion Compensation based on Optical Flow in ...

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IEEE Symposium (IUS) Ultrasonics

作者： Giovanni Faoro Nicolò Pasini Andrea Mariani Laura Morchi Selene Tognarelli Arianna Menciassi The BioRobotics Institute & Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy Soundsafe Care Srl Milano Italy Health Science Interdisciplinary Center Scuola Superiore Sant’Anna Pisa Italy

The compensation of target motion is crucial to perform medical tasks, such as localized therapy delivery. For example, abdominal organs can periodically move up to few centimeters in a couple of seconds due to respiration. This sets the need for accurate and fast motion estimation strategies, as well as for their integration into control routines to manage the possible mismatches with respect to the treatment area. In this paper, we combine optical flow estimation in ultrasound imaging with robotic control to tackle this problem. The motion estimator based on optical flow (Farneback method) was implemented in a custom Matlab Simulink Real-Time, which was in communication with a ROS network to control the robot that handles the ultrasound probe. The motion estimation accuracy was evaluated by robotically moving the ultrasound probe along known trajectories that were concurrently estimated by the proposed method, reporting a maximum root mean square error of 1.18 mm. Also, motion compensation was tested on a phantom attached to a motorized slide to simulate breath-induced motion. Robotic compensation allowed for target stabilization in the imaging plane, reporting a median normalized cross-correlation across images of 0.95 during compensation. We believe that these results justify further investigation on the effective integration of US optical flow in the framework of robot-assisted targeted therapy.

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A Robotic Ankle-Foot Prosthesis Based on Torsional Series and Parallel Elasticity

A Robotic Ankle-Foot Prosthesis Based on Torsional Series an...

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

作者： Alessandro Mazzarini Ilaria Fagioli Andrea Baldoni Filippo Dell'Agnello Emanuele Gruppioni Emilio Trigili Simona Crea Nicola Vitiello The BioRobotics Institute Scuola Superiore Sant’ Anna Pontedera Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’ Anna Pisa Italy Centro Protesi Inail in Vigorso di Budrio Bologna Italy IRCSS Fondazione Don Carlo Gnocchi Firenze Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

This paper presents the design and characterization of a robotic ankle-foot prosthesis embedding torsional series and parallel elasticity to mimic the biomechanics of a healthy ankle during prototypical tasks. The prosthesis components were selected to satisfy biomechanical requirements in different locomotion modes. Benchtop testing showed an open-loop current-to-torque bandwidth of 12 Hz, position tracking errors lower than 1.6 deg and torque step response overshoot below 3%. While tracking normative position trajectories, the parallel spring generated approximately the 25% of the peak biological torque during the dorsiflexion phase of walking, hence reducing the motor's work. Moreover, the actuation unit can mimic a broad range of virtual impedances similar to the one of the intact ankle. The results of bench testing demonstrated that the device is versatile and could be further tested in human-subjects testing.

关键词： Biomechanics Ankle Legged locomotion Torque Elasticity Trajectory Springs Robots Testing Prosthetics

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Exoskeleton-Mediated Physical Human-Human Interaction for a Sit-to-Stand Rehabilitation Task

Exoskeleton-Mediated Physical Human-Human Interaction for a ...

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IEEE International Conference on robotics and Automation (ICRA)

作者： Lorenzo Vianello Emek Barış Küçüktabak Matthew Short Clément Lhoste Lorenzo Amato Kevin Lynch Jose Pons Legs and Walking Lab of Shirley Ryan AbilityLab Chicago IL USA Center for Robotics and Biosystems of Northwestern University Evanston IL USA Department of Biomedical Engineering Northwestern University Evanston IL USA The Biorobotics Institute Scuola Superiore Sant’Anna Pontedera Italy Department of Excellence in Robotics & AI Scuola Superiore Sant’Anna Pisa Italy

ISBN: (数字)9798350384574

ISBN: (纸本)9798350384581

Sit-to-Stand (StS) is a fundamental daily activity that can be challenging for stroke survivors due to strength, motor control, and proprioception deficits in their lower limbs. Existing therapies involve repetitive StS exercises, but these can be physically demanding for therapists while assistive devices may limit patient participation and hinder motor learning. To address these challenges, this work proposes the use of two lower-limb exoskeletons to mediate physical interaction between therapists and patients during a StS rehabilitative task. This approach offers several advantages, including improved therapist-patient interaction, safety enforcement, and performance quantification. The whole body control of the two exoskeletons transmits online feedback between the two users, but at the same time assists in movement and ensures balance, and thus helping subjects with greater difficulty. In this study we present the architecture of the framework, presenting and discussing some technical choices made in the design.

关键词： Performance evaluation Tracking Exoskeletons Sociology Motors Safety Task analysis

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H-PhIEx A: A Compact SEA-Based Hand Exoskeleton with Active Metacarpophalangeal Joints

H-PhIEx A: A Compact SEA-Based Hand Exoskeleton with Active ...

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

作者： Stefano Laszlo Capitani Emanuele Peperoni Lisheng Kuang Tommaso Fiumalbi Andrea Baldoni Filippo Dell'Agnello Ilaria Creatini Elisa Taglione Nicola Vitiello Emilio Trigili Simona Crea BioRobotics Institute Scuola Superiore Sant' Anna Pontedera Italy Department of Excellence in Robotics and AI Scuola Superiore Sant'Anna Pisa Italy Motor Rehabilitation Center National Institute for Insurance Against Accidents at Work (INAIL) Pisa Italy IRCCS Fondazione Don Gnocchi Florence Italy

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Hand injuries have a considerable impact on daily life, requiring extensive rehabilitation efforts in both clinical and home environments. Portable wearable devices show promise in addressing this need., rendering rehabilitation repeatable., measurable., and challenging at the same time. This paper presents a novel hand exoskeleton designed to assist the thumb and index metacarpophalangeal (MCP) joints in flexion- extension movements while keeping the thumb free or locked in adduction-abduction and circumduction movements. The actuation units are based on a series-elastic architecture (SEA). Transmission chains include self-aligning mechanisms to avoid undesired parasitic forces on the user's musculoskeletal system. The device has a total weight of 190 g and can exert a maximum torque at the MCP joint up to 0.9 Nm. The lockable thumb chain enables users to lock the thumb in various configurations while assisting the flexion/extension motion. The device has been tested on the bench in position and admittance control., and with a human subject using electromyography-triggered flexion/extension movements. Results show a root mean square error in position control below 0.5 deg in all experimental conditions. The results prove that the developed hand exoskeleton can be used in rehabilitation applications.

关键词： Torque Exoskeletons Thumb Sea measurements Position control Rendering (computer graphics) Time measurement Wearable devices Root mean square Robots

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Plant-inspired behavior-based controller to enable reaching in redundant continuum robot arms

arXiv

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arXiv 2023年

作者： Donato, Enrico Ansari, Yasmin Tauqeer Laschi, Cecilia Falotico, Egidio The BioRobotics Institute Sant'Anna School of Advanced Studies PI Pontedera56025 Italy The Departement of Excellence in Robotics & AI Sant'Anna School of Advanced Studies Pisa56125 Italy The Department of Mechanical Engineering National University of Singapore 127575 Singapore The BioRobotics Institute Sant'Anna School of Advanced Studies Pisa56125 Italy

Enabling reaching capabilities in highly redundant continuum robot arms is an active area of research. Existing solutions comprise of task-space controllers, whose proper functioning is still limited to laboratory environments. In contrast, this work proposes a novel plant-inspired behaviour-based controller that exploits information obtained from proximity sensing embedded near the end-effector to move towards a desired spatial target. The controller is tested on a 9-DoF modular cable-driven continuum arm for reaching multiple set-points in space. The results are promising for the deployability of these systems into unstructured environments. © 2023, CC BY-NC-ND.

关键词： Controllers

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Tendon-Driven Haptic Glove for Force Feedback Telemanipulation

Tendon-Driven Haptic Glove for Force Feedback Telemanipulati...

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

作者： Camilla Baselli Francesco Missiroli Lucia Buatier de Mongeot Julius Rominger Jens Krzywinski M. Ercan Altinsoy Frank Fitzek Leonardo Cappello Marco Controzzi Lorenzo Masia Scuola Superiore Sant’ Anna The BioRobotics Institute Pisa Italy Department of Excellence in Robotics and AI Scuola Superiore Sant’ Anna Pisa Italy Institut für Technische Informatik (ZITI) Heidelberg University Heidelberg Deutschland Technische Universität Dresden Dresden Deutschland

ISBN: (数字)9798350386523

ISBN: (纸本)9798350386530

Telemanipulation, an advanced technology used for remotely controlling robots, is currently advancing to address challenges related to haptic feedback and dexterity. The adoption of bilateral architectures to connect operator and remote devices has been highlighted to ensure seamless connectivity between operators and remote manipulators, promoting telepresence for optimal performance. Additionally, robotic hands, initially designed for prosthetic purposes, have garnered recognition for their dexterity and versatility in telemanipulation tasks. This study proposes a novel tendon-driven haptic glove system to provide active force feedback in a remote environment. The system is a versatile device able to properly track finger motion while delivering accurate haptic feedback. A real-time embedded controller ensures proper haptic feedback during manipulation tasks executed in a virtual environment. The proposed haptic glove was found to be effective in reducing failure rates and enhancing movement accuracy when haptic feedback was delivered. Participants reported experiencing moderate cognitive load and minimal physical strain during the experiments. Analysis of the contact force feedback reported that interaction forces were modulated on each fingertip according to the user's motion and the object's stiffness. The results of this study represent a promising solution in the context of bilateral architecture for the telemanipulation of robotic hands.

关键词： Accuracy Telepresence Tracking Force feedback Force Thumb Tactile sensors Virtual environments Tendons Strain

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Exploiting class activation mappings as prior to generate fetal brain ultrasound images with GANs

Exploiting class activation mappings as prior to generate fe...

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Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

作者： Angelo Lasala Maria Chiara Fiorentino Silvestro Micera Andrea Bandini Sara Moccia Scuola Superiore Sant'Anna and the Department of Excellence in Robotics and AI The BioRobotics Institute Scuola Superiore Sant'Anna Italy Department of Information Engineering Università Politecnica Delle Marche Italy KITE Research Institute –Toronto Rehabilitation Institute University Health Network Toronto ON Canada

The identification of fetal-head standard planes (FHSPs) from ultrasound (US) images is of fundamental importance to visualize cerebral structures and diagnose neural anomalies during gestation in a standardized way. To support the activity of healthcare operators, deep-learning algorithms have been proposed to classify these planes. To date, the translation of such algorithms in clinical practice is hampered by several factors, including the lack of large annotated datasets to train robust and generalizable algorithms. This paper proposes an approach to generate synthetic FHSP images with conditional generative adversarial network (cGAN), using class activation maps (CAMs) obtained from FHSP classification algorithms as cGAN conditional prior. Using the largest publicly available FHSP dataset, we generated realistic images of the three common FHSPs: trans-cerebellum, trans-thalamic and trans-ventricular. The evaluation through t-SNE shows the potential of the proposed approach to attenuate the problem of limited availability of annotated FHSP images.

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ZodiAq: An Isotropic Flagella-Inspired Soft Underwater Drone for Safe Marine Exploration

arXiv

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arXiv 2025年

作者： Mathew, Anup Teejo Feliu-Talegon, Daniel Adamu, Yusuf Abdullahi Hmida, Ikhlas Ben Armanini, Costanza Stefanini, Cesare Seneviratne, Lakmal Renda, Federico Department of Mechanical Engineering Khalifa University Abu Dhabi United Arab Emirates New York University Abu Dhabi United Arab Emirates Department of Excellence in Robotics and AI The Biorobotics Institute Scuola Superiore Sant’Anna Pisa56127 Italy Khalifa University Abu Dhabi United Arab Emirates

The inherent challenges of robotic underwater exploration, such as hydrodynamic effects, the complexity of dynamic coupling, and the necessity for sensitive interaction with marine life, call for the adoption of soft robotic approaches in marine exploration. To address this, we present a novel prototype, ZodiAq, a soft underwater drone inspired by prokaryotic bacterial flagella. ZodiAq’s unique dodecahedral structure, equipped with 12 flagella-like arms, ensures design redundancy and compliance, ideal for navigating complex underwater terrains. The prototype features a central unit based on a Raspberry Pi, connected to a sensory system for inertial, depth, and vision detection, and an acoustic modem for communication. Combined with the implemented control law, it renders ZodiAq an intelligent system. This paper details the design and fabrication process of ZodiAq, highlighting design choices and prototype capabilities. Based on the strain-based modeling of Cosserat rods, we have developed a digital twin of the prototype within a simulation toolbox to ease analysis and control. To optimize its operation in dynamic aquatic conditions, a simplified model-based controller has been developed and implemented, facilitating intelligent and adaptive movement in the hydrodynamic environment. Extensive experimental demonstrations highlight the drone’s potential, showcasing its design redundancy, embodied intelligence, crawling gait, and practical applications in diverse underwater settings. This research contributes significantly to the field of underwater soft robotics, offering a promising new avenue for safe, efficient, and environmentally conscious underwater exploration. © 2025, CC BY.

关键词： Redundancy

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