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Grasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study

TitleGrasp Performance of a Soft Synergy-Based Prosthetic Hand: A Pilot Study
Publication TypeJournal Article
Year of Publication2017
AuthorsGailey, AS, Godfrey, SB, Breighner, R, Andrews, K, Zhao, K, BIcchi, A, Santello, M
Journal IEEE Transactions on Neural Systems and Rehabilitation Engineering
Volume25
Issue12
Pagination2407 - 2417
Date Published12/2017
ISSN1534-4320
Accession Number17397794
KeywordsHaptics, Robotics
Abstract

Current prosthetic hands are frequently rejected in part due to limited functionality and versatility. We assessed the feasibility of a novel prosthetic hand, the SoftHand Pro (SHP), whose design combines soft robotics and hand postural synergies. Able-bodied subjects (n = 23) tracked cursor motion by opening and closing the SHP and performed a grasp-lift-hold-release (GLHR) task with a sensorized cylindrical object of variable weight. The SHP control was driven by electromyographic (EMG) signals from two antagonistic muscles. Although the time to perform the GLHR task was longer for the SHP than native hand for the first few trials (10.2 ± 1.4 s and 2.13 ± 0.09 s, respectively), performance was much faster on subsequent trials (~5 s). The SHP steady-state grip force was significantly modulated as a function of object weight (p <; 0.001). For the native hand, however, peak and steady-state grip forces were modulated to a greater extent (+68% and +91%, respectively). These changes were mediated by the modulation of EMG amplitude and co-contraction. These data suggest that the SHP has a promise for prosthetic applications and point-to-design modifications that could improve the SHP.

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8094246
DOI10.1109/TNSRE.2017.2737539
Custom 1

Research reported in this publication was supported by the Grainger Foundation, the Eunice Kennedy Shriver National Institute Of Child Health and Human Development of the National Institutes of Health (NIH) under Award Number R21HD081938, and the European Commission within Horizon 2020 2015.ICT.24a Robot- ics RIA, with Grant no. 688857 “SOFTPRO -Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn.” 

Refereed DesignationRefereed

The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working

TitleThe SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working
Publication TypeJournal Article
Year of Publication2017
AuthorsPiazza, C, Catalano, MG, Godfrey, SB, Rossi, M, Grioli, G, Bianchi, M, Zhao, K, Bicchi, A
JournalIEEE Robotics and Automation Magazine
Date Published11/2017
ISSN1070-9932
KeywordsHaptics, Robotics
Notes

This work was supported by the European Commission project (Horizon 2020 research program) SOFTPRO 688857, the European Research Council under the Advanced Grant SoftHands “A Theory of Soft Synergies for a New Generation of Artificial Hands,” ERC-291166, and the Proof of Concept Project SoftHand Pro-H, ERC-2016-PoC 727536. 

URLhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8110634
DOI10.1109/MRA.2017.2751662
Refereed DesignationRefereed

Combining electroencephalographic activity and instantaneous heart rate for assessing brain–heart dynamics during visual emotional elicitation in healthy subjects

TitleCombining electroencephalographic activity and instantaneous heart rate for assessing brain–heart dynamics during visual emotional elicitation in healthy subjects
Publication TypeJournal Article
Year of Publication2016
AuthorsValenza, G, Greco, A, Gentili, C, Lanatà, A, Sebastiani, L, Menicucci, D, Gemignani, A, Scilingo, EP
JournalPhil. Trans. R. Soc. A
Volume374
Pagination20150176
KeywordsBioengineering
Refereed DesignationRefereed

Nonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics

TitleNonlinear digital signal processing in mental health: characterization of major depression using instantaneous entropy measures of heartbeat dynamics
Publication TypeJournal Article
Year of Publication2015
AuthorsValenza, G, Garcia, RG, Citi, L, Scilingo, EP, Tomaz, CA, Barbieri, R
JournalFrontiers in physiology
Volume6
KeywordsBioengineering
Refereed DesignationRefereed

Characterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment

TitleCharacterization of Depressive States in Bipolar Patients using Wearable Textile Technology and Instantaneous Heart Rate Variability Assessment
Publication TypeJournal Article
Year of Publication2015
AuthorsValenza, G, Citi, L, Gentili, C, Lanata, A, Scilingo, EP, Barbieri, R
JournalIEEE Journal of Biomedical and Health Informatics
Volume19
Pagination263–274
KeywordsBioengineering
Refereed DesignationRefereed

A bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors

TitleA bi-articular model for scapular-humeral rhythm reconstruction through data from wearable sensors
Publication TypeJournal Article
Year of Publication2016
AuthorsLorussi, F, Carbonaro, N, De Rossi, D, Tognetti, A
JournalJOURNAL OF NEUROENGINEERING AND REHABILITATION
Volume13
Pagination1–13
KeywordsHand posture estimation, Reaching activity, Scapular girdle movement, Scapular-humeral rhythm, Wearable sensing
URLhttps://jneuroengrehab.biomedcentral.com/articles/10.1186/s12984-016-0149-2
DOI10.1186/s12984-016-0149-2
Refereed DesignationRefereed

Wearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions

TitleWearable Textile Platform for Assessing Stroke Patient Treatment in Daily Life Conditions
Publication TypeJournal Article
Year of Publication2016
AuthorsLorussi, F, Carbonaro, N, De Rossi, D, Paradiso, R, Veltink, P, Tognetti, A
JournalFRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
Volume4
Pagination1–28
Keywordsambulatory monitoring, data fusion, gait, Grasping, reaching, stroke rehabilitation, wearable sensors
DOI10.3389/fbioe.2016.00028
Refereed DesignationRefereed

Assessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking

TitleAssessment of a Smart Sensing Shoe for Gait Phase Detection in Level Walking
Publication TypeJournal Article
Year of Publication2016
AuthorsCarbonaro, N, Lorussi, F, Tognetti, A
JournalELECTRONICS
Volume5
Pagination1–15
Keywordsaccelerometers, force sensors, gait cycle, gait phase, smart shoe, walking, wearable technology
URLhttp://www.mdpi.com/2079-9292/5/4/78
DOI10.3390/electronics5040078
Refereed DesignationRefereed

Systematic Review of fMRI Compatible Devices: Design and Testing Criteria

TitleSystematic Review of fMRI Compatible Devices: Design and Testing Criteria
Publication TypeJournal Article
Year of Publication2017
AuthorsHartwig, V, Carbonaro, N, Tognetti, A, Vanello, N
JournalANNALS OF BIOMEDICAL ENGINEERING
KeywordsBiomedical Engineering, Compatibility, fMRI, Mechatronic devices, Safety
URLhttp://link.springer.com/journal/volumesAndIssues/10439
DOI10.1007/s10439-017-1853-1
Refereed DesignationRefereed

Development of a High-Speed Current Injection and Voltage Measurement System for Electrical Impedance Tomography-Based Stretchable Sensors

TitleDevelopment of a High-Speed Current Injection and Voltage Measurement System for Electrical Impedance Tomography-Based Stretchable Sensors
Publication TypeJournal Article
Year of Publication2017
AuthorsRusso, S, Nefti-meziani, S, Carbonaro, N, Tognetti, A
JournalTECHNOLOGIES
Volume5
Keywordsconductive fabric, EIT, pressure sensor, stretchable, wearable
URLhttp://www.mdpi.com/2227-7080/5/3/48
DOI10.3390/technologies5030048
Refereed DesignationRefereed

A Quantitative Evaluation of Drive Pattern Selection for Optimizing EIT-Based Stretchable Sensors

TitleA Quantitative Evaluation of Drive Pattern Selection for Optimizing EIT-Based Stretchable Sensors
Publication TypeJournal Article
Year of Publication2017
AuthorsRusso, S, Nefti-meziani, S, Carbonaro, N, Tognetti, A
JournalSENSORS
Volume17
Keywordsconductive fabric, inverse problem, performance parameters, stretchable sensor
Abstract

Electrical Impedance Tomography (EIT) is a medical imaging technique that has been recently used to realize stretchable pressure sensors. In this method, voltage measurements are taken at electrodes placed at the boundary of the sensor and are used to reconstruct an image of the applied touch pressure points. The drawback with EIT-based sensors, however, is their low spatial resolution due to the ill-posed nature of the EIT reconstruction. In this paper, we show our performance evaluation of different EIT drive patterns, specifically strategies for electrode selection when performing current injection and voltage measurements. We compare voltage data with Signal-to-Noise Ratio (SNR) and Boundary Voltage Changes (BVC), and study image quality with Size Error (SE), Position Error (PE) and Ringing (RNG) parameters, in the case of one-point and two-point simultaneous contact locations. The study shows that, in order to improve the performance of EIT based sensors, the electrode selection strategies should dynamically change correspondingly to the location of the input stimuli. In fact, the selection of one drive pattern over another can improve the target size detection and position accuracy up to 0.04. and 0.18, respectively.

URLhttp://www.mdpi.com/1424-8220/17/9/1999/htm
DOI10.3390/s17091999
Refereed DesignationRefereed

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