00760nas a2200217 4500008004100000245010000041210006900141100001900210700001300229700001500242700002000257700001600277700001800293700001800311700001500329700001500344700001600359700001500375700001600390856013600406 2018 eng d00aThe SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis0 aSoftHand Pro Functional evaluation of a novel flexible and robus1 aGodfrey, S. B.1 aZhao, K.1 aTheuer, A.1 aCatalano, M. G.1 aBianchi, M.1 aBreighner, R.1 aBhaskaran, D.1 aLennon, R.1 aGrioli, G.1 aSantello, M1 aBicchi, A.1 aAndrews, K. uhttps://www.centropiaggio.unipi.it/publications/softhand-pro-functional-evaluation-novel-flexible-and-robust-myoelectric-prosthesis00530nas a2200169 4500008004100000245005100041210004900092100001900141700001400160700001400174700002000188700001600208700001500224700001300239700001500252856009300267 2017 eng d00aSoftHand at the CYBATHLON: A user's experience0 aSoftHand at the CYBATHLON A users experience1 aGodfrey, S. B.1 aRossi, M.1 aPiazza, C1 aCatalano, M. G.1 aBianchi, M.1 aGrioli, G.1 aZhao, K.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/softhand-cybathlon-users-experience.html00686nas a2200217 4500008004100000022001400041245011700055210006900172260001200241653001200253653001300265100001400278700002000292700001900312700001400331700001500345700001600360700001300376700001500389856006400404 2017 eng d a1070-993200aThe SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working 0 aSoftHand ProH A Hybrid BodyControlled Electrically Powered Hand c11/201710aHaptics10aRobotics1 aPiazza, C1 aCatalano, M. G.1 aGodfrey, S. B.1 aRossi, M.1 aGrioli, G.1 aBianchi, M.1 aZhao, K.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=811063400515nas a2200133 4500008003900000245010600039210006900145260003700214100001900251700001600270700001500286700001600301856006400317 2016 d00aInfluence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study0 aInfluence of Force Feedback on Grasp Force Modulation in Prosthe aOrlando, USA, August 16-20, 20161 aGodfrey, S. B.1 aBianchi, M.1 aBicchi, A.1 aSantello, M uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=759195701531nas a2200277 4500008004100000022002200041245007600063210006900139260003800208300001200246490000700258520073400265653001200999653001301011100001901024700001601043700001301059700002001072700001801092700001501110700001601125700001501141700001601156700001501172856006601187 2016 eng d a978-3-319-46668-200aThe SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype0 aSoftHand Pro Translation from Robotic Hand to Prosthetic Prototy bSpringer International Publishing a469-4730 v153 a
This work presents the translation from a humanoid robotic hand to a prosthetic prototype and its first evaluation in a set of 9 persons with amputation. The Pisa/IIT SoftHand is an underactuated hand built on the neuroscientific principle of motor synergies enabling it to perform natural, human-like movements and mold around grasped objects with minimal control input. These features motivated the development of the SoftHand Pro, a prosthetic version of the SoftHand built to interface with a prosthetic socket. The results of the preliminary testing of the SoftHand Pro showed it to be a highly functional design with an intuitive control system. Present results warrant further testing to develop the SoftHand Pro.
10aHaptics10aRobotics1 aGodfrey, S. B.1 aBianchi, M.1 aZhao, K.1 aCatalano, M. G.1 aBreighner, R.1 aTheuer, A.1 aAndrews, K.1 aGrioli, G.1 aSantello, M1 aBicchi, A. uhttp://link.springer.com/chapter/10.1007/978-3-319-46669-9_7801881nas a2200181 4500008004100000022002200041245005200063210005100115300001200166490004800178520128200226653001301508100001701521700001901538700002301557700001501580856010401595 2016 eng d a978-3-319-26705-000aTeleimpedance Control: Overview and application0 aTeleimpedance Control Overview and application a151-1690 vSpringer Series on Touch and Haptic Systems3 aIn previous chapters, human hand and arm kinematics have been analyzed through a synergstic approach and the underlying concepts were used to design robotic systems and devise simplified control algorithms. On the other hand, it is well-known that synergies can be studied also at a muscular level as a coordinated activation of multiple muscles acting as a single unit to generate different movements. As a result, muscular activations, quantified through Electromyography (EMG) signals can be then processed and used as direct inputs to external devices with a large number of DOFs. In this chapter, we present a minimalistic approach based on tele-impedance control, where EMGs from only one pair of antagonistic muscle pair are used to map the users postural and stiffness references to the synergy-driven anthropomorphic robotic hand, described in chapter 6. In this direction, we first provide an overview of the teleimpedance control concept which forms the basis for the development of the hand controller. Eventually, experimental results evaluate the effectiveness of the teleimpedance control concept in execution of the tasks which require significant dynamics variation or are executed in remote environments with dynamic uncertainties.
10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aTsagarakis, N., G.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/teleimpedance-control-overview-and-application.html01921nas a2200181 4500008003900000245007200039210006900111260004900180300001600229520133600245653001201581653001301593100001901606700001701625700001401642700001501656856006801671 2015 d00aEffect of Homogenous Object Stiffness on Tri-digit Grasp Properties0 aEffect of Homogenous Object Stiffness on Tridigit Grasp Properti a Milano, Italy, August 25th-29th, 2015bIEEE a6704 - 67073 aEffective execution of a manipulation task using prosthetic or robotic hands requires that the motion and the impedance profiles of the fingers be appropriately commanded. This, however, brings some design and control challenges regarding the individual planning and realization of the finger motion and stiffnesstrajectories. It appears that the central nervous system solves for this complexity in an effective and coordinated manner which has been well-recognized under the concept of hand synergies. While the exploitation of this concept in kinematic coordinates has lead to the development of several successful robotic designs and control strategies, its extension to dynamic coordinates, such as coordinated stiffening of the fingers, remains to be investigated. Indeed, in this study we provide preliminary evidence on the existence of such coordinated stiffening patterns in human fingers and establish initial steps towards a real-time and effective modelling of the finger stiffness in a tripod grasp. To achieve this goal, the endpoint stiffness of the thumb, index and middle fingers of five healthy subjects are experimentally identified and correlated with the electromyography (EMG) signals recorded from a dominant antagonistic pair of the forearm muscles. Our findings suggest that: i) the magnitude of thestiffness ellipses at the fingertips grows in a coordinated way, subsequent to the co-contraction of the forearm muscles; ii) the length of the ellipses' axes appears to have a nearly linear relationship with the co-contraction level of the antagonistic muscle pair.
10aHaptics10aRobotics1 aRossi, M.1 aAltobelli, A1 aGodfrey, S. B.1 aAjoudani, A.1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=728119600575nas a2200181 4500008003900000245005600039210005500095260001600150653001200166653001300178100001900191700001700210700001600227700002000243700001500263700001500278856010000293 2014 d00aExploring haptic feedback for the Pisa/IIT SoftHand0 aExploring haptic feedback for the PisaIIT SoftHand aHouston, TX10aHaptics10aRobotics1 aGodfrey, S. B.1 aAjoudani, A.1 aBianchi, M.1 aCatalano, M. G.1 aGrioli, G.1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/exploring-haptic-feedback-pisaiit-softhand.html00647nas a2200205 4500008004100000245009600041210006900137300001400206490000600220653001200226653001300238100001700251700001900268700002000287700001600307700001500323700002000338700001500358856006800373 2014 eng d00aExploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand0 aExploring Teleimpedance and Tactile Feedback for Intuitive Contr a203 - 2150 v710aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aBianchi, M.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttp://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=675555401067nas a2200361 4500008004100000245008500041210006900126260001200195300001100207490000600218653001300224100001900237700001900256700001700275700001700292700001700309700001500326700001500341700001700356700001400373700001800387700001500405700001800420700001900438700001700457700001300474700001500487700001700502700002100519700001300540700001500553856013700568 2014 eng d00aPeripheral Machine Interfaces: going beyond traditional surface electromyography0 aPeripheral Machine Interfaces going beyond traditional surface e c08/2014 a1 - 170 v810aRobotics1 aCastellini, C.1 aArtemiadis, P.1 aWininger, M.1 aAjoudani, A.1 aAlimusaj, M.1 aBicchi, A.1 aCaputo, B.1 aCraelius, W.1 aDosen, S.1 aEnglehart, K.1 aFarina, D.1 aGijsberts, A.1 aGodfrey, S. B.1 aHargrove, L.1 aIson, M.1 aKuiken, T.1 aMarkovic, M.1 aPilarski, P., M.1 aRupp, R.1 aScheme, E. uhttps://www.centropiaggio.unipi.it/publications/peripheral-machine-interfaces-going-beyond-traditional-surface-electromyography.html00512nas a2200181 4500008004100000245005200041210004900093260003500142300001000177653001200187653001300199100001900212700001700231700002000248700001500268700001500283856003200298 2013 eng d00aA synergy-driven approach to a myoelectric hand0 asynergydriven approach to a myoelectric hand aJune 24-26, 2013, Seattle, WA. a1 - 610aHaptics10aRobotics1 aGodfrey, S. B.1 aAjoudani, A.1 aCatalano, M. G.1 aGrioli, G.1 aBicchi, A. u10.1109/ICORR.2013.6650377 00661nas a2200193 4500008004100000245006700041210006600108260003100174300001600205653001200221653001300233100001700246700001900263700002000282700001500302700002000317700001500337856011500352 2013 eng d00aTeleimpedance Control of a Synergy-Driven Anthropomorphic Hand0 aTeleimpedance Control of a SynergyDriven Anthropomorphic Hand aTokyo, JapancNovember 3-7 a1985 - 199110aHaptics10aRobotics1 aAjoudani, A.1 aGodfrey, S. B.1 aCatalano, M. G.1 aGrioli, G.1 aTsagarakis, N G1 aBicchi, A. uhttps://www.centropiaggio.unipi.it/publications/teleimpedance-control-synergy-driven-anthropomorphic-hand.html