%0 Conference Paper %B IEEE International Conference on Rehabilitation Robotics (ICORR) %D 2019 %T An Objective Functional Evaluation of Myoelectrically-Controlled Hand Prostheses: A Pilot Study Using the Virtual Peg Insertion Test %A C. M. Kanzler %A M. G. Catalano %A C. Piazza %A A. Bicchi %A R. Gassert %A O. Lambercy %B IEEE International Conference on Rehabilitation Robotics (ICORR) %R 10.1109/ICORR.2019.8779550 %0 Conference Paper %B International Symposium on Wearable Robotics %D 2018 %T The softpro project: Synergy-based open-source technologies for prosthetics and rehabilitation %A C. Piazza %A M. G. Catalano %A M. Bianchi %A E. Ricciardi %A D. Pratichizzo %A S. Haddadin %A Luft, A. R. L. %A O. Lambercy %A R. Gassert %A E. Jakubowitz %A H. Van Der Kooij %A F. Tonis %A F. Bonomo %A B. de Jonge %A T. Ward %A K. Zhao %A M. Santello %A A. Bicchi %B International Symposium on Wearable Robotics %R https://doi.org/10.1007/978-3-030-01887-0_71 %0 Journal Article %J IEEE - ASME Transactions on Mechatronics %D 2008 %T Sensing Glove for Brain Studies: Design and assessment of its Compatibility for fMRI with a Robust Test %A N. Vanello %A V. Hartwig %A M. Tesconi %A E. Ricciardi %A A. Tognetti %A G. Zupone %A R. Gassert %A D. Chapuis %A N. Sgambelluri %A E. P. Scilingo %A G. Giovannetti %A V. Positano %A M. F. Santarelli %A A. Bicchi %A P. Pietrini %A D. De Rossi %A L. Landini %K Haptics %K Robotics %X

In this paper, we describe a biomimetic-fabric-based sensing glove that can be used tomonitor hand posture and gesture. Our device is made of a distributed sensor network of piezoresistive conductive elastomers integrated into an elastic fabric. This solution does not affect natural movement and hand gestures, and can be worn for a long time with no discomfort. The glove could be fruitfully employed in behavioral and functional studies with functional MRI (fMRI) during specific tactile or motor tasks. To assess MR compatibility of the system, a statistical test on phantoms is introduced. This test can also be used for testing the compatibility of mechatronic devices designed to produce different stimuli inside the MR environment. We propose a statistical test to evaluate changes in SNR and time-domain standard deviations between image sequences acquired under different experimental conditions. fMRI experiments on subjects wearing the glove are reported. The reproducibility of fMRIresults obtained with andwithout the glove was estimated. A good similarity between the activated regions was found in the two conditions.

%B IEEE - ASME Transactions on Mechatronics %V 13 %P 345-354 %G eng %0 Conference Paper %B Proc. IEEE Int. Conf. on Robotics and Automation %D 2006 %T Active Mechatronic Interface for Haptic Perception Studies with Functional Magnetic Resonance Imaging: Compatibility and Design Criteria %A R. Gassert %A N. Vanello %A D. Chapuis %A V. Hartwig %A E. P. Scilingo %A A. Bicchi %A L. Landini %A E. Burdet %A H. Bleuler %K Haptics %X

Functional brain exploration methodologies such as functional magnetic resonance imaging (fMRI), are critical tools to study perceptual and cognitive processes. In order to develop complex and well controlled fMRI paradigms, researchers are interested in using active interfaces with electrically powered actuators and sensors. Due to the particularity of the MR environment, safety and compatibility criteria have to be strictly followed in order to avoid risks to the subject under test, to the operators or to the environment, as well as to avoid artifacts in the images. This paper describes the design of an fMRI compatible mechatronic interface based on MR compatibility tests of materials and actuators. In particular, a new statistical test looks at the mean and variations of activity as a time series. The device with two degrees of freedom, allowing one translation with positionfeedback along a horizontal axis and one rotation about a vertical axis linked to the translation, was realized to investigate the brain mechanisms of dynamic tactile perception tasks. It can be used to move and orient various objects below the finger for controlled tactile stimulation. The MR compatibility of the complete interface is shown using the same statistical test as well as a functional study with a human subject.

%B Proc. IEEE Int. Conf. on Robotics and Automation %P 3832-3837 %G eng %0 Conference Paper %B Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004) %D 2004 %T A compatibility test for tactile displays designed for fMRI studies. %A V. Hartwig %A N. Vanello %A R. Gassert %A D. Chapuis %A M. F. Santarelli %A V. Positano %A E. Ricciardi %A P. Pietrini %A L. Landini %A A. Bicchi %K Haptics %X

The purpose of this document is to provide a compatibility test for mechatronic devices to be used within a diagnostic MR environment. In order to design new devices that can produce tactile stimuli of different nature inside the MRI environment, compatibility tests with several materials and mechatronic devices are reported. Results of these experiments are analyzed in order to evaluate artefacts caused by the presence and actuation of the devices.

%B Proceedings of the EuroHaptics 2004 (Technische Universitat Munchen, Germany June 5-7, 2004) %P 456-458 %G eng