%0 Newspaper Article %B IEEE Transactions on Neural Systems and Rehabilitation Engineering %D 2020 %T Evaluation of a Simultaneous Myoelectric Control Strategy for a Multi-DoF Transradial Prosthesis %A C. Piazza %A M. Rossi %A M. G. Catalano %A A. Bicchi %A L. Hargrove %B IEEE Transactions on Neural Systems and Rehabilitation Engineering %G eng %0 Journal Article %J Frontiers in neurorobotics %D 2019 %T Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs %A M. Maimeri %A C. Della Santina %A C. Piazza %A M. Rossi %A M. G. Catalano %A G. Grioli %B Frontiers in neurorobotics %V 13 %G eng %U https://www.frontiersin.org/articles/10.3389/fnbot.2019.00026/full %R 10.3389/fnbot.2019.00026 %0 Journal Article %J Frontiers in neurorobotics %D 2019 %T Design and Assessment of Control Maps for Multi-Channel sEMG-Driven Prostheses and Supernumerary Limbs %A M. Maimeri %A C. Della Santina %A C. Piazza %A M. Rossi %A M. G. Catalano %A G. Grioli %B Frontiers in neurorobotics %V 13 %G eng %R 10.3389/fnbot.2019.00026 %0 Journal Article %J IEEE Transactions on Biomedical Engineering %D 2018 %T Hap-Pro: a wearable haptic device for proprioceptive feedback %A M. Rossi %A M. Bianchi %A E. Battaglia %A M. G. Catalano %A A. Bicchi %K haptic feedback %K haptic interfaces %K proprioception %K Prosthetic hand %K Robot sensing systems %K Skin %K upper extremity prosthesis %K Visualization %K Wheels %B IEEE Transactions on Biomedical Engineering %P 1-1 %G eng %R 10.1109/TBME.2018.2836672 %0 Conference Paper %B International Conference on Rehabilitation Robotics (ICORR) %D 2017 %T Preliminary results toward a naturally controlled multi-synergistic prosthetic hand %A M. Rossi %A C. Della Santina %A C. Piazza %A G. Grioli %A M. G. Catalano %A A. Bicchi %K Robotics %X
Robotic hands embedding human motor control principles in their mechanical design are getting increasing interest thanks to their simplicity and robustness, combined with good performance. Another key aspect of these hands is that humans can use them very effectively thanks to the similarity of their behavior with real hands. Nevertheless, controlling more than one degree of actuation remains a challenging task. In this paper, we take advantage of these characteristics in a multi-synergistic prosthesis. We propose an integrated setup composed of Pisa/IIT SoftHand 2 and a control strategy which simultaneously and proportionally maps the human hand movements to the robotic hand. The control technique is based on a combination of non-negative matrix factorization and linear regression algorithms. It also features a real-time continuous posture compensation of the electromyographic signals based on an IMU. The algorithm is tested on five healthy subjects through an experiment in a virtual environment. In a separate experiment, the efficacy of the posture compensation strategy is evaluated on five healthy subjects and, finally, the whole setup is successfully tested in performing realistic daily life activities.
%B International Conference on Rehabilitation Robotics (ICORR) %@ 978-1-5386-2296-4 %U http://ieeexplore.ieee.org/abstract/document/8009437/ %R 10.1109/ICORR.2017.8009437 %0 Journal Article %J JOURNAL OF NEUROENGINEERING AND REHABILITATION %D 2017 %T SoftHand at the CYBATHLON: A user's experience %A S. B. Godfrey %A M. Rossi %A C. Piazza %A M. G. Catalano %A M. Bianchi %A G. Grioli %A K. Zhao %A A. Bicchi %B JOURNAL OF NEUROENGINEERING AND REHABILITATION %G eng %R 10.1186/s12984-017-0334-y %0 Journal Article %J IEEE Robotics and Automation Magazine %D 2017 %T The SoftHand Pro-H: A Hybrid Body-Controlled, Electrically Powered Hand Prosthesis for Daily Living and Working %A C. Piazza %A M. G. Catalano %A S. B. Godfrey %A M. Rossi %A G. Grioli %A M. Bianchi %A K. Zhao %A A. Bicchi %K Haptics %K Robotics %B IEEE Robotics and Automation Magazine %8 11/2017 %G eng %U http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=8110634 %R 10.1109/MRA.2017.2751662 %0 Conference Paper %B IEEE International Conference of Robotics and Automation (ICRA2016) %D 2016 %T Reflex Control of the Pisa/IIT SoftHand during Object Slippage %A A. Ajoudani %A E. Hocaoglu %A Altobelli, A %A M. Rossi %A E. Battaglia %A N G Tsagarakis %A A. Bicchi %K Haptics %K Robotics %XIn this work, to guarantee the Pisa/IIT SoftHand’s
grasp robustness against slippage, three reflex control modes,
namely Current, Pose and Impedance, are implemented and
experimentally evaluated. Towards this objective, ThimbleSense
fingertip sensors are designed and integrated into the thumb
and middle fingers of the SoftHand for real-time detection and
control of the slippage. Current reflex regulates the restoring
grasp forces of the hand by modulating the motor’s current
profile according to an update law. Pose and Impedance reflex
modes instead replicate this behaviour by implementing an
impedance control scheme. The difference between the two
latter is that the stiffness gain in Impedance reflex mode is
being varied in addition to the hand pose, as a function of
the slippage on the fingertips. Experimental setup also includes
a seven degrees-of-freedom robotic arm to realize consistent
trajectories (e.g. lifting) among three control modes for the sake
of comparison. Different test objects are considered to evaluate
the efficacy of the proposed reflex modes in our experimental
setup. Results suggest that task-appropriate restoring forces
can be achieved using Impedance reflex due to its capability
in demonstrating instantaneous and rather smooth reflexive
behaviour during slippage. Preliminary experiments on five
healthy human subjects provide evidence on the similarity of the
control concepts exploited by the humans and the one realized
by the Impedance reflex, highlighting its potential in prosthetic
applications.
%B IEEE International Conference of Robotics and Automation (ICRA2016) %I IEEE %C Stockholm, Sweden %P 1972 - 1979 %G english %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7487344 %R 10.1109/ICRA.2016.7487344 %0 Conference Paper %B 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2015) %D 2015 %T Effect of Homogenous Object Stiffness on Tri-digit Grasp Properties %A S. B. Godfrey %A Altobelli, A %A M. Rossi %A A. Bicchi %K Haptics %K Robotics %XEffective 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.
%B International Conference on Rehabilitation Robotics (ICORR), 2015 %I IEEE %C Singapore, 11 – 14 August 2015 %P 181-186 %G english %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=7281196 %R 10.1109/ICORR.2015.7281196