%0 Journal Article %J PLOS One %D 2018 %T The SoftHand Pro: Functional evaluation of a novel, flexible, and robust myoelectric prosthesis %A S. B. Godfrey %A K. Zhao %A A. Theuer %A M. G. Catalano %A M. Bianchi %A R. Breighner %A D. Bhaskaran %A R. Lennon %A G. Grioli %A M. Santello %A A. Bicchi %A K. Andrews %B PLOS One %G eng %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 Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference %D 2016 %T Influence of Force Feedback on Grasp Force Modulation in Prosthetic Applications: a Preliminary Study %A S. B. Godfrey %A M. Bianchi %A A. Bicchi %A M. Santello %B Engineering in Medicine and Biology Society (EMBC), 2016 38th Annual International Conference %C Orlando, USA, August 16-20, 2016 %U http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=7591957 %R 10.1109/EMBC.2016.7591957 %0 Book Section %B Converging Clinical and Engineering Research on Neurorehabilitation II %D 2016 %T The SoftHand Pro: Translation from Robotic Hand to Prosthetic Prototype %A S. B. Godfrey %A M. Bianchi %A K. Zhao %A M. G. Catalano %A R. Breighner %A A. Theuer %A K. Andrews %A G. Grioli %A M. Santello %A A. Bicchi %K Haptics %K Robotics %X
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.
%B Converging Clinical and Engineering Research on Neurorehabilitation II %I Springer International Publishing %V 15 %P 469-473 %G eng %U http://link.springer.com/chapter/10.1007/978-3-319-46669-9_78 %R 10.1007/978-3-319-46669-9_78 %0 Book Section %B Human and Robot Hands %D 2016 %T Teleimpedance Control: Overview and application %A A. Ajoudani %A S. B. Godfrey %A N. G. Tsagarakis %A A. Bicchi %K Robotics %XIn 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.
%B Human and Robot Hands %V Springer Series on Touch and Haptic Systems %P 151-169 %G eng %& 9 %R 10.1007/978-3-319-26706-7 %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 %0 Conference Paper %B Haptics Symposium (HAPTICS), 2014 IEEE %D 2014 %T Exploring haptic feedback for the Pisa/IIT SoftHand %A S. B. Godfrey %A A. Ajoudani %A M. Bianchi %A M. G. Catalano %A G. Grioli %A A. Bicchi %K Haptics %K Robotics %B Haptics Symposium (HAPTICS), 2014 IEEE %C Houston, TX %R 10.1109/HAPTICS.2014.6775572 %0 Journal Article %J IEEE Transactions on Haptics %D 2014 %T Exploring Teleimpedance and Tactile Feedback for Intuitive Control of the Pisa/IIT SoftHand %A A. Ajoudani %A S. B. Godfrey %A M. G. Catalano %A M. Bianchi %A G. Grioli %A N G Tsagarakis %A A. Bicchi %K Haptics %K Robotics %B IEEE Transactions on Haptics %V 7 %P 203 - 215 %G eng %U http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6755554 %N 2 %R 10.1109/TOH.2014.2309142 %0 Journal Article %J Frontiers in Neurorobotics %D 2014 %T Peripheral Machine Interfaces: going beyond traditional surface electromyography %A C. Castellini %A P. Artemiadis %A M. Wininger %A A. Ajoudani %A M. Alimusaj %A A. Bicchi %A B. Caputo %A W. Craelius %A S. Dosen %A K. Englehart %A D. Farina %A A. Gijsberts %A S. B. Godfrey %A L. Hargrove %A M. Ison %A T. Kuiken %A M. Markovic %A P. M. Pilarski %A R. Rupp %A E. Scheme %K Robotics %B Frontiers in Neurorobotics %V 8 %P 1 - 17 %8 08/2014 %G eng %N 22 %R 10.3389/fnbot.2014.00022 %0 Conference Paper %B 13TH International Conference on Rehabilitation Robotics %D 2013 %T A synergy-driven approach to a myoelectric hand %A S. B. Godfrey %A A. Ajoudani %A M. G. Catalano %A G. Grioli %A A. Bicchi %K Haptics %K Robotics %B 13TH International Conference on Rehabilitation Robotics %C June 24-26, 2013, Seattle, WA. %P 1 - 6 %G eng %U 10.1109/ICORR.2013.6650377 %0 Conference Paper %B IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 %D 2013 %T Teleimpedance Control of a Synergy-Driven Anthropomorphic Hand %A A. Ajoudani %A S. B. Godfrey %A M. G. Catalano %A G. Grioli %A N G Tsagarakis %A A. Bicchi %K Haptics %K Robotics %B IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2013 %C Tokyo, Japan %P 1985 - 1991 %8 November 3-7 %G eng %R 10.1109/IROS.2013.6696620