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- research-article
Upper limb exosuit cable routing optimization
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896594Exosuits are emerging as promising in assisting with activities of daily living. In the design phase of an exosuit, it is fundamental to maximize its portability. The goal of this work was to identify the best cable routing configuration for an upper limb ...
- research-article
AGREE: an upper-limb robotic platform for personalized rehabilitation, concept and clinical study design*
- Stefano Dalla Gasperina,
- Valeria Longatelli,
- Mattia Panzenbeck,
- Beatrice Luciani,
- Alice Morosini,
- Alessandro Piantoni,
- Peppino Tropea,
- Francesco Braghin,
- Alessandra Pedrocchi,
- Marta Gandolla
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896569Rehabilitation exoskeletons can supplement therapist-based training allowing post-stroke patients to perform functional, high-dosage, repetitive exercises. The use of robotic devices allows providing intense rehabilitation sessions and permits clinicians ...
- research-article
Hand grip support for rehabilitation and assistance: from patent to TRL5
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896562In the last decades, the continuous increase in the number of the vast cohort of chronic patients that constantly need medical assistance and supervision, and the widespread lack of therapist has brought to an increased interest in the role of medical ...
- research-article
Development of an Interactive Total Body Robot Enhanced Imitation Therapy for ASD children.
- Gabriele Fassina,
- Laura Santos,
- Alice Geminiani,
- Arianna Caglio,
- Silvia Annunziata,
- Ivana Olivieri,
- Alessandra Pedrocchi
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896536Autism is a neurodevelopmental disorder in which the available therapies target the improvement of social skills, in order to ensure a high quality of life for the child. The use of Social Assistive Robots offers new therapeutic possibilities in which ...
- research-article
A force-based human machine interface to drive a motorized upper limb exoskeleton. a pilot study
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896523Muscular dystrophy is a strongly invalidating disease that causes the progressive loss of motor skills. The use of assistive devices, especially those in support of the upper limb, can increase the ability to perform daily-life activities and foster a ...
- research-article
A Backbone-Tracking Passive Exoskeleton to Reduce the Stress on the Low-Back: Proof of Concept Study*
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896514Exoskeletons for the low-back have great potential as tools to both prevent low-back pain for healthy subjects and limit its impact for chronic patients. Here, we show a proof-of-concept evaluation of our low-back exoskeleton. Its peculiar feature is the ...
- research-article
Sharing Worlds: Design of a Real-Time Attention Classifier for Robotic Therapy of ASD Children*
- Laura Santos,
- Bárbara Silva,
- Filippo Maddaloni,
- Alice Geminiani,
- Arianna Caglio,
- Silvia Annunziata,
- Ivana Olivieri,
- Catarina Barata,
- José Santos-Victor,
- Alessandra Pedrocchi
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896506Joint attention is the capacity of sharing attention between two agents and an aspect of the environment, through the use of different cues, namely gaze. This capacity is of paramount importance for social skills. People with Autism Spectrum Disorder (ASD)...
- research-article
Adaptive Hybrid FES-Force Controller for Arm Exosuit
- Davide Burchielli,
- Nicola Lotti,
- Francesco Missiroli,
- Casimir Bokranz,
- Alessandra Pedrocchi,
- Emilia Ambrosini,
- Lorenzo Masia
2022 International Conference on Rehabilitation Robotics (ICORR)•July 2022, pp 1-6• https://doi.org/10.1109/ICORR55369.2022.9896493Patients suffering from neuromuscular diseases experience motor disabilities which hinder their independence during activities of daily living (ADLs). For such impaired subjects, robotic devices and Functional Electrical Stimulation (FES) are technologies ...
- Article
Training with a Mobile FES-cycling System: A Case Study with a Spinal Cord Injured Pilot to Investigate Performances Optimization
- Federica Ferrari,
- Nicole Sanna,
- Paolo Brambilla,
- Francesca Dell’Eva,
- Simona Ferrante,
- Marco Tarabini,
- Alessandra Pedrocchi,
- Emilia Ambrosini
Computers Helping People with Special Needs•July 2022, pp 437-444• https://doi.org/10.1007/978-3-031-08645-8_51AbstractCycling by means of Functional Electrical Stimulation (FES) has proven to be a valid technique for the rehabilitation of patients with Spinal Cord Injuries (SCI). In particular, it can be seen not only as a therapeutical approach but also as an ...
- Article
Sensor-Based Task Ergonomics Feedback for a Passive Low-Back Exoskeleton
- Mattia Pesenti,
- Marta Gandolla,
- Carlo Folcio,
- Sha Ouyang,
- Luigi Rovelli,
- Alessandra Pedrocchi,
- Mario Covarrubias Rodriguez,
- Loris Roveda
Computers Helping People with Special Needs•July 2022, pp 403-410• https://doi.org/10.1007/978-3-031-08645-8_47AbstractLow-back exoskeletons are a wide-spreading technology tackling low-back pain, the leading work-related musculoskeletal disorder in many work sectors. Currently, spring-based (i.e., passive) exoskeletons are the mostly adopted in the industry, ...
- Article
Rehabilitation of Post-COVID Patients: A Virtual Reality Home-Based Intervention Including Cardio-Respiratory Fitness Training
- Vera Colombo,
- Marta Mondellini,
- Giovanni Tauro,
- Giovanna Palumbo,
- Mauro Rossini,
- Emilia Biffi,
- Roberta Nossa,
- Alessia Fumagalli,
- Emilia Ambrosini,
- Alessandra Pedrocchi,
- Franco Molteni,
- Daniele Colombo,
- Gianluigi Reni,
- Marco Sacco,
- Sara Arlati
AbstractThe post-COVID syndrome is emerging as a new chronic condition, characterized by symptoms of breathlessness, fatigue, and decline of neurocognitive functions. Rehabilitation programs that include physical training seem to be beneficial to reduce ...
- research-article
XAI for myo-controlled prosthesis: Explaining EMG data for hand gesture classification
Knowledge-Based Systems, Volume 240, Issue C•Mar 2022 • https://doi.org/10.1016/j.knosys.2021.108053AbstractMachine Learning has recently found a fertile ground in EMG signal decoding for prosthesis control. However, its understanding and acceptance are strongly limited by the notion of AI models as black-boxes. In critical fields, such as ...
- research-article
An assistive upper-limb exoskeleton controlled by multi-modal interfaces for severely impaired patients: development and experimental assessment
- Marta Gandolla,
- Stefano Dalla Gasperina,
- Valeria Longatelli,
- Alessandro Manti,
- Lorenzo Aquilante,
- Maria Grazia D’Angelo,
- Emilia Biffi,
- Eleonora Diella,
- Franco Molteni,
- Mauro Rossini,
- Margit Gföhler,
- Markus Puchinger,
- Marco Bocciolone,
- Francesco Braghin,
- Alessandra Pedrocchi
Robotics and Autonomous Systems, Volume 143, Issue C•Sep 2021 • https://doi.org/10.1016/j.robot.2021.103822AbstractActive exoskeletons can help adults with muscular dystrophy regain independence and self-esteem, which have been limited due to their severe and progressive muscular weakness. A four degrees-of-freedom fully actuated upper limb ...
Highlights- The Bridge exoskeleton is an active upper limb assistive device for disabled people.
- research-article
A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints
- Stefano Dalla Gasperina,
- Keya Ghonasgi,
- Ana C. de Oliveira,
- Marta Gandolla,
- Alessandra Pedrocchi,
- Ashish Deshpande
2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)•October 2020, pp 3404-3409• https://doi.org/10.1109/IROS45743.2020.9341686In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting ...
- correction
- Article
Computational Modelling of Cerebellar Magnetic Stimulation: The Effect of Washout
AbstractNowadays, clinicians have multiple tools that they can use to stimulate the brain, by means of electric or magnetic fields that can interfere with the bio-electrical behaviour of neurons. However, it is still unclear which are the neural ...
- research-article
Control of a Humanoid NAO Robot by an Adaptive Bioinspired Cerebellar Module in 3D Motion Tasks
- Claudia Casellato,
- Dario Martina,
- Alessandra Pedrocchi,
- Egidio D’Angelo,
- Alberto Antonietti,
- Somyot Kiatwanidvilai
Computational Intelligence and Neuroscience, Volume 2019•2019 • https://doi.org/10.1155/2019/4862157A bioinspired adaptive model, developed by means of a spiking neural network made of thousands of artificial neurons, has been leveraged to control a humanoid NAO robot in real time. The learning properties of the system have been challenged in a ...
- research-article
Multi-Modal Human-Machine Control Interfaces of Upper Limb Motorized Exoskeletons for Severely Impaired Patients
- S. Dalla Gasperina,
- M. Gandolla,
- A. Calcagno,
- A. Costa,
- L. Aquilante,
- M. Puchinger,
- M. Gfoehler,
- F. Braghin,
- A. Pedrocchi
2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)•August 2018, pp 491-496• https://doi.org/10.1109/BIOROB.2018.8488001The aim of this study concerns the evaluation and comparison of different Human-Machine Interfaces for the control of an upper limb motorized exoskeleton for severely impaired patients. Different approaches (i.e. manual, vocal, visual control) are tested ...
- research-article
Bioinspired Adaptive Spiking Neural Network to Control NAO Robot in a Pavlovian Conditioning Task
2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob)•August 2018, pp 142-147• https://doi.org/10.1109/BIOROB.2018.8487202Ahstract- The cerebellum has a central role in fine motor control and in various neural processes, as in associative paradigms. In this work, a bioinspired adaptive model, developed by means of a spiking neural network made of thousands of artificial ...
- research-article
Does Reinforcement Learning outperform PID in the control of FES-induced elbow flex-extension?
- Davide Di Febbo,
- Emilia Ambrosini,
- Matteo Pirotta,
- Eric Rojas,
- Marcello Restelli,
- Alessandra L. G. Pedrocchi,
- Simona Ferrante
2018 IEEE International Symposium on Medical Measurements and Applications (MeMeA)•June 2018, pp 1-6• https://doi.org/10.1109/MeMeA.2018.8438800Functional electrical stimulation (FES) is an effective technology in post-stroke rehabilitation of the upper limbs. Because of the complexity of the system, traditional linear controllers are still far to drive accurate and natural movements. In this ...