Antonio Frisoli

Antonio Frisoli
Scuola Superiore Sant'Anna | SSSUP · Perceptual Robotics Laboratory PERCRO

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328
Publications
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6,185
Citations

Publications

Publications (328)
Article
While Virtual Reality has slowly become a common sight, haptics is still struggling to appeal to the general public. We argue that one of the possible reasons is that while VR is designed to be as easily adaptable as possible to many different contexts, haptics is often designed to fulfil a specific purpose and fails to present itself as a tool tha...
Article
This article reports the analysis and preliminary design of a passive, wearable, upper limb exoskeleton to support workers in industrial environments in a vast range of repetitive tasks, offering an effective strategy to reduce the risk of injuries in production lines. The system primary purpose is to compensate for gravity loads acting on the huma...
Article
Full-text available
In this article, we explore alternative cutaneous haptic feedback for rendering modulation of the grasping force. The aim of the study was to reduce power requirements and in turn dimensions of the actuators, in wearable devices applied to virtual or teleoperated manipulation. This is critical in certain rehabilitation or training scenarios where h...
Article
Wearable haptic devices are used to render sense of touch in different virtual reality, simulated or teleoperated environments. Design of these devices has to comply with dimensional constraints imposed by ergonomics and usability, introducing compromises between size of the actuators and features of the rendered haptic stimuli, such as peak forces...
Article
Full-text available
Background: Although robotics assisted rehabilitation has proven to be effective in stroke rehabilitation, a limited functional improvements in Activities of Daily Life has been also observed after the administration of robotic training. To this aim in this study we compare the efficacy in terms of both clinical and functional outcomes of a roboti...
Article
Full-text available
The intention-detection strategy used to drive an exosuit is fundamental to evaluate the effectiveness and acceptability of the device. Yet, current literature on wearable soft robotics lacks evidence on the comparative performance of different control approaches for online intention-detection. In the present work, we compare two different and comp...
Chapter
In this work we present a novel soft exoskeleton providing active support of the hand closing: it implements a particular design of the tendon routing and of the actuator arrangement with the purpose of a compact and more comfortable system. Differently than other soft hand exoskeletons, the whole actuating system is embedded at the hand dorsum, re...
Chapter
This work presents a parallel actuated haptic device designed for delivering de-localized tactile feedback in prosthetics. Its peculiar design seeks to improve balance between static and slow output forces, such as grip force, and wide bandwidth tactile signals, such as vibrations, textures and fast contact transients. To this aim the device implem...
Conference Paper
The spatiotemporal kinematic synergy, a coupling of multiple degrees of freedom (DoF), runs through human activities of daily living (ADL). And it is an entry point for exploring the central nervous system's (CNS) control process of musculoskeletal system by analyzing the time-varying kinematic synergy. The aim of this study was to find more physio...
Article
Full-text available
In myo-control, for computational and setup constraints, the measurement of a high number of muscles is not always possible: the choice of the muscle set to use in a myo-control strategy depends on the desired application scope and a search for a reduced muscle set, tailored to the application, has never been performed. The identification of such s...
Article
Full-text available
Wearable haptic devices in the shape of actuated thimbles are used to render the sense of touch in teleoperation and virtual reality scenarios. The design of similar devices has to comply with concurring requirements and constraints: lightweight and compactness, intensity and bandwidth of the rendered signals. Micro-sized motors require a mechanica...
Article
A major challenge in the design and control of exoskeletons is the preservation of the user.s natural behavior when interacting with these machines. From this point of view, one of the most important features is the transparency of the exoskeleton. An ideally transparent exoskeleton follows the user's movements without interaction forces. This is t...
Article
Ultraviolet type-C irradiation (UV-C) is an effective no-contact disinfection procedure for surfaces and environments to reduce the spread of severe acute respiratory syndrome coron avirus 2 (SARS-CoV-2), the virus that causes COVID-19. This work evaluates the effect of the adoption of mobile robots for UV-C irradiation, compared to conventional di...
Article
Full-text available
Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in the industrial field, where the use of more symbiotic wearable robots can avoid excessive worker fatigue and improve the quality of the work. One of the challenges in the design of soft exosuits is the choice of the right amount of softness to bal...
Chapter
The design of a new series-viscous-elastic (SVE) linear joint using a silicone spring is presented. The use of silicone introduces an internal damping, which enhances system performance allowing a simpler and more stable control. Moreover, it introduces compliance between the motor and the environment, enhancing safety for robotic devices interacti...
Chapter
In this work we present design, development and preliminary evaluation on the field of a mobile robot designed for undercarriage inspection of railway vehicles on the field of Condition Based Maintenance (CBM). Its aim is to allow remote inspection of certain critical elements of the train which nowadays require trained personnel to visually inspec...
Chapter
Sense of touch in virtual reality and teleoperation can be delivered by compact and wearable devices, worn at users’ hands. Fingertip haptic devices in the shape of actuated thimbles can render highly informative cutaneous feedback. Design of wearable fingertip haptic devices is often a compromise between conflicting features: lightness and compact...
Chapter
This work presents design and prototype of CORA hand (COmpliant Robotic hAnd) a novel robotic hand conceived for compliance and robustness in grasping tasks, and for easy manufacturing and maintenance. It takes advantage of novel soft-polymer printable filaments to obtain intrinsic compliance during grasping and accidental contacts. All manufacture...
Article
Full-text available
This paper presents a soft, tendon-driven, robotic glove designed to augment grasp capability and provide rehabilitation assistance for postspinal cord injury patients. The basis of the design is an underactuation approach utilizing postural synergies of the hand to support a large variety of grasps with a single actuator. The glove is lightweight,...
Article
The development of a functional myoelectric control represents a big challenge within the researchers community, due to the complexity of mapping the user’s movement intention onto the control signals. It is continuously gaining attention since it could be useful for building natural, intuitive and tailored human-machine interfaces. In this context...
Conference Paper
Full-text available
The cognitive human-robot interaction between an exosuit and its wearer plays a key role in determining both the biomechanical effects of the device on movements and its perceived effectiveness. There is a lack of evidence, however, on the comparative performance of different control methods, implemented on the same device. Here, we compare two dif...
Article
Full-text available
Background The past decade has seen the emergence of rehabilitation treatments using virtual reality. One of the advantages in using this technology is the potential to create positive motivation, by means of engaging environments and tasks shaped in the form of serious games. The aim of this study is to determine the efficacy of immersive Virtual...
Chapter
Full-text available
Design of wearable fingertip haptic devices is often a compromise between conflicting features: lightness and compactness, against rich and neat haptic feedback. On one side direct drive actuators (i.e. voice coils) provide a clean haptic feedback with high dynamics, with limited maximum output forces. On the other side mechanical transmissions wit...
Article
Full-text available
Background: Human sensorimotor control of dexterous manipulation relies on afferent sensory signals. Explicit tactile feedback is generally not available to prosthetic hand users, who have to rely on incidental information sources to partly close the control loop, resulting in suboptimal performance and manipulation difficulty. Recent studies on n...
Article
Full-text available
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigatin...
Conference Paper
The current knowledge about muscle synergies does not clearly explain how both rehabilitation and brain plasticity act on the way they evolve after a cortical stroke. In this preliminary study, the authors analyzed the correlation between healthy and affected muscle synergies and the way the latter change after rehabilitation, following the clinica...
Article
This work presents design and experimental evaluation of CORA (COmpliant Robotic hAnd), a robotic hand designed for easy manufacturing and maintenance, and for robustness and compliance in real operational environments. It takes advantage of recent soft-polymer printable filaments to obtain intrinsic compliance during grasping and accidental contac...
Article
In this work, we present the design and experimental analysis of a novel mechanism for a refreshable braille display (RBD). It implements a single actuated slider for refreshing braille cells composed of simple and passive ferromagnetic pins. The approach potentially decouples the cost of the final device from the number of braille cells and pins....
Preprint
Full-text available
This study presents the design and the kinematic optimization of a novel, underactuated, linkage-based robotic hand exoskeleton to assist users in performing grasping tasks. The device has been designed to apply only normal forces to the finger phalanges during flexion/extension of the fingers, while providing automatic adaptability for different f...
Article
Functional verification of railway pantographs is performed within periodic maintenance programs by means of specifically designed automation and robotic devices that can check their structural integrity and correct functionality. In this paper, we present the design and validation of a new portable inspection robotic device that through structural...
Article
Full-text available
The growing interest in wearable robots opens the challenge for developing intuitive and natural control strategies. Among several human-machine interaction approaches, myoelectric control consists of decoding the motor intention from muscular activity (or EMG signals) with the aim of driving prosthetic or assistive robotic devices accordingly, thu...
Article
The design and control of a new series-viscous-elastic joint are presented. The proposed joint consists of 3D printed parts compressing nonlinear elastic silicone springs. The use of silicone springs is the main novelty of the system; they exhibit internal damping, which enhances system performance allowing a simpler and more stable control. Their...
Article
The railway industry is progressively embracing mechatronics solutions to improve maintenance operations. In this context, we present a robotic device that introduces structural dynamics analysis in railway pantograph inspection. Specifically, an innovative macro-micro actuation extends the bandwidth performance of actual devices, while a force con...
Chapter
The need to augment human motor abilities or restore lost motor functions has been one of the key reason to develop wearable robotic devices. Among them, exoskeletons are robotic interfaces for hu- man–robot interaction where the highest physical symbiosis with the operator is achieved. The earliest one, dating back to 1967 [1], was conceived as a...
Preprint
Full-text available
Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment proce...
Article
In this paper we propose a hybrid fiber optics sensor system, based on Fiber Bragg Gratings (FBG) and Raman distributed temperature sensing (RDTS), for monitoring essential sites within large railway infrastructures like bridges, viaducts and slopes potentially subject to landslides. The geometrical rail track condition is monitored in real-time us...
Article
Full-text available
It is important for rehabilitation exoskeletons to move with a spatiotemporal motion patterns that well match the upper-limb joint kinematic characteristics. However, few efforts have been made to manipulate the motion control based on human kinematic synergies. This work analyzed the spatiotemporal kinematic synergies of right arm reaching movemen...
Article
Full-text available
Mobile manipulation robots have great potential for roles in support of rescuers on disaster-response missions. Robots can operate in places too dangerous for humans and therefore can assist in accomplishing hazardous tasks while their human operators work at a safe distance. We developed a disaster-response system that consists of the highly flexi...
Preprint
Full-text available
Mobile manipulation robots have high potential to support rescue forces in disaster-response missions. Despite the difficulties imposed by real-world scenarios, robots are promising to perform mission tasks from a safe distance. In the CENTAURO project, we developed a disaster-response system which consists of the highly flexible Centauro robot and...
Conference Paper
Periodic assessment of railway pantograph is essential for the safety of railways. Nevertheless, actual devices can only perform a rough analysis of suspensions and no clue on the structural integrity is provided. In this paper, we introduce a portable robotic device that achieves the goal through two kinds of tests. Laboratory experiments show how...
Preprint
Full-text available
Solving mobile manipulation tasks in inaccessible and dangerous environments is an important application of robots to support humans. Example domains are construction and maintenance of manned and unmanned stations on the moon and other planets. Suitable platforms require flexible and robust hardware, a locomotion approach that allows for navigatin...
Chapter
The rapid growing interest in the field of wearable robots opens the challenge for the development of intuitive and natural control strategies for establishing an effective human-robot interaction. The myoelectric control could be a valid solution for achieving this goal, since it is a strategy based on decoding the human motor intentions from surf...
Article
Full-text available
Most current hand exoskeletons have been designed specifically for rehabilitation, assistive or haptic applications to simplify the design requirements. Clinical studies on post-stroke rehabilitation have shown that adapting assistive or haptic applications into physical therapy sessions significantly improves the motor learning and treatment proce...
Conference Paper
Full-text available
In this paper, we present a prototype of an innovative portable shoulder exoskeleton for human assistance and augmentation. The device provides torques to flexion/extension movements of the shoulder, compensating for gravitational forces, and is passively compliant along the remaining degrees of freedom letting the shoulder moving along them. The n...
Conference Paper
Full-text available
The use of robotic devices to provide active motor support and sensory feedback of ongoing motor intention, by means of a Brain Computer Interface (BCI), has received growing support by recent literature, with particular focus on neurorehabilitation therapies. At the same time, performance in the use of the BCI has become a more critical factor, si...
Article
It is well known that the sense of presence in a tele-robot system for both home-based tele-rehabilitation and rescue operations is enhanced by haptic feedback. Beyond several advantages, in the presence of communication delay haptic feedback can lead to an unstable teleoperation system. During the last decades, several control techniques have been...
Article
Full-text available
Background: Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor impairments. Understanding how these devices affect the physiology and mechanics of human movements i...
Chapter
Designing an underactuated hand exoskeleton system that contains user’s finger in the kinematics loop improves the adjustability for different hand sizes. On the downside, the configuration and motion level kinematics become highly responsive to the finger properties and how the device is worn. In this paper, first we investigate the sensitivity of...
Chapter
Full-text available
Rigid and soft wearable robots have promising complementary properties that could be exploited to cover a broad range of applications and needs. While the former are ideal when high forces, accurate position and high dynamics are required, soft devices are more practical when portability and comfort are demanded. In this preliminary study, we quant...
Chapter
Full-text available
The rapid growth of wearable robots in the last decade requires tackling practical issues that arise from their daily use, among which comfort is of great importance. In this work we quantify the level of comfort of a soft exosuit for the elbow by measuring the distribution of pressures at its interface with the human body. We do so with five diffe...
Chapter
In this work we present a bilateral rehabilitation system for the hand based on a novel underactuated hand exoskeleton to assist hand opening/closing and a pair of pressure-sensorized graspable objects. In particular the novel hand exoskeleton provides self-adaptability to different hand sizes and a more effective transmission of forces. In the sys...
Chapter
In this paper we aim at demonstrating the feasibility of a bilateral training protocol supported by a dual arm exoskeleton, ALEx-RS. Three subjects performed the same reaching task in three conditions: with and without the exoskeleton, and in the bilateral mode. EMG data recorded during the experimental sessions showed that ALEx-RS features a high...
Chapter
The assessment of stroke patients is a long lasting process in which physicians estimate the impairment import of the patients through clinical scales and physiological exams. This is a crucial phase for defining the patient treatment as well as monitoring the recovery process. In order to support the whole set of operations involved in the assessm...
Chapter
Full-text available
Soft wearable robots promise to be the new frontier for assistance and augmentation of human motor abilities. In this work, we present the design, controller and a preliminary assessment of a soft, textile based glove for assisting hand movements. The device is shown to reduce the muscular effort required for grasping an object in healthy subjects,...
Chapter
Structural Health Monitoring is proved to be a promising technique improving continuity of service and safety of machines. Nevertheless few devices have been integrated into industrial maintenance routines, due to strong customer requirements, such as portability. In particular, we introduce an application devoted to the inspection of railway panto...
Article
A hand impairment can have a profound impact on the quality of life. This has motivated the development of dexterous prosthetic and orthotic devices. However, their control with neuromuscular interfacing remains challenging. Moreover, existing myocontrol interfaces typically require an extensive calibration. We propose a minimally supervised, onlin...
Article
Full-text available
In this work we present a minimal NMS model for predicting the elbow and shoulder torques and we compare two optimization approaches: a linear optimization method (LO) and a non-linear method based on a genetic algorithm (GA). The LO optimizes only one parameter per muscle, whereas the GA-based approach performs a deep customization of the muscle m...