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Edoardo Sotgiu
Scuola Superiore Sant'Anna, PERCRO, Department Member
- Mechanical Engineering, Robotics, Mechatronics, Autonomous Robotics, Automatic Control, Control Engineering, and 11 moreProcess Control, Rehabilitation robotics, Industrial Robotic Programming, Exoskeletons, Serious Gaming, Wearable Technologies, Rehabilitation Engineering, Human-Robot Interaction, Human Movement Science, Inverse Kinematics, and Kinematicsedit
- I'm a Mechanical Engineer, MSc. I have been working on control of parallel kinematics haptic interfaces, bilateral te... moreI'm a Mechanical Engineer, MSc. I have been working on control of parallel kinematics haptic interfaces, bilateral teleoperation system for surgery, autonomous mobile robot based on bioinspired vision, vibrotactile and sensorized device for perception study, robotic device and software application for rehabilitation therapy, biomechanics and human movement analysis, control of exoskeleton robotic device, robot-assisted neurorehabilitation and pedestrian navigation system for blind people.My current interests are related to bioinspired tactile sensors and tactile feedback device.edit
This paper presents the theoretical and experi-mental evaluation of a 2-Channel bilateral Force Reflection teleoperation system. The teleoperation system is a master-slave bilateral system based on two parallel kinematics robots with... more
This paper presents the theoretical and experi-mental evaluation of a 2-Channel bilateral Force Reflection teleoperation system. The teleoperation system is a master-slave bilateral system based on two parallel kinematics robots with three degree of freedom, which has been devised for the validation of robotics assisted surgery procedures. Both master and slave systems present an isomorphic kinematics which allow only translational motion of the end-effector. The aim of the present work is to evaluate two different implementations of a Force Reflection control architectures: a Position Error Based Force Reflection Control and a Direct Force Reflection Control. The two architectures are compared in terms of performance, i.e. stability and transparency, on the basis of both simulations and experimental data. Some novel theoretical results are presented, which permit a direct evaluation of performance for both the two architectures.
This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static... more
This paper presents an experimental comparison of different algorithms for the gravity compensation of parallel mechanisms, with special reference to a 5DOF haptic interface that has been realized at PERCRO. Two methods for the static balancing of this mechanism have been investigated: a classical method, based on Lagrange's approach and an algorithm that adopts the screw theory. This last method
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ABSTRACT The combination of robotics and virtual reality seems promising for the rehabilitation of the upper limb by promoting intensive training on specific deficits with motor control and multimodal feedback in engaging game-like... more
ABSTRACT The combination of robotics and virtual reality seems promising for the rehabilitation of the upper limb by promoting intensive training on specific deficits with motor control and multimodal feedback in engaging game-like scenarios. In this paper we present the integration of a robotic system and virtual reality applications for the orthopedic rehabilitation of the arm, in terms of strengthening training and motion recovery. The system simulates the upper limb of the patient and their actions, and allows exhaustive exercising and motor control, giving visuomotor and haptic feedback and trajectory positioning guidance. The system allows assign specific tasks to perform within the virtual environments and aids to evaluate the mobility condition of the patient, to personalize the difficulty level of the therapy and provides kineseologic measures of the patient evolution. We present the results of a preliminary clinical assessment we are carried out on three patients in order to assess the usability and acceptance of the system.
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In this paper the design and construction of a novel wireless Dataglove based on new flexible goniometric sensor technology is described. The device is characterized by a low cost and rugged construction and no requires calibration before... more
In this paper the design and construction of a novel wireless Dataglove based on new flexible goniometric sensor technology is described. The device is characterized by a low cost and rugged construction and no requires calibration before its use. Indeed, the sensors used are purely goniometric, so they are not sensible to dimensions of the user's hand. The Dataglove can
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This paper presents a novel method based on screw theory for the analysis of positioning accuracy in parallel manipulators with joint clearances. A general method is introduced, and a new analytical procedure is formulated which allows to... more
This paper presents a novel method based on screw theory for the analysis of positioning accuracy in parallel manipulators with joint clearances. A general method is introduced, and a new analytical procedure is formulated which allows to determine analytically a sub- optimal estimation of the worst case condition for position- ing accuracy. Moreover this procedure can determine ex- actly the worst-case angular accuracy in translating fully- parallel manipulators under the influence of joint clear- ances. The relevance of the method is demonstrated by two application examples, that clearly demonstrate how kine- matic properties, such as kinematic isotropy, are strictly re- lated to position accuracy in mechanisms with joint clear- ances.
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Abstract—In this paper we propose a full upper limb exoskeleton for motor rehabilitation of reaching, grasping and releasing in post-stroke patients. The presented system takes into account the hand pre-shaping for object affordability... more
Abstract—In this paper we propose a full upper limb exoskeleton for motor rehabilitation of reaching, grasping and releasing in post-stroke patients. The presented system takes into account the hand pre-shaping for object affordability and
it is driven by patient’s intentional control through a self-paced
asynchronous Motor Imagery based Brain Computer Interface (MI-BCI). The developed antropomorphic eight DoFs exoskeleton (two DoFs for the hand, two for the wrist and four for the arm) allows full support of the manipulation activity at the level of single upper limb joint. In this study, we show the feasibility of the proposed system through experimental rehabilitation sessions conducted with three chronic post-stroke patients. Results show the potential of the proposed system for being introduced in a rehabilitation protocol.
it is driven by patient’s intentional control through a self-paced
asynchronous Motor Imagery based Brain Computer Interface (MI-BCI). The developed antropomorphic eight DoFs exoskeleton (two DoFs for the hand, two for the wrist and four for the arm) allows full support of the manipulation activity at the level of single upper limb joint. In this study, we show the feasibility of the proposed system through experimental rehabilitation sessions conducted with three chronic post-stroke patients. Results show the potential of the proposed system for being introduced in a rehabilitation protocol.
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This paper presents the results of the evaluation training performed in a group of chronic stroke patients with Light-Exoskeleton device. The effects of training were assessed both by means of clinical evaluation in terms of Fugl-Meyer... more
This paper presents the results of the evaluation training performed in a group of chronic stroke patients with Light-Exoskeleton device. The effects of training were assessed both by means of clinical evaluation in terms of Fugl-Meyer and Modified Ashworth assessment scales, and of functional evaluation, by means of Bimanual Activity Scale. Moreover at each session an automatic assessment of performance was made through the robot, and this was compared with the outcome of functional evaluation. Interestingly we found a significant improvement of both clinical and functional evaluation, and that the automatic assessment performed by the robot in terms of movement smoothness represents a strong predictor of transfer of functional ability to activity of every day life.
Body awareness has important implications for the use of virtual reality (VR) and its effectiveness. This involves the senses of agency and body ownership, studied in the past by producing the Rubber Hand Illusion(RHI). Recent studies... more
Body awareness has important implications for the use of virtual reality (VR) and its effectiveness. This involves the senses of agency and body ownership, studied in the past by producing the Rubber Hand Illusion(RHI). Recent studies reported the RHI on virtual ...
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Page 1. Clinical VR Applications with the LightExoskeleton For UpperPart Neurorehabilitation Luis I. Lugo-Villeda , Antonio Frisoli, Edoardo Sotgiu Giovanni Greco and Massimo Bergamasco. Abstract It is well-known that ...
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Page 1. LightExoskeleton and DataGlove Integration for Enhancing Virtual Reality Applications Luis I. Lugo-Villeda, Antonio Frisoli, Silvia Pabon, Miguel A. Padilla, Edoardo Sotgiu, Massimo Bergamasco. AbstractThis contribution ...
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Research Interests:
The distinguishing features of active exoskeletons are the capability of guiding arm movement at the level of the full kinematic chain of the human arm, and training full 3D spatial movements. We have specifically developed a PD sliding... more
The distinguishing features of active exoskeletons are the capability of guiding arm movement at the level of the full kinematic chain of the human arm, and training full 3D spatial movements. We have specifically developed a PD sliding mode control for upper limb rehabilitation with gain scheduling for providing "assistance as needed", according to the force capability of the patient, and an automatic measurement of the impaired arm joint torques, to evaluate the hypertonia associated to the movement during the execution of the training exercise. Two different training tasks in Virtual Reality were devised, that make use of the above control, and allow to make a performance based evaluation of patient's motor status. The PERCRO L-Exos (Light-Exoskeleton) was used to evaluate the proposed algorithms and training exercises in two clinical case studies of patients with chronic stroke, that performed 6 weeks of robotic assisted training. Clinical evaluation (Fugl-Meyer Scale, Modified Ashworth Scale, Bimanual Activity Test) was conducted before and after treatment and compared to the scores and the quantitative indices, such as task time, position/joint error and resistance torques, associated to the training exercises.
Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic... more
Rehabilitation robotics applications and their developments have been spreading out as consequences of the actual needs in the human activities of daily living (ADL). Exoskeletons for rehabilitation are one of them, whose intrinsic characteristics are quite useful for applications where repetitive, robustness and accurate performance are a must. As a part of robotic-mediated-rehabilitation programme into the worldwide, the exoskeletons are trying to improve the ADL of disable people through the fusion of several disciplines that lets to expand the capabilities of wearing a powered robotic exoskeletal device for rehabilitation tasks. This fact deserves to present this contribution from a general scope point of view, i.e., the technologies integration and its associated knowledge. So far, the Light-Exoskeleton which is intended for human arm rehabilitation in post-stroke patients is introduced. Preliminary experimental results as well as the involved stages about the system show the capabilities of using a robotic-constrained-rehabilitation for human arm.
We have built a mobile robotic platform that features an Active Robotic Head (ARH) with two highresolution cameras that can be switched during robot operation between two configurations that produce respectively panoramic and stereoscopic... more
We have built a mobile robotic platform that
features an Active Robotic Head (ARH) with two highresolution
cameras that can be switched during robot operation
between two configurations that produce respectively
panoramic and stereoscopic images. Image disparity is used
for improving the quality of the texture. The robot head
switches dynamically, based on robot operation between the
stereoscopic configuration and the panoramic configuration.
features an Active Robotic Head (ARH) with two highresolution
cameras that can be switched during robot operation
between two configurations that produce respectively
panoramic and stereoscopic images. Image disparity is used
for improving the quality of the texture. The robot head
switches dynamically, based on robot operation between the
stereoscopic configuration and the panoramic configuration.
This paper analyzes the design of a force-based impedance control for a haptic interface system characterized by a parallel kinematics. By exploiting the features of parallel mechanisms, which perform better than the serial ones in terms... more
This paper analyzes the design of a force-based impedance
control for a haptic interface system characterized by a
parallel kinematics. By exploiting the features of parallel
mechanisms, which perform better than the serial ones in
terms of dynamic performance, stiffness and position
accuracy, and by implementing a closed-loop force control,
the transparency of a haptic master system and the fidelity of
resultant force feedback can be consistently improved. Issues
for design and control as well as aspects of performance
evaluation of haptic interfaces are treated within the paper
and some results of the experimental characterization of a
haptic interface are presented.
control for a haptic interface system characterized by a
parallel kinematics. By exploiting the features of parallel
mechanisms, which perform better than the serial ones in
terms of dynamic performance, stiffness and position
accuracy, and by implementing a closed-loop force control,
the transparency of a haptic master system and the fidelity of
resultant force feedback can be consistently improved. Issues
for design and control as well as aspects of performance
evaluation of haptic interfaces are treated within the paper
and some results of the experimental characterization of a
haptic interface are presented.