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Featured researches published by E. Cattin.


IEEE Transactions on Robotics | 2013

NEUROExos: A Powered Elbow Exoskeleton for Physical Rehabilitation

Nicola Vitiello; Tommaso Lenzi; Stefano Roccella; S.M.M. De Rossi; E. Cattin; Francesco Giovacchini; Fabrizio Vecchi; Maria Chiara Carrozza

This paper presents the design and experimental testing of the robotic elbow exoskeleton NEUROBOTICS Elbow Exoskeleton (NEUROExos). The design of NEUROExos focused on three solutions that enable its use for poststroke physical rehabilitation. First, double-shelled links allow an ergonomic physical human-robot interface and, consequently, a comfortable interaction. Second, a four-degree-of-freedom passive mechanism, embedded in the link, allows the users elbow and robot axes to be constantly aligned during movement. The robot axis can passively rotate on the frontal and horizontal planes 30° and 40°, respectively, and translate on the horizontal plane 30 mm. Finally, a variable impedance antagonistic actuation system allows NEUROExos to be controlled with two alternative strategies: independent control of the joint position and stiffness, for robot-in-charge rehabilitation mode, and near-zero impedance torque control, for patient-in-charge rehabilitation mode. In robot-in-charge mode, the passive joint stiffness can be changed in the range of 24-56 N·m/rad. In patient-in-charge mode, NEUROExos output impedance ranges from 1 N·m/rad, for 0.3 Hz motion, to 10 N·m/rad, for 3.2 Hz motion.


intelligent robots and systems | 2009

HANDEXOS: Towards an exoskeleton device for the rehabilitation of the hand

Azzurra Chiri; Francesco Giovacchini; Nicola Vitiello; E. Cattin; Stefano Roccella; Fabrizio Vecchi; Maria Chiara Carrozza

This paper introduces a novel exoskeleton device (HANDEXOS) for the rehabilitation of the hand for post-stroke patients. The nature of the impaired hand can be summarized in a limited extension, abduction and adduction leaving the fingers in a flexed position, so the exoskeleton goal is to train a safe extension motion from the typical closed position of the impaired hand.


ieee international conference on biomedical robotics and biomechatronics | 2008

Characterization of the NEURARM bio-inspired joint position and stiffness open loop controller

Nicola Vitiello; Tommaso Lenzi; Joseph McIntyre; Stefano Roccella; E. Cattin; Fabrizio Vecchi; Maria Chiara Carrozza

This paper presents the characterization of the position and stiffness open loop controller for the NEURARM bio-inspired joint. A novel antagonistic non-linear actuation scheme is proposed for the NEURARM platform, a 2 DoF planar robotic arm that has been developed to imitate the principal functional features of the human arm for planar movements. The NEURARM joint has the actuation scheme based on a contractile element (a hydraulic piston) in series with a non-linear elastic element, able to mimic the force-elongation characteristic of the muscle-tendon complex. The non-linear spring is obtained by a linear tension spring rendered non-linear by means of a specifically designed mechanism. Such actuation scheme allows the implementation of control strategies based on equilibrium point and impedance control hypotheses of human motor behavior. The preliminary results of the characterization of the open loop joint stiffness and position controller are presented.


Journal of Neuroengineering and Rehabilitation | 2012

Design and Evaluation of a new mechatronic platform for assessment and prevention of fall risks

Lorenzo Bassi Luciani; Vincenzo Genovese; V. Monaco; Luca Odetti; E. Cattin; Silvestro Micera

BackgroundStudying the responses in human behaviour to external perturbations during daily motor tasks is of key importance for understanding mechanisms of balance control and for investigating the functional response of targeted subjects. Experimental platforms as far developed entail a low number of perturbations and, only in few cases, have been designed to measure variables used at run time to trigger events during a certain motor task.MethodsThis work introduces a new mechatronic device, named SENLY, that provides balance perturbations while subjects carry out daily motor tasks (e.g., walking, upright stance). SENLY mainly consists of two independently-controlled treadmills that destabilize balance by suddenly perturbing belts movements in the horizontal plane. It is also provided with force sensors, which can be used at run time to estimate the ground reaction forces and identify events along the gait cycle in order to trigger the platform perturbation. The paper also describes the customized procedures adopted to calibrate the platform and the first testing trials aimed at evaluating its performance.ResultsSENLY allows to measure both vertical ground reaction forces and their related location more precisely and more accurately than other platforms of the same size. Moreover, the platform kinematic and kinetic performance meets all required specifications, with a negligible influence of the instrumental noise.ConclusionA new perturbing platform able to reproduce different slipping paradigms while measuring GRFs at run time in order to enable the asynchronous triggering during the gait cycle was designed and developed. Calibration procedures and pilot tests show that SENLY allows to suitably estimate dynamical features of the load and to standardize experimental sessions, improving the efficacy of functional analysis.


ieee international conference on biomedical robotics and biomechatronics | 2006

Description, Characterization and Assessment of a BioInspired Shoulder Joint-First Link Robot for NeuroRobotic Applications

Irene Sardellitti; E. Cattin; Stefano Roccella; Fabrizio Vecchi; Maria Chiara Carrozza; Paolo Dario; Panagiotis K. Artemiadis; Kostas J. Kyriakopoulos

The development of innovative exoskeletons for the upper limb requires a strong collaboration between robotics and neuroscience. The robotic system will be deeply coupled to the human user and the exoskeleton design should be based on the human model in terms of biomechanics, and control and learning strategies. This paper presents the preliminary results of the design process of the Neurobotics exoskeleton (NEUROexos). A bioinspired three joints-three links robotic arm is under development for implementing bioinspired control strategies and for obtaining a human-like robotic arm to be used for assessing active exoskeletons in fully safe conditions. In particular, this paper presents the shoulder joint-first link prototype, the selected actuation system, the actuator modelling and identification, and the experimental evaluation of the prototype capability to replicate the human shoulder kinematics during the execution of a catching task


Advanced Robotics | 2008

Design and development of a novel robotic platform for neuro-robotics applications: The NEURobotics ARM (NEURARM)

E. Cattin; Stefano Roccella; Nicola Vitiello; Irene Sardellitti; Panagiotis K. Artemiadis; Pierpaolo Vacalebri; Fabrizio Vecchi; Maria Chiara Carrozza; Kostas J. Kyriakopoulos; Paolo Dario

This paper presents the NEURARM, a novel robotic platform specifically designed for performing joint experiments between neuroscience and robotics. The NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements for reaching and catching a moving object. The NEURARM is a 2-d.o.f. planar robotic platform actuated by means of four linear hydraulic actuators and four cables integrated in agonist–antagonist configuration. The first version of a non-linear spring that will be integrated in series with the actuator has been developed and tested. The main components of the sensory system are four tension sensors on the cables, two angle sensors in the joints, and linear potentiometers and pressure sensors on the pistons. The paper presents the design methodology, the developed components and system, and the experimental characterization of the NEURARM. The available data demonstrate qualitatively that the design is appropriate, that the NEURARM is able to replicate the required maximum kinematics performance and that real joint experiments with neuroscientists can start.


intelligent robots and systems | 2007

The NEURARM: towards a platform for joint neuroscience experiments on human motion control theories

Nicola Vitiello; E. Cattin; Stefano Roccella; Francesco Giovacchini; Fabrizio Vecchi; Maria Chiara Carrozza; Paolo Dario

This paper presents the development of new transmission components and position controller of the NEURARM hydraulic actuation unit as critical components of a novel robotic arm specifically designed to perform joint experiments between neuroscience and robotics. NEURARM replicates the main functions and characteristics of the human arm during the execution of planar movements like reaching and catching, and it was used to investigate human motion control theories, to develop and evaluate models of control, of learning and of sensory-motor interaction.


ieee international conference on rehabilitation robotics | 2009

Effects of a robot-mediated locomotor training on EMG activation in healthy and SCI subjects

S. Mazzoleni; E. Cattin; E. Bradaschia; Martina Tolaini; Bruno Rossi; Maria Chiara Carrozza

The robot-mediated locomotor training in paraplegic subjects was recently introduced for gait recovery. The objectives of the present work were 1) to study the changes in the muscular recruitment after locomotion rehabilitation using a robotic system in SCI subjects and 2) to compare muscular recruitment in two different conditions of subject-robot cooperation.


international conference of the ieee engineering in medicine and biology society | 2004

On the design of an exoskeleton for neurorehabilitation: design rules and preliminary prototype

Maria Chiara Carrozza; N. Ng Pak; E. Cattin; Fabrizio Vecchi; Martina Marinelli; Paolo Dario

The neurorehabilitation robotics is a promising research field that allows improvements of the therapy effects. Some interesting systems for the neurorehabilitation of the upper limb are based on standard robotic arms and their applicability and effectiveness are based on the presence of patients residual motor control synergy. On the other side, the exoskeletons overcome the single joint control allowing the full control of the arm kinematics. This paper presents the first results obtained at ARTS lab for the development of an exoskeleton for upper limb, starting from one of its building block that is a stand-alone active orthesis for functional assessment of the human wrist. We are addressing the design with a biomechatronic approach, based on an extensive analysis of the state-of-the-art. The design rules of sensorized wrist orthesis for functional assessment of the wrist and its first prototype are presented.


Sensors and Actuators A-physical | 2005

Characterization of a novel hybrid silicon three-axial force sensor

Pietro Valdastri; Stefano Roccella; L. Beccai; E. Cattin; Arianna Menciassi; Maria Chiara Carrozza; Paolo Dario

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Maria Chiara Carrozza

Sant'Anna School of Advanced Studies

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Fabrizio Vecchi

Sant'Anna School of Advanced Studies

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Stefano Roccella

Sant'Anna School of Advanced Studies

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Nicola Vitiello

Sant'Anna School of Advanced Studies

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Francesco Giovacchini

Sant'Anna School of Advanced Studies

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Paolo Dario

Sant'Anna School of Advanced Studies

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Azzurra Chiri

Sant'Anna School of Advanced Studies

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S. Mazzoleni

Sant'Anna School of Advanced Studies

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