Francesco Giovacchini

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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(More)
A compliant 2×2 tactile sensor array was developed and investigated for roughness encoding. State of the art cross shape 3D MEMS sensors were integrated with polymeric packaging providing in total 16 sensitive elements to external mechanical stimuli in an area of about 20 mm(2), similarly to the SA1 innervation density in humans. Experimental analysis of(More)
In the last decades, wearable powered orthoses have been developed with the aim of augmenting or assisting motor activities. In particular, among many applications, wearable powered orthoses have been also introduced in the state of the art with the goal of providing lower-limb movement assistance in locomotion-related tasks (e.g.: walking,(More)
This work describes the neuro-robotics paradigm: the fusion of neuroscience and robotics. The fusion of neuroscience and robotics, called neuro-robotics, is fundamental to develop robotic systems to be used in functional support, personal assistance and neuro-rehabilitation. While usually the robotic device is considered as a "tool" for neuroscientific(More)
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(More)
We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes(More)
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(More)
This paper presents the development of a portable version of the robotic elbow exoskeleton NEUROExos, designed for the treatment of stroke survivors in acute/sub-acute phases. The design was improved by a novel Series Elastic Actuation (SEA) system. The system implements two control modalities: a near-zero output impedance torque control and a(More)
We present the kinematic design and actuation mechanics of a wearable exoskeleton for hand rehabilitation of post-stroke. Our design method is focused on achieving maximum safety, comfort and reliability in the interaction, and allowing different users to wear the device with no manual regulations. In particular, we propose a kinematic and actuation(More)
A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this(More)