Loredana Zollo

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We investigated the event-related desynchronization (ERD) and synchronization (ERS) properties of cortical EEG rhythms in regions of interest (ROI) during the preparation of a 2D task for manual catching of a moving object. EEG signals were recorded through a 32-channel system in eleven healthy subjects during the interception task consisting of 2D catching(More)
This paper is focused on the multimodal analysis of patient performance, carried out by means of robotic technology and wearable sensors, and aims at providing quantitative measure of biomechanical and motion planning features of arm motor control following rehabilitation. Upper-limb robotic therapy was administered to 24 community-dwelling persons with(More)
BACKGROUND The use of robotic technology for assessment has the potential to provide therapists with objective, accurate, repeatable measurements of subject's functions. However, despite the increasing number of clinical studies examining the effect of robotic training on stroke rehabilitation, body functions and structures assessment is typically carried(More)
Human–robot interaction represents a critical factor in the design of personal robots as well as in the implementation of robot behavior and control. This work investigates and proposes solutions to the problem of controlling an anthropomorphic robot arm for personal assistance, by dealing with the peculiarities of its design, i.e. the mechanics of its(More)
Because wrist rotation dynamics are dominated by stiffness (Charles SK, Hogan N. J Biomech 44: 614-621, 2011), understanding how humans plan and execute coordinated wrist rotations requires knowledge of the stiffness characteristics of the wrist joint. In the past, the passive stiffness of the wrist joint has been measured in 1 degree of freedom (DOF).(More)
Humans have the ability to learn novel motor tasks while manipulating the environment. Several models of motor learning have been proposed in the literature, but few of them address the problem of retention and interference of motor memory. The modular selection and identification for control (MOSAIC) model, originally proposed by Wolpert and Kawato, is one(More)
This paper presents the design and realization of an instrumented object for force analysis during grasping. The object, with spherical shape, has been constructed with three contact areas in order to allow performing a tripod grasp. Force Sensing Resistor (FSR) sensors have been employed for normal force measurements, while an accelerometer has been used(More)
Biologically inspired robotic systems can find important applications in biomedical robotics, since studying and replicating human behaviour can provide new insights into motor recovery, functional substitution and human-robot interaction. The analysis of human hand motion is essential for collecting information about human hand movements useful for(More)
This paper is focused on the design of interaction control of robotic machines for rehabilitation motor therapy of the upper limb. The control approach tries to address requirements deriving from the application scenario and adopts a bio-inspired approach for regulating robot behavior in the interaction with the patient. The coactivation-based compliance(More)