Massimiliano Solazzi

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This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing(More)
This paper presents the development of an interaction-torque control architecture for a rehabilitation exoskeleton (RehabExos) with flexible joints equipped with internal torque sensors. The architecture consists of an outer control loop, which is based on the kineto-statics of the RehabExos, and on four identical-independent inner full-state joint-torque(More)
The aim of this study was to understand the integration of cutaneous and kinesthetic sensory modalities in haptic perception of shape orientation. A specific robotic apparatus was employed to simulate the exploration of virtual surfaces by active touch with two fingers, with kinesthetic only, cutaneous only and combined sensory feedback. The cutaneous(More)
A new prototype of portable device for haptic interaction with virtual environments is presented. It is a lightweight interface for the fingertips, designed for providing cutaneous feedback and displaying the contact – non contact transition in highly immersive virtual environments. The second version of the interface features a force sensor for controlling(More)
The Beaming project recreates, virtually, a real environment; using immersive VR, remote participants can visit the virtual model and interact with the people in the real environment. The real environment doesn't need extensive equipment and can be a space such as an office or meeting room, domestic environment, or social space.
A new portable device for haptic interaction with virtual environments is presented. It is a lightweight interface for the fingertips, designed for providing cutaneous feedback and displaying the contact − non contact transition in highly immersive virtual environments. In this paper the kinematics, the mechanical design and the control system are(More)