Abstract:
This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed...Show MoreMetadata
Abstract:
This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.
Published in: IEEE Transactions on Haptics ( Volume: 8, Issue: 2, 01 April-June 2015)
Funding Agency:
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Daniele Leonardis received the BS and MS degrees in automation
engineering from the Politecnico of Bari, Italy, in 2007 and 2009, respectively, and the PhD degree in innovative
technologies from PERCRO Laboratory, Scuola Superiore Sant’Anna, Pisa, Italy, in 2015. His research interests
deal with BCI and EMG signals for the control of robotic devices, and multisensory feedback applied to telepresence
and virtual embodi...Show More
Daniele Leonardis received the BS and MS degrees in automation
engineering from the Politecnico of Bari, Italy, in 2007 and 2009, respectively, and the PhD degree in innovative
technologies from PERCRO Laboratory, Scuola Superiore Sant’Anna, Pisa, Italy, in 2015. His research interests
deal with BCI and EMG signals for the control of robotic devices, and multisensory feedback applied to telepresence
and virtual embodi...View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Michele Barsotti received the MS degree in biomedical engineering
from the University of Pisa, Italy, in 2011. He is currently working toward the PhD degree in the PERCRO Laboratory,
Scuola Superiore Sant’Anna, Pisa. His research interests include neurorehabilitation, biosignals analysis for
controlling assistive and rehabilitative technologies, virtual reality, human-machine interface, rehabilitation
robotics, and hu...Show More
Michele Barsotti received the MS degree in biomedical engineering
from the University of Pisa, Italy, in 2011. He is currently working toward the PhD degree in the PERCRO Laboratory,
Scuola Superiore Sant’Anna, Pisa. His research interests include neurorehabilitation, biosignals analysis for
controlling assistive and rehabilitative technologies, virtual reality, human-machine interface, rehabilitation
robotics, and hu...View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Claudio Loconsole received the BS and MS degrees in computer science
engineering from Politecnico di Bari, Italy, in 2007 and Politecnico di Torino, Italy, in 2009, respectively. In 2012,
he received the PhD degree in innovative technologies from Scuola Superiore Sant’Anna, Pisa, Italy. Currently,
he is a research fellow at PERCRO Laboratory (SSSA). His research interests include motion planning,
neurorehabilitation, ...Show More
Claudio Loconsole received the BS and MS degrees in computer science
engineering from Politecnico di Bari, Italy, in 2007 and Politecnico di Torino, Italy, in 2009, respectively. In 2012,
he received the PhD degree in innovative technologies from Scuola Superiore Sant’Anna, Pisa, Italy. Currently,
he is a research fellow at PERCRO Laboratory (SSSA). His research interests include motion planning,
neurorehabilitation, ...View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Massimiliano Solazzi is an assistant professor in applied mechanics
at the Scuola Superiore Sant’Anna, Pisa, Italy. In 2010, he received the PhD degree in innovative technologies
from Scuola Superiore Sant’Anna. He carries out his research at the PERCRO Laboratory-TeCIP. His research
interests concerns: the design of robotic interfaces for virtual reality, teleoperation and rehabilitations, and the
psychophysical vali...Show More
Massimiliano Solazzi is an assistant professor in applied mechanics
at the Scuola Superiore Sant’Anna, Pisa, Italy. In 2010, he received the PhD degree in innovative technologies
from Scuola Superiore Sant’Anna. He carries out his research at the PERCRO Laboratory-TeCIP. His research
interests concerns: the design of robotic interfaces for virtual reality, teleoperation and rehabilitations, and the
psychophysical vali...View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Marco Troncossi received the Laurea degree in mechanical engineering
in 2002 and the PhD diploma in mechanics of machines in 2006, both from the University of Bologna, Bologna, Italy.
Since 2005, he has been an assistant professor in the Department of Engineering for Industry, University of Bologna.
His research interests regard dynamics of machines and rehabilitation & assistive robotics.
Marco Troncossi received the Laurea degree in mechanical engineering
in 2002 and the PhD diploma in mechanics of machines in 2006, both from the University of Bologna, Bologna, Italy.
Since 2005, he has been an assistant professor in the Department of Engineering for Industry, University of Bologna.
His research interests regard dynamics of machines and rehabilitation & assistive robotics.View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Claudio Mazzotti received the MSc degree in mechanical engineering
cum laude from the University of Bologna, Italy. Since January 2013, he has been a student in the PhD program of
mechanics of machines, supervised by Prof. Parenti Castelli. His research interests cover the design of upper limb
prostheses, exoskeletons, and robotic tools for minimally invasive surgery.
Claudio Mazzotti received the MSc degree in mechanical engineering
cum laude from the University of Bologna, Italy. Since January 2013, he has been a student in the PhD program of
mechanics of machines, supervised by Prof. Parenti Castelli. His research interests cover the design of upper limb
prostheses, exoskeletons, and robotic tools for minimally invasive surgery.View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Vincenzo Parenti Castelli has been a full professor in mechanics of
machines at the University of Bologna since 1989, where since 1994, he also has been the coordinator of the PhD
program in engineering for Industry (DIMSAI). He founded the Group of Robotics and Articular Biomechanics (GRAB) in
2007, authored and coauthored more than 200 scientific publications on methods of machine design, kinematic and
dynamics anal...Show More
Vincenzo Parenti Castelli has been a full professor in mechanics of
machines at the University of Bologna since 1989, where since 1994, he also has been the coordinator of the PhD
program in engineering for Industry (DIMSAI). He founded the Group of Robotics and Articular Biomechanics (GRAB) in
2007, authored and coauthored more than 200 scientific publications on methods of machine design, kinematic and
dynamics anal...View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Caterina Procopio received the BS degree in physical therapy in 2009
and the MS degree in ‘Exercise, Testing and Research in Rehabilitation Medicine’ both from the University
of Pisa. Her interests are in the area of development and clinical evaluation of new robotic and VR technologies for
rehabilitation in the adult and developmental age, she participated to numerous research studies involving upper limb
rehabilitat...Show More
Caterina Procopio received the BS degree in physical therapy in 2009
and the MS degree in ‘Exercise, Testing and Research in Rehabilitation Medicine’ both from the University
of Pisa. Her interests are in the area of development and clinical evaluation of new robotic and VR technologies for
rehabilitation in the adult and developmental age, she participated to numerous research studies involving upper limb
rehabilitat...View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Giuseppe Lamola received the MS degree in medicine from the
University of Foggia in 2010. He is currently resident at the Physical and Rehabilitation Medicine School, University
of Pisa, Italy. His research interests include neurorehabilitation, upper limb spasticity, and clinical
neurophysiology.
Giuseppe Lamola received the MS degree in medicine from the
University of Foggia in 2010. He is currently resident at the Physical and Rehabilitation Medicine School, University
of Pisa, Italy. His research interests include neurorehabilitation, upper limb spasticity, and clinical
neurophysiology.View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Carmelo Chisari received the MS degree in medicine from the
University of Padua in 1992 and the specialization in neurology from the University of Pisa in 1997. He has been an
assistant professor in the Department of Neuroscience, University of Pisa, Italy, since 2003. His research interests
are in the field of myotonic dystrophy, upper limb spasticity, multiple sclerosis, and cancer cachexia.
Carmelo Chisari received the MS degree in medicine from the
University of Padua in 1992 and the specialization in neurology from the University of Pisa in 1997. He has been an
assistant professor in the Department of Neuroscience, University of Pisa, Italy, since 2003. His research interests
are in the field of myotonic dystrophy, upper limb spasticity, multiple sclerosis, and cancer cachexia.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Massimo Bergamasco received the MSc degree in mechanical engineering
from the University of Pisa, 1985. He has been a full professor of applied mechanics with the Faculty of Engineering,
Scuola Superiore Sant’Anna, Pisa, Italy, since 2006. He is the responsible of the PERCRO Laboratory which he
founded in 1994. During his research activities, he has been the Responsible of many projects in the field of the
design and ...Show More
Massimo Bergamasco received the MSc degree in mechanical engineering
from the University of Pisa, 1985. He has been a full professor of applied mechanics with the Faculty of Engineering,
Scuola Superiore Sant’Anna, Pisa, Italy, since 2006. He is the responsible of the PERCRO Laboratory which he
founded in 1994. During his research activities, he has been the Responsible of many projects in the field of the
design and ...View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Antonio Frisoli received the MSc degree in mechanical engineering in
1998, and the PhD degree with honors in industrial and information engineering from Scuola Superiore Sant’Anna,
Italy, in 2002. He is an associate professor of mechanical engineering at Scuola Superiore Sant’Anna, where he
is currently head of the HRI area at PERCRO Laboratory-TeCIP and former chair of the IEEE Technical Committee on
Haptics. His res...Show More
Antonio Frisoli received the MSc degree in mechanical engineering in
1998, and the PhD degree with honors in industrial and information engineering from Scuola Superiore Sant’Anna,
Italy, in 2002. He is an associate professor of mechanical engineering at Scuola Superiore Sant’Anna, where he
is currently head of the HRI area at PERCRO Laboratory-TeCIP and former chair of the IEEE Technical Committee on
Haptics. His res...View more
Contents PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Daniele Leonardis received the BS and MS degrees in automation
engineering from the Politecnico of Bari, Italy, in 2007 and 2009, respectively, and the PhD degree in innovative
technologies from PERCRO Laboratory, Scuola Superiore Sant’Anna, Pisa, Italy, in 2015. His research interests
deal with BCI and EMG signals for the control of robotic devices, and multisensory feedback applied to telepresence
and virtual embodiment.
Daniele Leonardis received the BS and MS degrees in automation
engineering from the Politecnico of Bari, Italy, in 2007 and 2009, respectively, and the PhD degree in innovative
technologies from PERCRO Laboratory, Scuola Superiore Sant’Anna, Pisa, Italy, in 2015. His research interests
deal with BCI and EMG signals for the control of robotic devices, and multisensory feedback applied to telepresence
and virtual embodiment.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Michele Barsotti received the MS degree in biomedical engineering
from the University of Pisa, Italy, in 2011. He is currently working toward the PhD degree in the PERCRO Laboratory,
Scuola Superiore Sant’Anna, Pisa. His research interests include neurorehabilitation, biosignals analysis for
controlling assistive and rehabilitative technologies, virtual reality, human-machine interface, rehabilitation
robotics, and human motor control.
Michele Barsotti received the MS degree in biomedical engineering
from the University of Pisa, Italy, in 2011. He is currently working toward the PhD degree in the PERCRO Laboratory,
Scuola Superiore Sant’Anna, Pisa. His research interests include neurorehabilitation, biosignals analysis for
controlling assistive and rehabilitative technologies, virtual reality, human-machine interface, rehabilitation
robotics, and human motor control.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Claudio Loconsole received the BS and MS degrees in computer science
engineering from Politecnico di Bari, Italy, in 2007 and Politecnico di Torino, Italy, in 2009, respectively. In 2012,
he received the PhD degree in innovative technologies from Scuola Superiore Sant’Anna, Pisa, Italy. Currently,
he is a research fellow at PERCRO Laboratory (SSSA). His research interests include motion planning,
neurorehabilitation, HRI, assistive technologies, and computer vision.
Claudio Loconsole received the BS and MS degrees in computer science
engineering from Politecnico di Bari, Italy, in 2007 and Politecnico di Torino, Italy, in 2009, respectively. In 2012,
he received the PhD degree in innovative technologies from Scuola Superiore Sant’Anna, Pisa, Italy. Currently,
he is a research fellow at PERCRO Laboratory (SSSA). His research interests include motion planning,
neurorehabilitation, HRI, assistive technologies, and computer vision.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Massimiliano Solazzi is an assistant professor in applied mechanics
at the Scuola Superiore Sant’Anna, Pisa, Italy. In 2010, he received the PhD degree in innovative technologies
from Scuola Superiore Sant’Anna. He carries out his research at the PERCRO Laboratory-TeCIP. His research
interests concerns: the design of robotic interfaces for virtual reality, teleoperation and rehabilitations, and the
psychophysical validation of HMI.
Massimiliano Solazzi is an assistant professor in applied mechanics
at the Scuola Superiore Sant’Anna, Pisa, Italy. In 2010, he received the PhD degree in innovative technologies
from Scuola Superiore Sant’Anna. He carries out his research at the PERCRO Laboratory-TeCIP. His research
interests concerns: the design of robotic interfaces for virtual reality, teleoperation and rehabilitations, and the
psychophysical validation of HMI.View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Marco Troncossi received the Laurea degree in mechanical engineering
in 2002 and the PhD diploma in mechanics of machines in 2006, both from the University of Bologna, Bologna, Italy.
Since 2005, he has been an assistant professor in the Department of Engineering for Industry, University of Bologna.
His research interests regard dynamics of machines and rehabilitation & assistive robotics.
Marco Troncossi received the Laurea degree in mechanical engineering
in 2002 and the PhD diploma in mechanics of machines in 2006, both from the University of Bologna, Bologna, Italy.
Since 2005, he has been an assistant professor in the Department of Engineering for Industry, University of Bologna.
His research interests regard dynamics of machines and rehabilitation & assistive robotics.View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Claudio Mazzotti received the MSc degree in mechanical engineering
cum laude from the University of Bologna, Italy. Since January 2013, he has been a student in the PhD program of
mechanics of machines, supervised by Prof. Parenti Castelli. His research interests cover the design of upper limb
prostheses, exoskeletons, and robotic tools for minimally invasive surgery.
Claudio Mazzotti received the MSc degree in mechanical engineering
cum laude from the University of Bologna, Italy. Since January 2013, he has been a student in the PhD program of
mechanics of machines, supervised by Prof. Parenti Castelli. His research interests cover the design of upper limb
prostheses, exoskeletons, and robotic tools for minimally invasive surgery.View more
Department of Engineering for Industry, University of Bologna, Bologna, Italy
Vincenzo Parenti Castelli has been a full professor in mechanics of
machines at the University of Bologna since 1989, where since 1994, he also has been the coordinator of the PhD
program in engineering for Industry (DIMSAI). He founded the Group of Robotics and Articular Biomechanics (GRAB) in
2007, authored and coauthored more than 200 scientific publications on methods of machine design, kinematic and
dynamics analysis of open and closed kinematic chains and robot manipulators.
Vincenzo Parenti Castelli has been a full professor in mechanics of
machines at the University of Bologna since 1989, where since 1994, he also has been the coordinator of the PhD
program in engineering for Industry (DIMSAI). He founded the Group of Robotics and Articular Biomechanics (GRAB) in
2007, authored and coauthored more than 200 scientific publications on methods of machine design, kinematic and
dynamics analysis of open and closed kinematic chains and robot manipulators.View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Caterina Procopio received the BS degree in physical therapy in 2009
and the MS degree in ‘Exercise, Testing and Research in Rehabilitation Medicine’ both from the University
of Pisa. Her interests are in the area of development and clinical evaluation of new robotic and VR technologies for
rehabilitation in the adult and developmental age, she participated to numerous research studies involving upper limb
rehabilitation in stroke.
Caterina Procopio received the BS degree in physical therapy in 2009
and the MS degree in ‘Exercise, Testing and Research in Rehabilitation Medicine’ both from the University
of Pisa. Her interests are in the area of development and clinical evaluation of new robotic and VR technologies for
rehabilitation in the adult and developmental age, she participated to numerous research studies involving upper limb
rehabilitation in stroke.View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Giuseppe Lamola received the MS degree in medicine from the
University of Foggia in 2010. He is currently resident at the Physical and Rehabilitation Medicine School, University
of Pisa, Italy. His research interests include neurorehabilitation, upper limb spasticity, and clinical
neurophysiology.
Giuseppe Lamola received the MS degree in medicine from the
University of Foggia in 2010. He is currently resident at the Physical and Rehabilitation Medicine School, University
of Pisa, Italy. His research interests include neurorehabilitation, upper limb spasticity, and clinical
neurophysiology.View more
Department of Neuroscience, Unit of Neurorehabilitation, University Hospital of Pisa, Pisa, Italy
Carmelo Chisari received the MS degree in medicine from the
University of Padua in 1992 and the specialization in neurology from the University of Pisa in 1997. He has been an
assistant professor in the Department of Neuroscience, University of Pisa, Italy, since 2003. His research interests
are in the field of myotonic dystrophy, upper limb spasticity, multiple sclerosis, and cancer cachexia.
Carmelo Chisari received the MS degree in medicine from the
University of Padua in 1992 and the specialization in neurology from the University of Pisa in 1997. He has been an
assistant professor in the Department of Neuroscience, University of Pisa, Italy, since 2003. His research interests
are in the field of myotonic dystrophy, upper limb spasticity, multiple sclerosis, and cancer cachexia.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Massimo Bergamasco received the MSc degree in mechanical engineering
from the University of Pisa, 1985. He has been a full professor of applied mechanics with the Faculty of Engineering,
Scuola Superiore Sant’Anna, Pisa, Italy, since 2006. He is the responsible of the PERCRO Laboratory which he
founded in 1994. During his research activities, he has been the Responsible of many projects in the field of the
design and the realization of virtual environments systems.
Massimo Bergamasco received the MSc degree in mechanical engineering
from the University of Pisa, 1985. He has been a full professor of applied mechanics with the Faculty of Engineering,
Scuola Superiore Sant’Anna, Pisa, Italy, since 2006. He is the responsible of the PERCRO Laboratory which he
founded in 1994. During his research activities, he has been the Responsible of many projects in the field of the
design and the realization of virtual environments systems.View more
PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant’Anna, Pisa, Italy
Antonio Frisoli received the MSc degree in mechanical engineering in
1998, and the PhD degree with honors in industrial and information engineering from Scuola Superiore Sant’Anna,
Italy, in 2002. He is an associate professor of mechanical engineering at Scuola Superiore Sant’Anna, where he
is currently head of the HRI area at PERCRO Laboratory-TeCIP and former chair of the IEEE Technical Committee on
Haptics. His research interests concern the design and control of haptic devices and robotic systems, rehabilitation
robotics, advanced HRI, and kinematics.
Antonio Frisoli received the MSc degree in mechanical engineering in
1998, and the PhD degree with honors in industrial and information engineering from Scuola Superiore Sant’Anna,
Italy, in 2002. He is an associate professor of mechanical engineering at Scuola Superiore Sant’Anna, where he
is currently head of the HRI area at PERCRO Laboratory-TeCIP and former chair of the IEEE Technical Committee on
Haptics. His research interests concern the design and control of haptic devices and robotic systems, rehabilitation
robotics, advanced HRI, and kinematics.View more
