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Book ; Online: Challenging the Functional Connectivity Disruption in Neurodegenerative Diseases: New Therapeutic Perspectives through Non-Invasive Neuromodulation and Cutting-Edge Technologies

Natale, Lorenzo / Masia, Lorenzo / Berdondini, Luca / Hanakawa, Takashi / Zito, Giancarlo

2018

Keywords	Neurosciences. Biological psychiatry. Neuropsychiatry ; Science (General)
Size	1 electronic resource (143 p.)
Publisher	Frontiers Media SA
Document type	Book ; Online
Note	English ; Open Access
HBZ-ID	HT020101896
ISBN	9782889455935 ; 2889455939
Database	ZB MED Catalogue: Medicine, Health, Nutrition, Environment, Agriculture

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Article ; Online: A Comprehensive Framework for the Modelling of Cartesian Force Output in Human Limbs.

Sierotowicz, Marek / Lotti, Nicola / Rupp, Rudiger / Masia, Lorenzo / Castellini, Claudio

IEEE ... International Conference on Rehabilitation Robotics : [proceedings

2022 Volume 2022, Page(s) 1–6

Abstract: Neuromuscular functional electrical stimulation represents a valid technique for functional rehabilitation or, in the form of a neuroprosthesis, for the assistance of neurological patients. However, the selected stimulation of single muscles through ... ...

Abstract	Neuromuscular functional electrical stimulation represents a valid technique for functional rehabilitation or, in the form of a neuroprosthesis, for the assistance of neurological patients. However, the selected stimulation of single muscles through surface electrodes remains challenging particularly for the upper extremity. In this paper, we present the MyoCeption, a comprehensive setup, which enables intuitive modeling of the user's musculoskeletal system, as well as proportional stimulation of the muscles with 16-bit resolution through up to 10 channels. The system can be used to provide open-loop force control, which, if coupled with an adequate body tracking system, can be used to implement an impedance control where the control loop is closed around the body posture. The system is completely self-contained and can be used in a wide array of scenarios, from rehabilitation to VR to teleoperation. Here, the MyoCeption's control environment has been experimentally validated through comparison with a third-party simulation suite. The results indicate that the musculoskeletal model used for the MyoCeption provides muscle geometries that are qualitatively similar to those computed in the baseline model.
MeSH term(s)	Computer Simulation ; Humans ; Muscle, Skeletal/physiology ; Muscles/physiology ; Posture/physiology ; Upper Extremity/physiology
Language	English
Publishing date	2022-09-29
Publishing country	United States
Document type	Journal Article
ISSN	1945-7901
ISSN (online)	1945-7901
DOI	10.1109/ICORR55369.2022.9896547
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Rendering Immersive Haptic Force Feedback via Neuromuscular Electrical Stimulation.

Galofaro, Elisa / D'Antonio, Erika / Lotti, Nicola / Masia, Lorenzo

Sensors (Basel, Switzerland)

2022 Volume 22, Issue 14

Abstract: Haptic feedback is the sensory modality to enhance the so-called "immersion", meant as the extent to which senses are engaged by the mediated environment during virtual reality applications. However, it can be challenging to meet this requirement using ... ...

Abstract	Haptic feedback is the sensory modality to enhance the so-called "immersion", meant as the extent to which senses are engaged by the mediated environment during virtual reality applications. However, it can be challenging to meet this requirement using conventional robotic design approaches that rely on rigid mechanical systems with limited workspace and bandwidth. An alternative solution can be seen in the adoption of lightweight wearable systems equipped with Neuromuscular Electrical Stimulation (NMES): in fact, NMES offers a wide range of different forces and qualities of haptic feedback. In this study, we present an experimental setup able to enrich the virtual reality experience by employing NMES to create in the antagonists' muscles the haptic sensation of being loaded. We developed a subject-specific biomechanical model that estimated elbow torque during object lifting to deliver suitable electrical muscle stimulations. We experimentally tested our system by exploring the differences between the implemented NMES-based haptic feedback (
MeSH term(s)	Electric Stimulation ; Equipment Design ; Fatigue ; Feedback ; Haptic Technology ; Humans ; User-Computer Interface
Language	English
Publishing date	2022-07-06
Publishing country	Switzerland
Document type	Journal Article
ZDB-ID	2052857-7
ISSN	1424-8220 ; 1424-8220
ISSN (online)	1424-8220
ISSN	1424-8220
DOI	10.3390/s22145069
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Bimanual Motor Strategies and Handedness Role in Human-Robot Haptic Interaction.

Galofaro, Elisa / D'Antonio, Erika / Lotti, Nicola / Patane, Fabrizio / Casadio, Maura / Masia, Lorenzo

IEEE transactions on haptics

2023 Volume 16, Issue 2, Page(s) 296–310

Abstract: Bimanual object manipulation involves using both hands to interact with objects in the environment, and the process requires the central nervous system to process sensory feedback and translate it into motor commands. Although there have been significant ...

Abstract	Bimanual object manipulation involves using both hands to interact with objects in the environment, and the process requires the central nervous system to process sensory feedback and translate it into motor commands. Although there have been significant advancements in haptics and robotics, the kinematic strategies involved in bimanual coupled tasks are still not fully understood. This study aimed to investigate the dynamic interaction between hands during the manipulation of a shared object using two impedance-controlled exoskeletons programmed to simulate bimanual coupled manipulation of virtual objects. Twenty-six participants (right-handed and left-handed) were asked to use both hands to grab and place simulated objects in specific locations. The virtual objects were rendered with four different dynamic properties, affecting the manipulation strategies used to complete the tasks. The results showed that force asymmetries were related to movement direction and handedness preference, with right-handers exhibiting asymmetries related to movement direction and left-handers showing better control of the force applied between their hands. This is possibly due to their constant exposure to objects designed for right-handed use. Additionally, the haptic properties of the virtual objects influenced task performance in terms of timing and failure for all participants. This study demonstrates the potential of advanced technologies to provide realistic simulations of multi-joint movements involving the entire upper extremities. The findings have implications for the development of training programs for bimanual object manipulation tasks and the design of virtual environments that can enhance the learning process.
MeSH term(s)	Humans ; Functional Laterality/physiology ; Psychomotor Performance/physiology ; Robotics ; Haptic Technology ; Touch Perception/physiology ; Hand/physiology
Language	English
Publishing date	2023-06-20
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	2329-4051
ISSN (online)	2329-4051
DOI	10.1109/TOH.2023.3272698
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Improving Walking Assistance Efficiency in Real-World Scenarios with Soft Exosuits Using Locomotion Mode Detection.

Zhang, Xiaohui / Tricomi, Enrica / Missiroli, Francesco / Lotti, Nicola / Ma, Xunju / Masia, Lorenzo

IEEE ... International Conference on Rehabilitation Robotics : [proceedings

2023 Volume 2023, Page(s) 1–6

Abstract: The use of portable and lightweight wearable assistive devices can improve wearer locomotion efficiency by reducing the metabolic cost of walking. To achieve this goal, assistive technologies must adapt to different locomotion modes to optimize walking ... ...

Abstract	The use of portable and lightweight wearable assistive devices can improve wearer locomotion efficiency by reducing the metabolic cost of walking. To achieve this goal, assistive technologies must adapt to different locomotion modes to optimize walking assistance. In this work, we developed a novel control strategy for an underactuated soft exosuit featuring a single actuator to assist bilateral hip flexion, which utilized inertial measurement units (IMUs) to discriminate between three different locomotion modes: walking up/down stairs or on level ground. Walking assistance was adjusted in real-time to maximize the assistance provided to the user. In order to preliminary test the effectiveness of this control strategy, four healthy subjects performed a walking task with the exosuit disabled (Exo Off) and enabled (Exo On). Results showed that the kinematics-based IMU classification strategy achieved an overall accuracy exceeding 95% across the three-movement patterns. Subjects were able to save an average of 10.1% on walking energy expenditure with assistance from the wearable device. This work contributes to the development of compact, high-performance lower limb assistive technologies and their development in practical applications.
MeSH term(s)	Humans ; Exoskeleton Device ; Robotics ; Walking ; Lower Extremity ; Self-Help Devices ; Locomotion ; Gait
Language	English
Publishing date	2023-11-09
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	1945-7901
ISSN (online)	1945-7901
DOI	10.1109/ICORR58425.2023.10304773
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: An LDA-Based Approach for Real-Time Simultaneous Classification of Movements Using Surface Electromyography.

Antuvan, Chris Wilson / Masia, Lorenzo

IEEE transactions on neural systems and rehabilitation engineering : a publication of the IEEE Engineering in Medicine and Biology Society

2019 Volume 27, Issue 3, Page(s) 552–561

Abstract: Myoelectric-based decoding strategies offer significant advantages in the areas of human-machine interactions because they are intuitive and require less cognitive effort from the users. However, a general drawback in using machine learning techniques ... ...

Abstract	Myoelectric-based decoding strategies offer significant advantages in the areas of human-machine interactions because they are intuitive and require less cognitive effort from the users. However, a general drawback in using machine learning techniques for classification is that the decoder is limited to predicting only one movement at any instant and hence restricted to performing the motion in a sequential manner, whereas human motor control strategy involves simultaneous actuation of multiple degrees of freedom (DOFs) and is considered to be a natural and efficient way of performing tasks. Simultaneous decoding in the context of myoelectric-based movement control is a challenge that is being addressed recently and is increasingly popular. In this paper, we propose a novel classification strategy capable of decoding both the individual and combined movements, by collecting data from only the individual motions. Additionally, we exploit low-dimensional representation of the myoelectric signals using a supervised decomposition algorithm called linear discriminant analysis, to simplify the complexity of control and reduce computational cost. The performance of the decoding algorithm is tested in an online context for the two DOFs task comprising the hand and wrist movements. Results indicate an overall classification accuracy of 88.02% for both the individual and combined motions.
MeSH term(s)	Adult ; Algorithms ; Discriminant Analysis ; Electromyography/classification ; Electromyography/statistics & numerical data ; Female ; Hand ; Humans ; Male ; Movement/physiology ; Reproducibility of Results ; Wrist ; Young Adult
Language	English
Publishing date	2019-02-22
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ZDB-ID	1166307-8
ISSN	1558-0210 ; 1063-6528 ; 1534-4320
ISSN (online)	1558-0210
ISSN	1063-6528 ; 1534-4320
DOI	10.1109/TNSRE.2018.2873839
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: A robot-aided visuomotor wrist training induces motor and proprioceptive learning that transfers to the untrained ipsilateral elbow.

Zhu, Huiying / Wang, Yizhao / Elangovan, Naveen / Cappello, Leonardo / Sandini, Giulio / Masia, Lorenzo / Konczak, Jürgen

Journal of neuroengineering and rehabilitation

2023 Volume 20, Issue 1, Page(s) 143

Abstract: Background: Learning of a visuomotor task not only leads to changes in motor performance but also improves proprioceptive function of the trained joint/limb system. Such sensorimotor learning may show intra-joint transfer that is observable at a ... ...

Abstract	Background: Learning of a visuomotor task not only leads to changes in motor performance but also improves proprioceptive function of the trained joint/limb system. Such sensorimotor learning may show intra-joint transfer that is observable at a previously untrained degrees of freedom of the trained joint. Objective: Here, we examined if and to what extent such learning transfers to neighboring joints of the same limb and whether such transfer is observable in the motor as well as in the proprioceptive domain. Documenting such intra-limb transfer of sensorimotor learning holds promise for the neurorehabilitation of an impaired joint by training the neighboring joints. Methods: Using a robotic exoskeleton, 15 healthy young adults (18-35 years) underwent a visuomotor training that required them to make continuous, increasingly precise, small amplitude wrist movements. Wrist and elbow position sense just-noticeable-difference (JND) thresholds and spatial movement accuracy error (MAE) at wrist and elbow in an untrained pointing task were assessed before and immediately after, as well as 24 h after training. Results: First, all participants showed evidence of proprioceptive and motor learning in both trained and untrained joints. The mean JND threshold decreased significantly by 30% in trained wrist (M: 1.26° to 0.88°) and by 35% in untrained elbow (M: 1.96° to 1.28°). Second, mean MAE in untrained pointing task reduced by 20% in trained wrist and the untrained elbow. Third, after 24 h the gains in proprioceptive learning persisted at both joints, while transferred motor learning gains had decayed to such extent that they were no longer significant at the group level. Conclusion: Our findings document that a one-time sensorimotor training induces rapid learning gains in proprioceptive acuity and untrained sensorimotor performance at the practiced joint. Importantly, these gains transfer almost fully to the neighboring, proximal joint/limb system.
MeSH term(s)	Young Adult ; Humans ; Wrist ; Elbow ; Robotics ; Upper Extremity ; Proprioception
Language	English
Publishing date	2023-10-24
Publishing country	England
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ZDB-ID	2164377-5
ISSN	1743-0003 ; 1743-0003
ISSN (online)	1743-0003
ISSN	1743-0003
DOI	10.1186/s12984-023-01258-w
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Adaptive Hybrid FES-Force Controller for Arm Exosuit.

Burchielli, Davide / Lotti, Nicola / Missiroli, Francesco / Bokranz, Casimir / Pedrocchi, Alessandra / Ambrosini, Emilia / Masia, Lorenzo

IEEE ... International Conference on Rehabilitation Robotics : [proceedings

2022 Volume 2022, Page(s) 1–6

Abstract: Patients suffering from neuromuscular diseases experience motor disabilities which hinder their independence during activities of daily living (ADLs). For such impaired subjects, robotic devices and Functional Electrical Stimulation (FES) are ... ...

Abstract	Patients suffering from neuromuscular diseases experience motor disabilities which hinder their independence during activities of daily living (ADLs). For such impaired subjects, robotic devices and Functional Electrical Stimulation (FES) are technologies commonly used to rehabilitate lost functions. Nevertheless, both systems present some limitations, and merging FES and robots in Hybrid Robotic Rehabilitation Systems allows to overcome these boundaries. Here we propose for the first time a hybrid cooperative controller involving FES and a soft wearable upper arm exosuit to rehabilitate elbow movements. We tested the designed hybrid controller on six healthy participants. The results showed how the proposed hybrid controller allowed the wearers to perform flexion movements with no significant decrease in accuracy and precision with respect to the exosuit alone, while significantly decreasing the fatigue level by about 63% and delaying its onset with respect to the FES action alone.
MeSH term(s)	Activities of Daily Living ; Arm/physiology ; Electric Stimulation ; Humans ; Movement/physiology ; Upper Extremity/physiology
Language	English
Publishing date	2022-09-29
Publishing country	United States
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ISSN	1945-7901
ISSN (online)	1945-7901
DOI	10.1109/ICORR55369.2022.9896493
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Position and stiffness modulation of a wrist haptic device using myoelectric interface.

Antuvan, Chris Wilson / Masia, Lorenzo

IEEE ... International Conference on Rehabilitation Robotics : [proceedings

2017 Volume 2017, Page(s) 734–739

Abstract: Modulation of stiffness provides a great deal of advantage in the way humans interact with the environment, and is very important in successfully performing activities of daily living. In the context of human-machine interactions, stiffness control could ...

Abstract	Modulation of stiffness provides a great deal of advantage in the way humans interact with the environment, and is very important in successfully performing activities of daily living. In the context of human-machine interactions, stiffness control could provide a safer interaction, especially when dealing with unpredictable environment. In this paper we propose a user-modulated stiffness and position control for the wrist flexion/extension degree of freedom while physically coupled to a haptic device. A virtual position tracking experiment in a varying external force field is designed in order to test the performance of the control strategy with and without co-contraction techniques. Tracking accuracy and smoothness of motion indicate better performance when subjects use co-contraction techniques, and the difference in the two types of experiment is also statistically significant.
Language	English
Publishing date	2017-07
Publishing country	United States
Document type	Journal Article
ISSN	1945-7901
ISSN (online)	1945-7901
DOI	10.1109/ICORR.2017.8009335
Database	MEDical Literature Analysis and Retrieval System OnLINE

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Article ; Online: Physiological and kinematic effects of a soft exosuit on arm movements.

Xiloyannis, Michele / Chiaradia, Domenico / Frisoli, Antonio / Masia, Lorenzo

Journal of neuroengineering and rehabilitation

2019 Volume 16, Issue 1, Page(s) 29

Abstract: Background: Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor ... ...

Abstract	Background: Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor impairments. Understanding how these devices affect the physiology and mechanics of human movements is fundamental for quantifying their benefits and drawbacks, assessing their suitability for different applications and guiding a continuous design refinement. Methods: We present a novel wearable exosuit for assistance/augmentation of the elbow and introduce a controller that compensates for gravitational forces acting on the limb while allowing the suit to cooperatively move with its wearer. Eight healthy subjects wore the exosuit and performed elbow movements in two conditions: with assistance from the device (powered) and without assistance (unpowered). The test included a dynamic task, to evaluate the impact of the assistance on the kinematics and dynamics of human movement, and an isometric task, to assess its influence on the onset of muscular fatigue. Results: Powered movements showed a low but significant degradation in accuracy and smoothness when compared to the unpowered ones. The degradation in kinematics was accompanied by an average reduction of 59.20±5.58% (mean ± standard error) of the biological torque and 64.8±7.66% drop in muscular effort when the exosuit assisted its wearer. Furthermore, an analysis of the electromyographic signals of the biceps brachii during the isometric task revealed that the exosuit delays the onset of muscular fatigue. Conclusions: The study examined the effects of an exosuit on the characteristics of human movements. The suit supports most of the power needed to move and reduces the effort that the subject needs to exert to counteract gravity in a static posture, delaying the onset of muscular fatigue. We interpret the decline in kinematic performance as a technical limitation of the current device. This work suggests that a powered exosuit can be a good candidate for industrial and clinical applications, where task efficiency and hardware transparency are paramount.
MeSH term(s)	Adult ; Arm/physiology ; Biomechanical Phenomena ; Elbow/physiology ; Electromyography ; Exoskeleton Device ; Female ; Hamstring Muscles/physiology ; Humans ; Isometric Contraction ; Male ; Movement/physiology ; Muscle Fatigue/physiology ; Prosthesis Design ; Robotics ; Self-Help Devices ; Torque ; Wearable Electronic Devices
Language	English
Publishing date	2019-02-22
Publishing country	England
Document type	Journal Article ; Research Support, Non-U.S. Gov't
ZDB-ID	2164377-5
ISSN	1743-0003 ; 1743-0003
ISSN (online)	1743-0003
ISSN	1743-0003
DOI	10.1186/s12984-019-0495-y
Database	MEDical Literature Analysis and Retrieval System OnLINE

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