This document provides an overview of ongoing research projects at the ARTS and CRIM Labs in Italy. It summarizes several projects including development of artificial hands, neuro-robotics interfaces, tactile sensors, rehabilitation robotics, humanoid robots, and micro-robotics. Key areas of research include neural interfaces, biomimetic design, neurorehabilitation, assistive technologies, and studies of human touch and sensory processing. Researchers are developing technologies such as prosthetic hands, exoskeletons, and sensory systems inspired by the human body. The document outlines various prototype systems and international collaborations on projects related to prosthetics, rehabilitation, and understanding the human sensory and motor systems.
ROBOTICS FOR BIOLOGICAL AND MEDICAL APPLICATIONSsathish sak
Robotics in biology gives high valuable experiments related to researchers and development of life science.
Those experiments which include biological sample in large numbers.Those experiment involves the delivery and dispensation of biological solution/samples in large number each with very small volume.Robotics gives an important medical diagnosis
Robotics for biomedical applications is for effective HANDLINE exploration(penetrating) of molecular and cell biology.
This type of application include cell manipulation(handling or controlling).It also includes prolonged DNA INSERTION,CELL injection.
ROBOTICS FOR BIOLOGICAL AND MEDICAL APPLICATIONSsathish sak
Robotics in biology gives high valuable experiments related to researchers and development of life science.
Those experiments which include biological sample in large numbers.Those experiment involves the delivery and dispensation of biological solution/samples in large number each with very small volume.Robotics gives an important medical diagnosis
Robotics for biomedical applications is for effective HANDLINE exploration(penetrating) of molecular and cell biology.
This type of application include cell manipulation(handling or controlling).It also includes prolonged DNA INSERTION,CELL injection.
Special Report: Medical Robotics
Self-propelled nanobots that deliver drugs inside the human body...novel sensors that improve the safety and precision of industrial robots...a dynamic hydrogel material that makes building soft robotic devices as simple as assembling a LEGO set. These are just a few of the medical robotics innovations you'll read about in this compendium of recent articles from the editors of Medical Design Briefs and Tech Briefs magazines.
Robotics is the Engineering science and technology of robots, and their design, manufacture, application, and Structural disposition.
Robotics is related to Electronics, Mechanics, and Software.
The term “Robotics” was coined by Isaac Asimov in his 1941 science fiction Short story “Liar”.
A 2019 update on the current role of robotics and simulation in neurosurgery with updates from the recent edition of Youman and Winn's Textbook of Neurosurgery. Videos in the presentation cannot be uploaded but can be viewed from youtube.
The Neuroprosthetics is an emerging field in the Health Care & Engineering Sector.
In this Technology a Specialized Chip is implanted in the Brain & by using Electronic & Mechanical Components the Brain Waves in converted into respective Mechanical Movements.
Neuroprosthetics is specifically used for patients suffering from Paralysis, Amoyotropic Lateral Sclerosis & Multiple Sclerosis.
This Field is in its Initial Stage in terms of Research specifically in India.This field requires a lot of research specially for India & Developing Countries.
Neuroprosthetics will be an Transforming World for Health Sector in the future.
Biomedical Robotics for a Sustainable FutureMehak Azeem
It was a quality time speaking about "Biomedical Robotics for a Sustainable Future" with IEEE SB LBS Institute of Technology for Women, on the occasion of an amazing series of sessions - EXPLORICA 2.0 - Bringing together Industry, Technology, and Environment.
A recent article on neural interfacing in the IEEE Transactions reports that "a Microelectrode array capable of recording from and stimulating peripheral nerves at prolonged intervals after surgical implantation has been demonstrated." These tiny silicon-based arrays were implanted into the peroneal nerves of rats and remained operative for up to 13months. This human computer interface may now lead to a revolutionary organism called as “cybor”, which was thought of as a science -fiction earlier.
A short paper on Bionics and its implications.
For the people without disability, technology makes things easier and for the people with disability, technology makes things possible.
Special Report: Medical Robotics
Self-propelled nanobots that deliver drugs inside the human body...novel sensors that improve the safety and precision of industrial robots...a dynamic hydrogel material that makes building soft robotic devices as simple as assembling a LEGO set. These are just a few of the medical robotics innovations you'll read about in this compendium of recent articles from the editors of Medical Design Briefs and Tech Briefs magazines.
Robotics is the Engineering science and technology of robots, and their design, manufacture, application, and Structural disposition.
Robotics is related to Electronics, Mechanics, and Software.
The term “Robotics” was coined by Isaac Asimov in his 1941 science fiction Short story “Liar”.
A 2019 update on the current role of robotics and simulation in neurosurgery with updates from the recent edition of Youman and Winn's Textbook of Neurosurgery. Videos in the presentation cannot be uploaded but can be viewed from youtube.
The Neuroprosthetics is an emerging field in the Health Care & Engineering Sector.
In this Technology a Specialized Chip is implanted in the Brain & by using Electronic & Mechanical Components the Brain Waves in converted into respective Mechanical Movements.
Neuroprosthetics is specifically used for patients suffering from Paralysis, Amoyotropic Lateral Sclerosis & Multiple Sclerosis.
This Field is in its Initial Stage in terms of Research specifically in India.This field requires a lot of research specially for India & Developing Countries.
Neuroprosthetics will be an Transforming World for Health Sector in the future.
Biomedical Robotics for a Sustainable FutureMehak Azeem
It was a quality time speaking about "Biomedical Robotics for a Sustainable Future" with IEEE SB LBS Institute of Technology for Women, on the occasion of an amazing series of sessions - EXPLORICA 2.0 - Bringing together Industry, Technology, and Environment.
A recent article on neural interfacing in the IEEE Transactions reports that "a Microelectrode array capable of recording from and stimulating peripheral nerves at prolonged intervals after surgical implantation has been demonstrated." These tiny silicon-based arrays were implanted into the peroneal nerves of rats and remained operative for up to 13months. This human computer interface may now lead to a revolutionary organism called as “cybor”, which was thought of as a science -fiction earlier.
A short paper on Bionics and its implications.
For the people without disability, technology makes things easier and for the people with disability, technology makes things possible.
Haptics is the science of applying touch (tactile) sensation and control to interact with computer applications. Haptic device gives people a sense of touch with computer generated environments, so that when virtual objects are touched, they seem real and tangible. Haptic technology refers to technology that interfaces the user with a virtual environment via the sense of touch by applying forces, vibrations, and/or motions to the user. This mechanical stimulation may be used to assist in the creation of virtual objects (objects existing only in a computer simulation), for control of such virtual objects, and to enhance the remote control of machines and devices. This paper includes how haptic technology works, about its devices, its technologies, its applications, future developments and disadvantages.
This is also a part of many project in Goldsmiths, MA Design Futures programme co-working with Ryan in Change Agent project.
This is our 3rd concept. We create "future scenarios" follow the concept of "Human2.0". We create an implanting technology, called SENSOR+, to extend human senses. We develop this system to solve an internet privacy problem.
We think now the internet profile become a part of that person. And our body have a skin to protect and to sense. So we use the NEURON+ system to sense our internet data. This could open the new experience and can notice when other access our data unfriendly.
Prosthetic hand using Artificial Neural NetworkSreenath S
Real Time Moving Prosthetic.
It's an innovative technology,improvising the prosthetic field with the application of Artificial Neural Network technology.Unlike anyother prosthetic hand, this has a Real Time data accquisition system which varies the data set according to the input signal.This is customisable to any amputee. The hardware was developed by simple and easily available materials.We have come up with a new technology in the prosthetic field.
“HAPTICS”-- a technology that adds the sense of touch to a virtual environment. Haptic interfaces allow the user to feel as well as to see virtual objects on a computer, and so we can give an illusion of touching surfaces, shaping virtual clay, or moving objects around. The sensation of touch is the brain’s most effective learning mechanism --more effective than seeing or hearing which is why the new technology holds so much promise as a teaching tool. Haptic technology is like exploring the virtual world with a stick.
Neurorobotics and Advances in rehabilitation engineeringBhaskarBorgohain4
Advances in robotics,mechatronics,cyborgs and disruptive technologies for heptics, brain machine interfaces and neurorobotics are bringing a sea change to the field of rehabilitation engineering. Carbon fibre cheetah blades, Bionic arms, c legs are helping the amputees to the extent that amputees can now run in competitive sports at the level of summer Olympics.
Progetto Minni - Sistema modellistico per le politiche di qualità dell'aria a...Le Scienze Web News
Il volume riassume le principali attività della Convenzione pluriennale 2008-2012 fra Ministero dell’Ambiente e della Tutela del Territorio e del Mare ed ENEA su “Sviluppo, verifica e nuove applicazioni del sistema modellistico MINNI a supporto delle politiche di qualità dell’aria nazionali e dei piani e programmi di risanamento della qualità dell’aria regionali”.
Protein Contact Networks: An Emerging Paradigm in ChemistryLe Scienze Web News
Authors: Luisa Di Paola, Micol De Ruvo, Paola Paci, Daniele Santoni, and Alessandro Giuliani.
Further information:
http://www.lswn.it/en/chemistry/news/protein_contact_networks_emerging_paradigm_chemistry
http://www.lswn.it/eventi/congressi/2012/tumori_neuroendocrini_gastropancreatici
Tumori neuroendocrini (Net) - Gastropancreatici (Gep) - La neoplasia che colpì Steve Jobs: rara e difficilissima da curare.
XXXI convegno del Gruppo Nazionale di Geofisica della Terra Solida ProgrammaLe Scienze Web News
Dal 20 al 22 Novembre 2012 si svolgerà a Potenza il XXXI convegno del Gruppo Nazionale di Geofisica della Terra Solida.
Per informazioni: http://www.lswn.it/comunicati/stampa/2012/studiare_i_terremoti_come_il_meteo
La Settimana di Educazione allo Sviluppo Sostenibile vedrà quest’anno la sua settima edizione, con la partecipazione di centinaia di aderenti da ogni regione d’Italia che, sotto l’egida di questa Commissione, dedicheranno le loro iniziative al tema “Madre Terra: Alimentazione, Agricoltura ed Ecosistema”.
Incontri educativo-informativi sul tema della fertilità alla SapienzaLe Scienze Web News
Presentazione: Nel corso degli ultimi anni è stato registrato un preoccupante incremento delle affezioni acute e croniche della sfera riproduttiva. L'infertilità affligge ormai nel nostro paese oltre il 15% delle coppie che cercano di avere un figlio. Tutto ciò è correlato a comportamenti scorretti o dannosi acquisiti in età giovanile, dovuti ad una scarsa informazione e alla mancanza di prevenzione. La salute riproduttiva viene spesso trascurata e presa in considerazione solo quando le problematiche diventano eclatanti, con un ritardo che vanifica l’azione medica e si accompagna ad una crescita dei costi sanitari.
Numerose sono le cause e i fattori di rischio sui quali si può intervenire, così come le nuove terapie che consentono il raggiungimento di risultati precedentemente impensabili. Ciò ha reso necessaria la definizione di un programma di prevenzione finalizzato all’educazione alla salute riproduttiva come componente fondamentale della salute dell’individuo e della coppia e ad organizzare questi incontri informativi e di aggiornamento sulla diagnosi e cura dell’infertilità.
DIRECTIVE 2010/63/EU OF THE EUROPEAN PARLIAMENT AND OF THE COUNCILLe Scienze Web News
on the protection of animals used for scientific purposes.
http://www.lswn.it/comunicati/stampa/2012/sperimentazione_animale_recepire_direttiva_europea_per_garantire_rispetto_animali_e_attivita_ricerca
Archeologi della Sapienza scoprono a Malta un’agata con iscrizioni cuneiformi del II millennio a.C: si tratta del reperto più occidentale mai rinvenuto.
Leggi http://www.lswn.it/comunicati/stampa/2011/scoperta_a_malta_agata_con_iscrizioni_cuneiformi_secondo_millennio_ac
Electron Diffraction Using Transmission Electron MicroscopyLe Scienze Web News
Electron diffraction via the transmission electron microscope is a powerful method for characterizing the structure of materials, including perfect crystals and defect structures. The advantages of elec- tron diffraction over other methods, e.g., x-ray or neutron, arise from the extremely short wavelength (≈2 pm), the strong atomic scattering, and the ability to exam- ine tiny volumes of matter (≈10 nm3). The NIST Materials Science and Engineer- ing Laboratory has a history of discovery and characterization of new structures through electron diffraction, alone or in combination with other diffraction methods. This paper provides a survey of some of this work enabled through electron mi- croscopy.
Metallic Phase with Long-Range Orientational Order and No Translational Symmetry
D. Shechtman and I. Blech
Department of Materials Engineering, Israel Institute of Technology Technion, 3200 Haifa, Israel
and
D. Gratias
Centre d'Etudes de Chimie Metallurgique, Centre National de la Recherche Scientiftque, F-94400 Vitry, France
and
J. W. Cahn
Center for Materials Science, National Bureau ofStandards, Gaithersburg, Maryland 20760
(Received 9 October 1984)
We have observed a metallic solid (Al —14-at. /o-Mn) with long-range orientational order, but with icosahedral point group symmetry, which is inconsistent with lattice translations. Its diffraction spots are as sharp as those of crystals but cannot be indexed to any Bravais lattice. The solid is metastable and forms from the melt by a first-order transition.
12 novembre 2011 Cerimonia Ufficiale UNESCO "A come Acqua"Le Scienze Web News
Settimana di Educazione allo Sviluppo Sostenibile promossa dalla Commissione Nazionale Italiana per l’UNESCO “A come Acqua”.
Conferimento della Medaglia Spadolini
Premio Eco and the City Giovanni Spadol
12 novembre 2011 Palazzo Incontri, via de Pucci 1, Firenze Ore 15,00
Autore Prof. Roberto Bertagnolio
Articolo su LSWN.it:
"Programmi, equazioni, algoritmi, simmetria e visione"
http://www.lswn.it/miscellanea/articoli/programmi_equazioni_algoritmi_simmetria_e_visione
Schema della struttura del pensiero logico simbolico
Biorobotics
1. 11/23/2009
1
On-going research
projects @ ARTS
and CRIM Labs
ARTS (Advanced Robotics Technology and Systems) Lab
Coordinator: Paolo Dario
Artificial hands
Hand prostheses
Tactile sensors
Neuro-robotics and
bionics
Neural interfaces
Natural interfaces
Sensory information
processing
Robotics for neuro-
rehabilitation
Assistive robotics
Gerontechnologies
Humanoid robotics
Neurodevelopmental
engineering
Service robotics
Biomimetic robotics
Roboethics
2. 11/23/2009
2
Scuola Superiore Sant’Anna
The model:
The human
hand
Artificial hands @ ARTS Lab (1999-2008)
RTR1 Hand (2000-01)
SoftHand
(2003)
ROBOCASA
(2004)
Cyberhand
(2005)
ROBOTCUB
(2006)
EXPER II
(2008)
RTR2
(2002)
RPP Hand
(2007)
Genie
(2007)
SmartHand
(2008)
Paloma
(2003)
Prof. Maria Chiara Carrozza
Bio-inspired mechatronic
hand prosthesis with
embedded biomimetic
sensors
Neural
electrodes
Implantable system for neural
stimulation and recording
Telemetric link (transceiver) for
both efferent and afferent
signals
Unit for decoding patient's
intentions, for delivering
the cognitive feedback to
the patient and for
prosthesis control
Bionic Hand
www.cyberhand.org
3. 11/23/2009
3
Scuola Superiore Sant’Anna
CyberHand: A neuro-controlled Hand
1. Low-Level Control
2. Feedback Delivery
Allow natural control;
Bidirectional;
Large bandwidth;
Efference
Afference
Neural Interface: Position, Touch, Pressure
Non-Invasive Interface: Touch, Temperature, Pressure.
Contact: Christian Cipriani, email: christian@arts.sssup.it
- 16 DoF
- 4 Motors
- 40 Sensors
SmartHand Prototype (2009)
2009 Clinical evaluation @:
-Lund University, Sweden;
-Johns Hopkins University, USA;
-Aalborg University, Denmark.
[1] G. S. Dhillon and K. W. Horch, “Direct Neural Sensory Feedback and Control of a Prosthetic Arm,” IEEE TNSRE, vol. 13, no.4, pp. 468-472, Dec. 2005.
[2] T. A. Kuiken, P. D. Marasco, B. A. Lock, R. N. Harden and J. P. A. Dewald, “Redirection of cutaneous sensation from the hand to the chest skin of human
amputees with targeted reinnervation,” PNAS, vol. 104, no. 50, pp. 20061-20066, 2007.
4. 11/23/2009
4
Brain Computer Interface as a tool for
neurological rehabilitation and prosthetics
[1] Eric C. Leuthardt, M.D., Gerwin Schalk, M.S., Daniel Moran, Ph.D., Jeffrey G. Ojemann, M.D., “THE EMERGING WORLD OF MOTOR NEUROPROSTHETICS: A NEUROSURGICAL
PERSPECTIVE”, Review, Neurosurgery 59:1-14, 2006
• implement strategies to control
“smarthand”
• implement methods to apply
in stroke rehab
Contact person: Maria Laura Blefari (m.blefari@sssup.it)
To analyze and understand the workingTo analyze and understand the working
principles ofprinciples of the natural sense of touchthe natural sense of touch
ToTo taketake inspirationinspiration fromfrom thisthis
knowledgeknowledge toto designdesign novelnovel andand betterbetter
tactiletactile artificialartificial sensorysensory systemssystems inin
roboticsroboticsDESIGN&BUILD
biomechatronic
platforms for
investigation of
HUMAN TOUCH
study of texture
neural encoding
(measurement of
peripheral neural
firing and brain
responses by means
of microneurography
and EEG) and for for
psychophysical
experiments on
roughness/texture
perception
In collaboration with
Prof. Alan Wing
University of Birmingham, UK
Prof. Johan Wessberg, Goteborg University, SE
MEMS based approach for artificial fingerpad
for texture encoding
Tissue engineered skin
New approaches investigated for biomimetic
fingertip
Integration of tissue
engineering approaches
with MEMS/NEMS
approach to artificial skin
NEMS capacitive array
MEMS piezoresistive array
Contact person: Lucia Beccai (l.beccai@arts.sssup.it)
In collaboration with
Prof. Mike Adams, Dr. Liam Grover,
Dr. Mike Ward University of Birmingham, UK
Study of Human Touch and artificialStudy of Human Touch and artificial
emulation with tactile systemsemulation with tactile systems
discriminative
touch
5. 11/23/2009
5
•L. Beccai et al ““Design and fabrication
of a hybrid silicon three-axial force
sensor for biomechanical applications,”
Sensors and Actuators A, 120, 2, 2005,
pp. 370-382.
•C. M. Oddo et al ,Measurement
Science and Technology, 18, 2007, pp.
623–631.
The artificial approach to a
bio-inspired fingerpad
•L. Beccai et al ,IEEE/ASME Transactions on
Mechatronics, 13, 2, 2008, pp. 158-168
•L. Beccai et al “Sensing fingertip for bioinspired tactile
encoding” 1st Nat. Bioengineering Cong., July 3-5
2008, Pisa (Italy)
•.C. M.Oddo et al ,Sensors 2009, 9(5), pp. 3161-3183
Integration of arrays of
MicroTAF MEMS
with artificial materials
for mimicking human
fingerpad DESIGN&BUILD
sensorized fingertips
with miniature
tactile sensors
Contact person: Lucia Beccai (l.beccai@arts.sssup.it)
SKILSENS – Artificial Sensing Skin
SKILSENS is a soft and flexible artificial sensing skin able to detect
pressure and shape of the object that is contacting. It is composed of
silicone and its consistence is very similar to the human skin
Dimension, spatial resolution, shape, sensitivity and color of the
artificial skin can be changed according to the application.
Patent
pending
25 analog outputs 25 analog outputs
Flexible / Rigid
structure
Black / Skin
colour
Proposed experimental research activities
• Design, development and characterization of Skilsens-based human-
machine interfaces for upper- and lower-limb exoskeletons for the neuro-
rehabiliation, shoe insoles, and other biomedical applications.
Contact persons:
Alessandro Persichetti
(a.persichetti@arts.sssup.it)
Fabrizio Vecchi
(f.vecchi@sssup.it)
6. 11/23/2009
6
L’ interazione uomo/macchina
In molti settori della Robotica il contatto
fisico fra Robot e Uomo è altamente
probabile, se non necessario
(riabilitazione)
Requisito primario:
Garantire un alto livello di sicurezza per l’
Uomo degradando il meno possibile le
prestazioni del Robot
Limitazione delle forze di interazione e
problematiche di progettazione integrata
meccanica/controllo del Robot
Active compliance
L’impedenza meccanica del Robot è
regolata da algoritmi di controllo
software (controllo di forza e di
impedenza)
Passive compliance
L’impedenza meccanica del Robot è
ottimizzata in fase di progettazione
utilizzando materiali leggeri, rivestimenti
morbidi, trasmissioni elastiche
(più affidabile nel caso di eventi imprevisti
istantanei come un impatto)
Contact person:
Stefano Roccella
(s.roccella@arts.sssup.it,
NEURARM, un modello robotico di arto superiore
uno strumento potente per ricerca neuroscientifica
NEURARM è un robot seriale 2R, con giunti
attuati in modalità antagonista:
masse, inerzie e dimensioni cinematiche
simili al quelle dell’uomo Europeo standard
attuazione antagonista come nei giunti
umani, può quindi regolare la rigidezza dei
propri giunti
NEURARM è utilizzato per studiare:
1. Movimenti di “reaching point-to-point”
2. Interazione con una parete
3. Il task di “catching”
Contact person: Nicola Vitiello
n.vitiello@sssup.it
7. 11/23/2009
7
NEUROExos: un “esoscheletro” per la
riabilitazione del gomito
• Gusci anatomici per elevato comfort
• meccanismo a 4-gdl per allinearsi
all’asse di rotazione del gomito
• attuazione compliante e bio-inspirata
• Sistema di controllo basato
sull’equilibrium point hypothesis, una
teoria neuroscientifica
• L’interazione persona-macchina è
ottenuta attraverso la “pelle artificiale
Skilsens”
Argomenti di ricerca in corso
• Modulo polso
• Modulo spalla
• Gruppo di attuazione e di
trasmissione
• Nuovi algoritmi e strategie di
interazione uomo-macchina (EMG,
etc.)
Contact persons:
Stefano Roccella
(s.roccella@arts.sssup.it,
Nicola Vitiello
(n.vitiello@sssup.it)
HANDEXOS
PURPOSES
1. Exoskeleton device for post-stroke
rehabilitation of the hand
2. Device for biomechanical measures
of the hand
Proposed thesis:
• Characterization of the spasticity in post-
stroke patients through HANDEXOS
MAIN FEATURES
• 5-fingers independent modules
• fully mobility of the hand with a natural
ROM
• passive and adjustable mechanism on
the intermediate phalanx to partially fit
over hands of different sizes
• low encumbrance both on the lateral
side of the fingers and on lower side of
the hand
• easy wearability, light weight and
comfort
• extrinsic actuation system
Fig. 1. HANDEXOS concept
Fig. 2. HANDEXOS finger module,
first prototype
Fig. 3. HANDEXOS finger module with force sensors
Contact person: Azzurra Chiri (a.chiri@arts.sssup.it)
8. 11/23/2009
8
The ARTS humanoid robot
Anthropomorphic head &
retina-like vision system
7 d.o.f.s (neck & eyes)
7 proprioceptive sensors
2 cameras
Biomechatronic hand
10 d.o.f.s
16 proprioceptive sensors
21 tactile sensors
Anthropomorphic arm
8 d.o.f.s
16 proprioceptive sensors
Total
d.o.f.s: 25
Visual sensors: 2
Proprioceptive sensors: 39
Tactile sensors: 135
PALOMA EU IST-FET
Project IST-2001-33073
P. Dario, M.C. Carrozza, E. Guglielmelli, C. Laschi, A. Menciassi, S.
Micera, F. Vecchi, “Robotics as a “Future and Emerging Technology:
biomimetics, cybernetics and neuro-robotics in European projects”, IEEE
Robotics and Automation Magazine, Vol.12, No.2, June 2005, pp.29-43.
Prof. Paolo Dario
Prof. Cecilia Laschi
Robocasa
Humanoid
Prof. Paolo Dario
9. 11/23/2009
9
RoboCasa in Italy:
Robot-An
Official opening:
March 23, 2007
Prof. Paolo Dario
G. Metta, G. Sandini, “Embodiment and complex systems. A commentary
on Barbara Webb: Can robots make good models of biological behavior?”,
Behavioral and Brain Sciences 24(6) pp. 1068-1069, 2001.
To understand how the brain of living systems
transforms sensory input into motor and
cognitive functions by implementing physical
models of sensory-motor behaviours
EU RobotCub
Project
Developing human-like cognitive
capabilities through humanoid bodies
RobotCub Project
10. 11/23/2009
10
Emotional robots
study of the brain mechanisms for emotion
recognition, by comparison of human and
robot facial expression recognition
behavioural experiments
fMRI
identification of most significant face elements
design of the robotic emotional face, based on
Ekman’s classification of facial expressions
Compared to normal condition, human faces
evoke significant activity in the Fusiform
Face Area (FFA) (red area in Figure 1). In
neuroimaging studies, this area responds
always to the category “faces”.
On the contrary, compared to normal
condition, robotic faces evoke significant
activity in the lingual fusiform/gyrus (blue
areas in Figure 2). This area usually
responds to the category “objects”
Figure 1 Figure 2
E-Smiler Project (2006-2008), Cassa di Risparmio di Pisa
University of Pisa, Scuola Superiore Sant’Anna, CNR Pisa
Prof. Paolo Dario, Prof. Cecilia Laschi
DustBot
11. 11/23/2009
11
1 RATTLE with
force sensors
2 RATTLE with
contact sensors
1 ELECTRONIC
INTERFACE
1 BALL
1 SERIAL
CABLE
Neuro-developmental
engineering
Mechatronic
sensorized
toys for
monitoring
sensory-
motor
behaviour
TACT - Tought in Action
NEST Project #15636
Early diagnosis of autism and ASD by monitoring neuro-
motor development
Prof. Cecilia Laschi
Floating Sensorised Networked
Robots for Water Monitoring
HydroNet (2008-2011)
Objective: to design and develop a new technological platform for improving
the monitoring of water systems, based on a netwrok of sensorized floating
robots and buoys, integrated in an Ambient Intelligence infrastructure.
EU Program:
ENV.2007.3.1.1.2. Technologies for measuring and monitoring networks
Prof. Paolo Dario
12. 11/23/2009
12
Biomimetic Robotics:
observations of the living octopus
Identification of
octopus control
strategies for goal-
directed behavior
Day/night light
80cm
Water
refrigerator
Pumps for
reef
current
Sensors for PH, salinity, O2, temperature, water hardness
Moon phases light
Cameras
Pump for water
circulation
Filter for
water
depuration
Novel Design Principles and Technologies for a
New Generation of High Dexterity Soft-bodied
Robots Inspired by the Morphology and
Behaviour of the Octopus
OCTOPUS (2008-2012)
The OCTOPUS Project has the objective of designing and developing an 8-
arm robot inspired to the muscular structure, neurophysiology and motor
capabilities of the octopus (Octopus vulgaris).
www.octopus-project.eu
Project Duration:
48 months
Project Cost:
9.745.000 €
EC contribution:
7.600.000 €
7 partners from 5
countries
Coordinator: SSSA
13. 11/23/2009
13
Livorno, ItalyLivorno, Italy
Official Opening, January 14, 2009
CRIM- CENTRE OF RESEARCH IN
MICROENGENEERING
The CRIM Lab
Coordinator: Paolo Dario
BioBio--inspired and/or bioinspired and/or bio--applied miniaturized and microapplied miniaturized and micro--robots and systemsrobots and systems
14. 11/23/2009
14
Progetto Europeo LAMPETRA
Life-like Artefacts for Motor-Postural Experiments and Development of new
Control Technologies inspired by Rapid Animal locomotion
LAMPETRA mira a sviluppare e usare piattaforme robotiche
innovative bioispirate (al modello animale della lampreda ovvero
della salamandra) con un duplice obiettivo:
- condurre studi neuroscientifici sul controllo neurale della
locomozione (“goal-directed locomotion”) nei vertebrati;
- progettare nuove soluzioni ingegneristiche per la locomozione
(e in generale l’attuazione) di sistemi, caratterizzate da elevata
efficienza energetica, adattività e affidabilità.
Pesce
Lampreda
Il robot
Sistema di
attuazione
innovativo
basato su
magneti
permanenti
Controllo
bioispirato,
sensori
sviluppati
ad-hoc
Progetto Europeo ANGELS
ANGuilliform robot with ELectric Sense
ANGELS mira a sviluppare un robot
anguilliforme riconfigurabile:
- Il robot si può dividere in robot più piccoli
(moduli / agenti), anch’essi capaci di
nuotare secondo la modalità anguilliforme;
- Ciascun agente è in grado di percepire le
condizioni ambientali (ostacoli, oggetti, altri
moduli) e comunicare con gli altri agenti
attraverso la modulazione di un campo
elettrico (“electric sense”);
- Il modello animale sono i pesci
debolmente elettrici. Il robot amplifica le
loro capacità sensoriali permettendo anche
la riconfigurabilità del senso elettrico
(agendo insieme, gli agenti, possono
percepire oggetti grandi, non percepibili dal
singolo agente).
Gnathonemus petersii
Campo elettrico
attorno al pesce (tipo
dipolo)
Moduli connessi
tramite magneti
permanenti
15. 11/23/2009
15
Progetto Europeo Integ-Micro
New production technologies of complex 3D Micro – devices through multi-process
integration of ultra precision engineering techniques
Integ-Micro mira a sviluppare nuove tecnologie per la
produzione di micro componenti.
In particolare, propone l’integrazione multi-processo
(micro-taglio, elettroerosione, ultrasuoni e laser) su
piattaforme riconfigurabili per la lavorazione ultra-precisa di
serie di pezzi miniaturizzati.
Questa strategia (lavorazione multitasking) permette il
raggiungimento di un’elevata precisione di lavorazione,
la riduzione dell’ingombro degli impianti di lavorazione,
la riduzione dei tempi di allestimento e di messa in opera
di linee di produzione innovative per prodotti strategici e,
in generale, l’aumento della produttività.
Testa di MU (microtaglio)
con laser integrato
KERN (partner) Pyramid
Nano
Versatile Endoscopic Capsule for gastrointestinal TumOr Recognition and therapy
16. 11/23/2009
16
Progettazione di strumentazione avanzata per chirurgia
“interna” ed endoscopia…
…Non solo al PC o in officina, ma anche sul campo!
Tubingen, Germania,
Settembre 2009.
Un team misto
dall’università (SSSA e
università straniere),
dalle industrie, e dal
mondo della medicina,
in un centro avanzato
per la sperimentazione
preclinica
Miniaturized Vision Systems for endoluminal
applications
Endoluminal surgery requires the support of artificial
vision system
Performance as close as possible to direct vision are
required
Open research:
Miniaturized wireless vision system
for endoscopic pill applications
3D vision system for robotic
surgery
17. 11/23/2009
17
www.araknes.org
ARAKNES project
The ARAKNES (Array of Robots Augmenting the KiNematics of
Endoluminal Surgery) Project has received funding from the
European Community's Seventh Framework Programme
(FP7/2007-2013) under grant agreement num. 224565
“…to integrate the advantages of traditional open surgery, laparoscopic surgery, and robotics surgery into a
deeply innovative system for bi-manual, tethered, visible scarless surgery, based on an array of smart
microrobotic instrumentation.”
Main intended interventions: Gastric and abdominal surgery
Sensors
- Technologies for solid state sensor fabrication;
- Sensor for Hg based on resistivity variation of thin gold
film (prototypes and transduction mechanism);
- Sensor networks and related problems,
- Sensor conditioning, Plug and play and smart sensor
interfaces.
- Micro-fabricated Hydrogen Sensor
SSSA - CRIM
18. 11/23/2009
18
Smart materials
- Artificial muscles/electro active polymers;
- Plant-inspired actuators;
- Nano-structured materials for actuators and sensors.
SSSA - CRIM
BIOMIMETICS ROBOTICS
Robot inspired to plant’s roots for soil exploration
The Plantoid
Dr. Barbara Mazzolai
19. 11/23/2009
19
Courses
General Courses
Introduction to Biorobotics Paolo Dario 3
The main goal of Biorobotics is to analyze biological systems from a
“biomechatronic” viewpoint, with the aim of understanding the scientific
and engineering principles which govern and enable their extraordinary
performances. Biomechatronics is a novel paradigm for machine design,
which considers a mechatronic system together with its interactions with the
external world and with the human operator. After an overview of the
methodologies of Biorobotics, the course will address some biorobotic
systems and case-studies including: 1) a biorobotic system inspired by a
lamprey as a platform for neuroscientific investigations; 2) a biorobotic
system for endoluminal surgery whose locomotion is inspired by insect
locomotion; 3) a user-machine interface for friendly interaction with
teleoperated artefacts.
Human and Animal Models
in Biorobotics
Cecilia Laschi 3
The course introduces the rationale for bioinspiration and biomimetics in
robotics and teaches the methods for designing robotic systems
incorporating human and animal models. Specific cases are described,
like the human models for active vision and tactile perception in robots and
the animal models for soft-bodied robots
Micro- and nano-robotics
for biomedical applications
Arianna
Menciassi
3
The course objective is to provide students with the basic knowledge of
micro- and nano-technologies for biomedical applications. In fact, micro-
and nano-systems for biomedical applications represent a very effective
alternative to traditional therapy and surgery techniques. The course will study
the different technologies and solutions for medicine with a system
approach, by investigating the micro- and nano-devices as mechatronic
systems.
20. 11/23/2009
20
Specific Courses (1/3)
Innovation from Nature:
An introduction to Biomimetic
Robotics
Barbara
Mazzolai
1
This course provides an introduction to the biological classification of living creatures
and to their performance, as well as to biomechanics, ranging from single cells to
entire plants and animals, aimed at designing and developing bioinspired robots and
artificial sensors/actuators. The developed biorobotic systems allow to better understand
the complex biological phenomenon and the animal/environment relationships.
Neurointerfaces and
Neuroprostheses
Silvestro
Micera
1
In the recent past, implantable neural interfaces have been used to gather important
information about the functioning of the central and peripheral nervous systems. There
are also increasing evidences that they can be used to develop different classes of
neural prostheses to restore sensory-motor function in people who lost them for
neurological disorders and disabilities and for traumatic events such as amputation.
Therefore, neural implants could have significant potential to enhance our understanding
of normal and pathological states of the brain, and at the same time significantly impact
the design and use of neural prosthetic devices. The aim of this course is to provide
more information about leading research activities carried out by groups around the
world working to develop more effective neural prostheses. In particular, the following
topics will be covered: (1) neural interfaces as enabling technologies; (2) statistical
algorithms for the characterization of neural signals; (3) different examples of (cortical,
peripheral and vestibular) neural prosthesis. Particular attention will be also devoted to
the possible clinical applications of this kind of technology.
Fundamentals of Continuum
Mechanics
Stefano
Roccella
2
Starting from the definition of “continuum body”, the basic physics laws will be applied
to mechanical systems in order to understand their behaviour under external applied
loads. Solid and fluid bodies will be studied and fundamental criterions will be
discussed in order to verify their strength under applied loads and constraints. The most
important Computer Aided Engineering tools will be illustrated and some advanced
case studies will be investigated. The course will consist of hands-on sessions and
students will be able to solve advanced simulation problems. In particular contact
boundary conditions, structural-dynamics simulations, fluidodynamics simulations and
non linear materials simulations will be illustrated. The final test will consist of a
simulation excercise with a final technical report.
Specific Courses (2/3)
Wireless control for
biorobotic applications
Pietro
Valdastri
1
Thanks to energy efficient systems and miniaturization of electronics, wireless
technology is nowadays enabling the development of unthetered robots. The
main topic of this course is to describe how to implement robotic control on
wireless and low-power platforms. First, the datasheet of a wireless
microcontroller will be analyzed. Then, several examples of unthetered robots
based on such core device will be designed. Finally, examples of programming
code will be given. Hands-on sessions will be organized depending on the
number of attendees.
Biological Materials:
structure and properties
Virgilio
Mattoli
1
The course introduces fundamental properties of most interesting classic natural
(biological) materials, by defining the structure and the properties essentially
from engineering point of view. Particular attention will be devoted to bio-
inspired materials derived form traditional synthetic materials.
Artificial tactile sensing in
biorobotics
Lucia
Beccai
1
The aim of the course is to provide students with an insight on the development
of artificial tactile sensors and to provide a critical analysis on how such a
challenge has been addressed in biorobotics. The main areas that will be
addressed are: functional principles of artificial tactile sensors, technologies and
materials adopted for a tactile sensing and their evolution, case studies and
applications of bio-inspired tactile sensors.
21. 11/23/2009
21
Specific Courses (3/3)
Energy issues
in Biorobotics
and relevant
examples
Cesare
Stefanini
1
In this course two main subjects are addressed: (1) what energy
sources to be used in bioinspired and bio-applied robotic systems
and (2) what means can be adopted to produce mechanical work in
those systems. Familiarity with the above subjects represents a
useful background for engineers involved in the design of high
performance autonomous machines, as in the case of bioinspired
robots and of wearable systems. The course is organized as follows:i.
introduction on energy and actuation issues in Biorobotic systems,
ii. energy sources, iii. actuators, iv. examples
Project Work and Integrative Courses
Projectual Work on
BioRobotics
Paolo Dario 3
Central Pattern
Generators
Sten Grilliner 1
Humanoid Robotics
and Biomechanics
Oussama Khatib 1