Loredana Zollo
Università Campus Bio-Medico
EngineeringControl engineeringComputer visionComputer scienceRobot
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Publications 118
#1Giovanni Di Pino (Università Campus Bio-Medico)H-Index: 14
#2D Romano (University of Milan)H-Index: 10
Last. Vincenzo Denaro (Università Campus Bio-Medico)H-Index: 51
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Embodiment is the percept that something not originally-belonging to the Self becomes part of the body. Feeling embodiment for a prosthesis may counteract amputees’ altered image of the body and increase prosthesis acceptability. Prosthesis embodiment has been studied longitudinally in an amputee receiving feedback through intraneural and perineural multichannel electrodes implanted in her stump. Three factors - invasive (vs non-invasive) stimulation, training and anthropomorphism - have been te...
Feb 24, 2020 in ICRA (International Conference on Robotics and Automation)
#1Clemente Lauretti (Università Campus Bio-Medico)H-Index: 3
#2Francesca Cordella (University of Naples Federico II)H-Index: 4
Last. Loredana Zollo (Università Campus Bio-Medico)H-Index: 18
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Pedicle screw fixation is a fundamental surgical procedure which requires high accuracy and strength from the surgeon who may be exposed to uncomfortable postures and muscular fatigue. The objective of this paper is to propose a novel approach to robot-aided pedicle screw fixation based on a Surgeon-Robot Shared control that makes the tapping procedure, i.e. threading the patients pedicle, semi-autonomous. The surgeon continues to have a full control over the surgical intervention by i) accurate...
#1Francesco Scotto di Luzio (Università Campus Bio-Medico)H-Index: 1
#2Clemente Lauretti (Università Campus Bio-Medico)H-Index: 3
Last. Loredana Zollo (Università Campus Bio-Medico)H-Index: 18
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Abstract Repetitive and intensive exercises during robot-aided rehabilitation may expose patients to inappropriate and unsafe postures. The introduction of a sensory feedback can help the subject to perform the rehabilitation task with an ergonomic posture. In this work, the introduction of visual and vibrotactile feedback in a robotic platform for upper limb rehabilitation has been proposed to ensure ergonomic posture during rehabilitation. The two feedback modalities have been used to provide ...
#2Alberto Mazzoni (Sant'Anna School of Advanced Studies)H-Index: 16
Last. Stanisa Raspopovic (ETH Zurich)H-Index: 16
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The usability of dexterous hand prostheses is still hampered by the lack of natural and effective control strategies. A decoding strategy based on the processing of descending efferent neural signals recorded using peripheral neural interfaces could be a solution to such limitation. Unfortunately, this choice is still restrained by the reduced knowledge of the dynamics of human efferent signals recorded from the nerves and associated to hand movements. To address this issue, in this work we acqu...
#2Jorge A. DíezH-Index: 5
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When combined with assistive robotic devices, such as wearable robotics, brain/neural-computer interfaces (BNCI) have the potential to restore the capabilities of handicapped people to carry out activities of daily living. To improve applicability of such systems, workload and stress should be reduced to a minimal level. Here, we investigated the user’s physiological reactions during the exhaustive use of the interfaces of a hybrid control interface. Eleven BNCI-naive healthy volunteers particip...
1 CitationsSource
#1Clemente Lauretti (Università Campus Bio-Medico)H-Index: 3
#2Francesca Cordella (Università Campus Bio-Medico)H-Index: 6
Last. Loredana Zollo (Università Campus Bio-Medico)H-Index: 18
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Anthropomorphic criteria are widely adopted for developing socially interactive robots since they can improve human capability to interpret and predict robot motion, with an impact on robot acceptability and human–robot interaction safety. Learning by demonstration approaches based on dynamic movement primitives are a suitable solution for planning the robot motion in human-like fashion and endow robots with generalization capabilities and robustness against perturbation. Objective of this work ...
#1Loredana Zollo (Università Campus Bio-Medico)H-Index: 18
#2Giovanni Di Pino (Università Campus Bio-Medico)H-Index: 14
Last. Eugenio Guglielmelli (Università Campus Bio-Medico)H-Index: 33
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Despite previous studies on the restoration of tactile sensation to the fingers and the hand, there are no examples of use of the routed sensory information to finely control a prosthestic hand in complex grasp and manipulation tasks. Here, it is shown that force and slippage sensations can be elicited in an amputee by means of biologically inspired slippage detection and encoding algorithms, supported by a stick-slip model of the performed grasp. A combination of cuff and intraneural electrodes...
2 CitationsSource
#1Rocco Antonio Romeo (Università Campus Bio-Medico)H-Index: 5
#2Udaya Bhaskar Rongala (Sant'Anna School of Advanced Studies)H-Index: 3
Last. Calogero Maria Oddo (Sant'Anna School of Advanced Studies)H-Index: 19
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The effort toward replicating human skills into artificial systems is growing constantly. While artificial vision has reached a certain reliability, the sense of touch is still hard to introduce into robotic devices. Human manipulation comprises a sequence of static and dynamic actions, which may include unforeseen events, such as variation of object position, movement of the fingers, and modification of the object dimensions and shape (e.g., with soft objects) due to inappropriate force levels....