Alessandra Pedrocchi — accepted AI-conference papers

2023

Trajectory Learning by Therapists' Demonstrations for an Upper Limb Rehabilitation Exoskeleton

Beatrice Luciani, Loris Roveda, Francesco Braghin, Alessandra Pedrocchi, Marta Gandolla

RA-L 2023

In this work, we propose a method for trajectory implementation based on the <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">Learning by Demonstrations</i> approach to deal with trajectory planning issues in upper-limb rehabilitation exoskeletons. Cu

Cited by 15 Source ↗Scholar ↗

2020

A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints

Stefano Dalla Gasperina, Keya Ghonasgi, Ana C. de Oliveira, Marta Gandolla, Alessandra Pedrocchi, Ashish Deshpande

IROS 2020poster

In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics…

Cited by 18 Source ↗Scholar ↗