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Andrea Fortuna

4 accepted papers

2025

Assisting Gait Stability in Walking Aid Users Exploiting Biomechanical Variables Correlation

Andrea Fortuna, Marta Lorenzini, Younggeol Cho, Robin Arbaud, Stefano Filippo Castiglia, Mariano Serrao +3
RA-L 2025

Walking aids for individuals with musculoskeletal frailty or motor disabilities must ensure adequate physical support and assistance to their users. To this end, sensor-enabled human state monitoring and estimation are crucial. This paper proposes an innovative approach to assessing users' stability

Cited by 0Source ↗Scholar ↗
2024

A Personalizable Controller for the Walking Assistive omNi-Directional Exo-Robot (WANDER)

Andrea Fortuna, Marta Lorenzini, Mattia Leonori, Juan M. Gandarias, Pietro Balatti, Younggeol Cho +2
ICRA 2024poster

Preserving and encouraging mobility in the elderly and adults with chronic conditions is of paramount importance. However, existing walking aids are either inadequate to provide sufficient support to users’ stability or too bulky and poorly maneuverable to be used outside hospital environments. In a…

Cited by 3Source ↗Scholar ↗
2024

A User- and Slope-Adaptive Control Framework for a Walking Aid Robot

Younggeol Cho, Marta Lorenzini, Andrea Fortuna, Mattia Leonori, Arash Ajoudani
RA-L 2024

Walking aid robots have been developed for elderly people or patients facing difficulties while walking. However, most of them are designed only for flat ground, must rely on handles, and have drawbacks such as oscillation and lack of stability. The primary goal of this research is to improve the tr

Cited by 1Source ↗Scholar ↗
2022

Robotic Actuation and Control of a Catheter for Structural Intervention Cardiology

Xiu Zhang, Maria Chiara Palumbo, Francesca Perico, Mattia Magro, Andrea Fortuna, Tommaso Magni +3
IROS 2022poster

Structural intervention cardiology (SIC) interventions are crucial procedures for correcting heart valves, walls, and muscle form defects. However, the possibility of embolization or perforation, as well as the lack of transparent vision and autonomous surgical equipment, make it difficult for the c…

Cited by 20Source ↗Scholar ↗