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Christian Cipriani

5 accepted papers

2026

Humans Can Use Multimodal Osseoperceptive Sensory Feedback to Enhance Their Sensorimotor Control of a Robotic Hand

Cristian Felipe Blanco-Díaz, Jacopo Quaglierini, Erik Gasparini, Marco Anselmi, Christian Cipriani, Strahinja Dosen +2
RA-L 2026

The somatosensory function is essential for hand motor control, but it is lost following hand amputation. This study explores the potential of osseoperception — auditory and vibrotactile sensations evoked through bone stimulation — to be used as a multimodal supplementary sensory feedback modality f

Cited by 0Source ↗Scholar ↗
2026

Online Discrete Event Detection for Sensory Feedback Embedded in a Robotic Hand Prosthesis

Tommaso Mori, Daniele D'Accolti, Enzo Mastinu, Christian Cipriani
RA-L 2026

Sensory feedback is deemed as a key aspect for understanding sensory perception, user acceptability and embodiment in upper limb prosthetics. However, despite the several attempts to demonstrate the benefits of sensory feedback in upper limb prosthetics, only few studies presented corroborating resu

Cited by 0Source ↗Scholar ↗
2023

A 2-Degree-of-Freedom Quasi-Passive Prosthetic Wrist With Two Levels of Compliance

Leonardo Cappello, Daniele D'Accolti, Marta Gherardini, Marco Controzzi, Christian Cipriani
RA-L 2023

Restoring the function of a missing hand is still a grand challenge for bioengineers. We witnessed significant recent advances in the development of myoelectric hand prostheses and their controllers. Conversely, the wrist joint is generally overlooked in prosthetics, despite playing a fundamental ro

Cited by 7Source ↗Scholar ↗
2023

Online Classification of Transient EMG Patterns for the Control of the Wrist and Hand in a Transradial Prosthesis

Daniele D'Accolti, Francesco Clemente, Andrea Mannini, Enzo Mastinu, Max Ortiz-Catalan, Christian Cipriani
RA-L 2023

Decoding human motor intentions by processing electrophysiological signals is a crucial, yet unsolved, challenge for the development of effective upper limb prostheses. Pattern recognition of continuous myoelectric (EMG) signals represents the state-of-art for multi-DoF prosthesis control. However,

Cited by 19Source ↗Scholar ↗
2022

Feasibility Study on Disentangling Muscle Movements in TMR Patients Through a Myokinetic Control Interface for the Control of Artificial Hands

Marta Gherardini, Agnes Sturma, Anna Bösendorfer, Valerio Ianniciello, Andrea Mannini, Oskar C. Aszmann +1
RA-L 2022

Targeted muscle reinnervation (TMR) is a surgical procedure which allows to restore myoelectric control sources in people with proximal upper-limb amputations. However, the large physical displacement generally provoked by the reinnervated muscles following contraction can represent a drawback for t

Cited by 3Source ↗Scholar ↗