Emilio Trigili

A Unilateral Active Knee Exoskeleton to Assist Individuals with Hemiparesis - a Pilot Study

Enhancing Motor Synchrony in Rhythmic Dyadic Tasks through Portable Elbow Exoskeletons

Synchrony is a cornerstone for the successful physical interaction between humans while cooperating or competing towards a goal and is achieved by correct and smooth information exchange between subjects. Recently, Human-Robot- Human (HRH) interaction arose as an emerging paradigm for improving moto…

Enhancing Motor Synchrony in Rhythmic Dyadic Tasks Through Portable Elbow Exoskeletons

Synchrony is a cornerstone for the successful physical interaction between humans while cooperating or competing towards a goal and is achieved by correct and smooth information exchange between subjects. Recently, Human-Robot-Human (HRH) interaction arose as an emerging paradigm for improving motor

Data-driven Force Observer for Human-Robot Interaction with Series Elastic Actuators using Gaussian Processes

Ensuring safety and adapting to the user’s behavior are of paramount importance in physical human-robot interaction. Thus, incorporating elastic actuators in the robot’s mechanical design has become popular, since it offers intrinsic compliance and additionally provide a coarse estimate for the inte…

A Novel Torque-Controlled Hand Exoskeleton to Decode Hand Movements Combining Semg and Fingers Kinematics: A Feasibility Study

This study presents a novel torque-controlled hand exoskeleton, named HandeXos-gamma, which uses a series-elastic actuator (SEA)-based architecture to allow a compliant actuation of the hand joints, and an intention decoding algorithm that combines surface electromyography (sEMG) signals with kinema

Kinematics-Based Adaptive Assistance of a Semi-Passive Upper-Limb Exoskeleton for Workers in Static and Dynamic Tasks

Typical industrial work activities may include a variety of different gestures, entailing the execution of dynamic and static movements. Occupational upper-limb exoskeletons can assist the shoulder complex in both static and dynamic gestures, but the required assistance level may be different accord

NESM-γ: An Upper-Limb Exoskeleton With Compliant Actuators for Clinical Deployment

This letter describes the design and characterization of an upper-limb exoskeleton for post-stroke rehabilitation. The platform interacts with the shoulder and elbow of the user through four active joints, driven by series elastic actuators (SEAs) with custom springs to achieve compactness and ease

Real-Time Locomotion Recognition Algorithm for an Active Pelvis Orthosis to Assist Lower-Limb Amputees

Powered hip exoskeletons, in combination with passive prostheses, have been recently proposed to improve the economy and pattern of walking of lower-limb amputees within clinical scenarios. However, for everyday life support, a real-time control strategy that can accurately recognize different locom