Federico Tessari — accepted AI-conference papers

2024

Design Improvements to the Float Upper-Limb Exoskeleton Better Mimics the Glenohumeral Complex Kinematics

Giulia Bodo, Federico Tessari, Gianluca Capitta, Luca De Guglielmo, Stefano Buccelli, Matteo Laffranchi

IROS 2024poster

The shoulder glenohumeral complex stands out as one of the most complex structures within the human body. Designing a system that can effectively interface with it poses a significant challenge for researchers. In this study, we propose a methodology based on evaluating various metrics to assess the…

Cited by 0 Source ↗Scholar ↗

2024

On the Modularity of Elementary Dynamic Actions

Moses C. Nah, Johannes Lachner, Federico Tessari, Neville Hogan

IROS 2024poster

In this paper, a kinematically modular approach to robot control is presented. The method involves structures called Elementary Dynamic Actions and a network model combining these elements. With this control framework, a rich repertoire of movements can be generated by combination of basic modules.…

Cited by 2 Source ↗Scholar ↗

2022

An Over-Actuated Bionic Knee Prosthesis: Modeling, Design and Preliminary Experimental Characterization

Lorenzo Guercini, Federico Tessari, Josephus Driessen, Stefano Buccelli, Anna Pace, Samuele De Giuseppe +3

ICRA 2022poster

A pressing challenge in the design of actuated knee prostheses is the ability to address the high variation of speed and torque requirements for the different types and phases of locomotion. This manuscript presents a novel over-actuated knee prosthesis which makes use of a dual motor actuation arch…

Cited by 9 Source ↗Scholar ↗

2020

Analysis, Development and Evaluation of Electro-Hydrostatic Technology for Lower Limb Prostheses Applications

Federico Tessari, Renato Galluzzi, Andrea Tonoli, Nicola Amati, Matteo Laffranchi, Lorenzo De Michieli

IROS 2020poster

This paper presents electro-hydrostatic actuation as a valid substitute of electro-mechanical devices for powered knee prostheses. The work covers the design of a test rig exploiting linear electro-hydrostatic actuation. Typical control laws for prosthesis actuators are discussed, implemented and va…

Cited by 8 Source ↗Scholar ↗