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Leonardo Cappello

4 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 ↗
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 ↗
2017

Hierarchical Cascade Controller for Assistance Modulation in a Soft Wearable Arm Exoskeleton

Binh Khanh Dinh, Michele Xiloyannis, Chris Wilson Antuvan, Leonardo Cappello, Lorenzo Masia
RA-L 2017

In recent years soft wearable exoskeletons, commonly referred to as exosuits, have been widely exploited in human assistance. Hence, a shared approach for a systematic and exhaustive control architecture is extremely important. Most of the exosuits developed so far employ a bowden cable transmission

Cited by 70Source ↗Scholar ↗
2016

Position control using adaptive backlash compensation for bowden cable transmission in soft wearable exoskeleton

Binh Khanh Dinh, Leonardo Cappello, Michele Xiloyannis, Lorenzo Masia
IROS 2016poster

In recent years, bowden-cable transmissions have been developed and utilized widely in many robotic applications due to advantages in durability, lightweight, safety, and flexibility. Especially, over the last decade, a substantial number of soft wearable exoskeletons using bowden cables for motion…

Cited by 26Source ↗Scholar ↗