AIConfPaper
← Search

Lorenzo De Michieli

5 accepted papers

2024

An adaptable ankle trajectory generation method for lower-limb exoskeletons by means of safety constraints computation and minimum jerk planning

Raffaele Giannattasio, Stefano Maludrottu, Gaia Zinni, Elena De Momi, Matteo Laffranchi, Lorenzo De Michieli
ICRA 2024poster

This paper presents a method to compute smooth ankle trajectories for lower limb exoskeletons with powered ankle joints. The proposed approach defines ankle trajectories using four polynomial functions, each representing one of the four primary phases of gait. These polynomials are computed accordin…

Cited by 1Source ↗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 9Source ↗Scholar ↗
2021

Hannes Prosthesis Control Based on Regression Machine Learning Algorithms

Dario Di Domenico, Andrea Marinelli, Nicoló Boccardo, Marianna Semprini, Lorenzo Lombardi, Michele Canepa +6
IROS 2021

The quality of life for upper limb amputees can be greatly improved by the adoption of poly-articulated myoelectric prostheses. Typically, in these applications, a pattern recognition algorithm is used to control the system by converting the recorded electromyographic activity (EMG) into complex mul

Cited by 16Source ↗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 8Source ↗Scholar ↗
2020

Gait patterns generation based on basis functions interpolation for the TWIN lower-limb exoskeleton

Christian Vassallo, Samuele De Giuseppe, Chiara Piezzo, Stefano Maludrottu, Giulio Cerruti, Maria Laura D’Angelo +7
ICRA 2020poster

Since the uprising of new biomedical orthotic devices, exoskeletons have been put in the spotlight for their possible use in rehabilitation. Even if these products might share some commonalities among them in terms of overall structure, degrees of freedom and possible actions, they quite often diffe…

Cited by 26Source ↗Scholar ↗