Stefano Dalla Gasperina — accepted AI-conference papers

2026

Characterizing Expectation Mismatch in a Brain-Controlled Upper-Body Rehabilitation Exoskeleton

Satyam Kumar, Kanishka Mitra, Deland Hu Liu, Hussein Alawieh, Frigyes Samuel Racz, Stefano Dalla Gasperina +2

RA-L 2026

Robot-assisted therapy has long promised to advance stroke rehabilitation by delivering intensive and personalized training, yet its clinical impact remains limited. Closing the sensorimotor loop with brain-computer interfaces offers a better strategy than passive mobilization, directly linking user

Cited by 1 Source ↗Scholar ↗

2026

Human-Exoskeleton Kinematic Calibration to Improve Hand Tracking for Dexterous Teleoperation

Haiyun Zhang, Stefano Dalla Gasperina, Saad N. Yousaf, Job D. Ramirez, Toshimitsu Tsuboi, Tetsuya Narita +1

RA-L 2026

Hand exoskeletons are critical tools for dexterous teleoperation and immersive manipulation interfaces, but achieving accurate hand tracking remains a challenge due to user-specific anatomical variability and donning inconsistencies. These issues lead to kinematic misalignments that degrade tracking

Cited by 1 Source ↗Scholar ↗

2020

A Novel Inverse Kinematics Method for Upper-Limb Exoskeleton under Joint Coordination Constraints

Stefano Dalla Gasperina, Keya Ghonasgi, Ana C. de Oliveira, Marta Gandolla, Alessandra Pedrocchi, Ashish Deshpande

IROS 2020poster

In this study, we address the inverse kinematics problem for an upper-limb exoskeleton by presenting a novel method that guarantees the satisfaction of joint-space constraints, and solves closed-chain mechanisms in a serial robot configuration. Starting from the conventional differential kinematics…

Cited by 18 Source ↗Scholar ↗