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UNI EN ISO 9001-2008
Robotics and Neurorehabilitation
Lorenzo De Michieli
Istituto Italiano di Tecnologia
Best ITALIAN RISING STAR (NATURE INDEX 2016)
“Since 2012, the institute’s scientists increased their contribution to index papers more than any other Italian Institution”
“Catch them if you can”, Nature 535, S68–S76 (28 July 2016)
From 2006 onwards
7914 publications
23000 citations in
2016
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Technology Transfer
120 industrial contracts in 2016
Revenues from TT /Total Budget: 14% in2016
Revenues from TT in 2016 of about 18 M€
17 Spin-off, about 20 in the pipeline
More than 500 patents
Humanoids
IIT pursues a bio-inspired approach: itidentifies and mimics the strategies and thesolutions picked out by natural selection totransform them in the technologies supportingthe man of the future.
Bio inspired robots Plantoids
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the complete family
Plantoid
HyQ
R1
iCub3.0
iCub2.5
WalkMan
COMAN
HyQ2Max
Product development of new prosthetic , orthotic and rehabilitationdevices by means of a co-creation process
Rehab Technologies IIT - INAIL Lab The Rehab Technologies
- 30 engineers
- ISO 13485 certified
- 3 years project cycles, annual budget about 4M Euro
Adriana VotoAndrea CimolatoAndrea LinceAngelo MusumarraAntonio SucciChristian VassalloEmiliano ManzanFausto FaninFederico TessariFrank Van SonGiovanni MilandriGiulio CerrutiLorenzo Lombardi
Lorenzo De MichieliMaria Laura D'AngeloMarianna SempriniMatteo LaffranchiMichela ChiappaloneNicolò BoccardoPaolo ArianoPaolo RossiSabrina PelosoSamuele De GiuseppeSimone MoggiaSimone TraversoGiorgio Salvitti
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Rehab Technologies Lab’s current products
TwinHannes
hunova
• Measure of the biomechanical parameters
• Reproduces standard rehabilitation protocols and more
• Accurate and repeatable rehabilitation
• Active, passive and assistive training
• A tool for therapists
hunova
hunova
Myoelectric and Body Powered Hand
Presthetic Devices :
✓ Lightweight
✓ Controlled through body action or
EMGs
✓ Passive devices or with a single motor
✓ Low cost (0.5-5 k€)
Hand prostheses today
DevelopingHannes
Current Robotic Hand Prosthetic
Devices:
✓ Antropomorfic
✓ Controlled via EMG
✓ Multi-actuator
✓ Expansive (15-50 k$)
✓ Difficult to Control
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The starting point ofHannes
IIT-Pisa SoftHand • CE certified
• 3 thumb’s positions
• Wrist: active prono supination and passive flexion extension
Hannes: lateral grasp (a), power grasp (b), operative grasp (c), precision grasp (d)
d
ba
c
Pilot Trial of Hannes
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Specifica ValoreMovimenti riconosciuti 4Accuratezza >90%Algoritmo Logistic RegressionNumero di sensori EMG 6Dati input Root Mean Square EMGFrequenza classificazione 100 HzControllo proporzionale Si
Pattern Recognition
REWALK ELEGS INDEGO REX HAL
Developing Twin
Exoskeletons Today
The starting point of Twin
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Twin
Twin
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‘After local damage to the motor cortex, rehabilitative training can shape subsequent reorganization in the adjacent intact cortex’
Nudo et al. Science 1996
Reorganization of hand representations in the primary motor cortex beforeinfarct (left) and after a focal ischemic infarct and rehabilitative training (right)
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Exploit robotic devices to combine motor and neuro rehabilitation
The Challenge
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HOW TO MAXIMIZE DEVICES’ EFFICACY
� Target population� Observed variables
MONITOR BRAIN PLASTIC CHANGE DURING REHABILITATION
� Functional connectivity� Brain dynamics
ADD ELECTROPHYSIOLOGICAL RECORDINGS AND NEUROMODULATION
� EMG/EEG� tCS/tMS
Gait training of neurological patientswith the “Twin” exoskeleton
M. Chiappalone, IIT
• Characterize the effects of exoskeleton-based gait training on stroke patients
Clinical trials to investigate on muscular activity during the use of the exoskeleton by EMG
• Characterize the correlation between central (brain) and peripheral (muscular)nervous system activity:
Investigate on cortical functional reorganization that could correlate with motor training
Analysis of the correlation between EEG and EMG signals during motor training to identifynovel performance measures of the neurorehabilitation process
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The Experimental Protocol
10 post ictus subjects, high density (i.e. 128 channels) electroencephalography (EEG) system
Weak
StrongJackson et al. Nature 2006
When one cell repeatedly assists in firing another, the axon of the first cell develops synaptic knobs… in contact with the soma of the second cell’
Donald HebbThe Organization of Behavior, 1949
The Future: Driving plasticity to restore brain dam ages
Towards Neuroprosthesis
Artificial devices that, by communicating with the nervoussystem, are able to replace or improve specific features of thesame.In recent years the development of brain neuroprostheses thatare able to restore activity of specific brain areas, with use inthe event of injury or neurological damage.
RJ Nudo
Those studies could lead to:
• New neuro-rehabilitation devices and techniques
• Advanced control of the exoskeleton based on EEG/EMG
• A predictive control of the prostheses (intention detection)
