Biomedical Robotics and Biomicrosystems Lab

Obiettivi formativi

The course aims to provide to the student:

• theoretical and practical skills on modeling tools, methodologies and technologies that bioengineering

can offer to the field of rehabilitation;

• basic knowledge on natural and artificial motor control;

• the capability for critical analysis, technical and functional design and validation of mechatronic and

robotic devices useful for motor therapies aiming at functional recovery;

• knowledge of the main technologies employed in the field of rehabilitation and assistance;

• theoretical and practical skills on technological tools that bioengineering can provide for the full recovery

of the social and working life of a patient suffering from diseases potentially disabling.

Contenuti del Corso

• Summary of the clinical aspects related to rehabilitation - Evolution of social and health services;

Objectives of rehabilitation bioengineering and classification ICIDH -2.


• The current rehabilitation process - General scheme of the rehabilitation process; Functional assessment

of motor performance; Limits of the clinical scales for disability; Technologies for functional recovery;

Technologies for functional replacement; Assistive devices for disabled and elderly people; Professional



• Preliminary analysis of the main technologies employed in the rehabilitation process - Classification of the

assistive devices; Technologies for functional recovery; Technologies for functional replacement; Assistive

devices for the independent life.


• Human factors for the rehabilitation bioengineering - The HAAT model: Human- Activity- Assistive

Technology; Models of the human component in human-machine interaction; Sensory functions in relation

to the use of technologies; Cognitive functions in relation to the use of technologies; Motor functions in

relation to the use of assistive devices; Fitts' Law; Cognitive models of human-machine interaction.


• The evaluation of human performance - Biomechanics of movement; Kinematic and dynamic modeling of

the human arm; Qualitative and quantitative scales for functional assessment.


• Functional recovery – Neuro-physiological prerequisites for robot-aided motor therapy; State of the

art on rehabilitation devices; Criteria and design examples of robotic and mechatronic systems for neurorehabilitation;

The InMotion2 and InMotion3 systems (MIT- MANUS); Multimodal interfaces in robot-aided

neuro-rehabilitation; Neuro-prostheses.


• The motor control - Natural motor control and motor neuro-physiology in healthy subjects and in subjects

with neurological disabilities; Control scheme for rehabilitation machines.


• Introduction to assistive devices and technologies for personal assistance - Definitions of assistive device

and assistive service; Characterization of assistive devices; Principles of Universal Design; General

methodology of human-centered design of an assistive device; Case study: the MOVAID project.


• Interfaces for assistive devices - General characteristics; Criteria for selecting an interface; Main types of

interfaces; Examples of interfaces.


• Technologies for environmental control - Definition of environmental control; Home network and types of

communication; Example of a domotic system.


• Technologies for personal mobility - Key features of a wheelchair; Technological evolution of wheelchairs;

Examples of commercial products; State of the art on research.


• Technologies to assist handling - Classification and definition of the main types; Low-tech assistive devices

for grasping and other specific tasks of handling; Robotic assistive devices: traditional configurations,

examples, state of the art; The ED- MANUS system, the DEXTER system;


• Control of human-robot physical interaction; Classification of the interaction control schemes; Force

control, impedance control and compliance control in robotic rehabilitation systems; Bio-inspired

interaction control schemes.


• Health services for the provision of assistive devices in Italy - The concept of "laboratorio ausili " at the

ASL; The nomenclatore tariffario; Example of provision of a consulting; Laboratories of assistive devices in

Italy; Main databases of assistive technologies.


• Final project - Modeling human-robot interaction during robot-assisted therapy.


Testi di riferimento

L. Zollo, D. Formica, E. Guglielmelli. Bio-inspired Interaction Control of Robotic Machines for Motor

Therapy. In: Rehabilitation Robotics, Book edited by Sashi S Kommu, ISBN 978-3-902613-04-2, pp.648,

August 2007, Itech Education and Publishing, Vienna, Austria.


L. Zollo, D. Accoto, S. Sterzi, E. Guglielmelli. Rehabilitation and Therapeutic Robotics. In: Springer Handbook of Medical Technology. Springer Berlin Heidelberg, 2012.


E. Guglielmelli, L. Zollo, D. Accoto. Criteri di progettazione di sistemi robotici per la neuro riabilitazione. In:

Neuro-Robotica, Neuroscienze e robotica per lo sviluppo di macchine intelligenti, by P. Dario, S. Martinoia,

G. Rizzolatti, G. Sandini, Patron Ed., 2006, pp. 335–379.


P. Dario, E. Guglielmelli, M.C. Carrozza, S. Micera, L. Dipietro, F. Pisano. Sistemi robotici e meccatronici per

la neuro riabilitazione. In: Bioingegneria della Postura e del Movimento, A. Cappello, A. Cappozzo, P.E. di

Prampero (Ed.s), Patron Editore, 2003, pp.19-44.


A.M.COOK, S.M. HUSSEY, Assistive Technologies: Principles and Practice, Mosby, 1995.

Materiale fornito dal docente (diapositive, dispense e articoli).


Bibliografia aggiuntiva:


D.B. POPOVIC and T. SINKJAER, Control of movement for the physically disabled persons, London UK:

Springer and Verlag, 2000.


L. SCIAVICCO, B.SICILIANO, Modelling and Control of Robot Manipulators, 2nd Edition, Springer- Verlag,

London, UK 2000.


R. PIETRABISSA, Biomateriali per protesi e organi artificiali.


S. KEATES, J. CLARKSON, Countering Design Exclusion, Sprinter, 2004 (ISBN:1852337699).


R.V.SMITH, J.H. Jr LESLIE (Eds.), Rehabilitation Engineering, CRC Press, 1990.


E. R. KANDEL, J.H. SCHWARTX, T.M. JESSELL (Eds), Principles of Neural Science, McGraw-Hill/ Appleton &

Lange; 4th edition (January 5, 2000) (ISBN: 0838577016).


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