Schedule of the Workshop

Schedule of the workshop

Sensory-based Neurorehabilitation of the Hand

Leonardo Cappello

Abstract:

The loss of sensitivity of the upper limb due to neurological injuries (e.g., stroke) severely limits the ability to manipulate objects, hindering personal independence. Nowadays, strategies to promote motor recovery following stroke mainly focus on repetitive voluntary movements, usually forgetting that the planning and execution of a voluntary movement also requires a correct integration of the sensory information. Sensory therapy is rarely targeted and is seldom functional. Non-invasive functional augmented feedback (i.e., sensory stimuli combined with motor rehabilitation) could promote neural plasticity and motor re-learning, allowing for both short- and long-term benefits. Thus, we are developing wearable devices for restoring sensorimotor hand functions delivering vibrational stimuli synchronously with the relevant mechanical events of manipulation. They rely on piezoelectric sensors for the recognition of touch-events, exploiting miniaturized vibrotactile actuators to deliver the stimuli.

Touch science and engineering: from tactile restoration with neuromorphic information encoding to collaborative robotics

Calogero Maria Oddo

Abstract:

The talk will discuss selected case studies of technologies developed for endowing robots and wearables with artificial tactile sensors distributed over large areas and to deliver tactile feedback: from bionic limb prostheses up to collaborative robotics. In the presented approach, robotic systems are developed by capitalizing on a fertile interaction between robotics and neuroscience, so that the advancements of neuroscientific research can lead to the development of more effective technologies, which in turn contribute to the fundamental understanding of physiological processes.

A first case study proposed is with piezoresistive MEMS sensors, applied to bionic hand prostheses to restore rich tactile skills, such as texture discrimination in upper limb amputees. The developed biorobotic technologies and artificial intelligence methods, based on information encoding with neuromorphic spikes emulating physiological tactile representation, can be applied to a variety of sensory augmentation scenarios. Additional technologies were explored to cover large areas of robot or human bodies, including sensors based on cultured biological cells such as MDCK, piezoelectric ZnO nanowires grown with seedless hydrothermal method, and Fiber Bragg Gratings (FBGs).

Selected achievements are shown in the talk, discussing the application of tactile sensing technologies in a gripper able to manipulate fragile and deformable objects in collaboration with NASA-JPL, enabled by combining FEM and machine learning, or for sensorizing the full area of an anthropomorphic robotic arm featured on the cover of Nature Machine Intelligence. Particularly, endowing robotic arms with large sensorized skins allows the implementation of smart collaborative policies, such as safe interaction and programming by demonstration, that can be deployed in the factories of the future.

Sensory feedback in closed-loop devices  

Francesca Cordella

Abstract:

Thermal Feedback in amputees and What it means for Future Prosthetics  

Solamain Shokur

Abstract:

For a long time, prosthetic development for amputees focused on designing robotic devices to restore motor functions. In the last decade, several groups, including ours at EPFL, have aimed to enhance prosthetics with sensory feedback. A new generation of bionic limbs allows amputees to perceive objects' shapes, sizes, and textures. But, in the quest to restore the rich palette of sensory feedback for prosthetic users, one sensory modality has often been neglected: thermal sensation. Beyond the obvious detection of cool, warm, or dangerously hot objects, thermal feedback is also essential for material discrimination and wetness perception. But even more important is the presence of thermal sensation for the social aspect of touch.

In recent work, we reported the presence of stable phantom thermal sensations in amputees. In this talk, I will show how we have exploited this finding in a Thermal Prosthetic Hand that provides real-time and natural temperature feedback to transradial amputees and discuss future prostheses that mimic the natural hand.

Closing remarks and wrap-up

Organizers

End of the Workshop