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Development of a cybernetic hand prosthesis
Mercury Technologies - Contact

 
Project Presentation  
  more... P. Dario, S. Micera, A. Menciassi, M.C. Carrozza, M. Zecca, T. Steiglitz; T. Oses; X. Navarro, D. Ceballos, "CYBERHAND - a consortium project for enhanced control of powered artificial hands based on direct neural interfaces", 33rd Neural Prosthesis Workshop, Bethesda, MD, USA, Oct. 16-18, 2002.  
Regeneration-type Electrodes  
  Publications on conference proceedings
  more... Koch K P, Brueck O, Ramachandran A, Stieglitz T, "Control Unit for an Implantable Multiplexer Electrode in the Field of Neural Prosthesis", DGMBT annual conference 2004, (submitted)  
  more... Ramachandran A, Koch K P, Brück O, Stieglitz T, "Aspect of encapsulation-implantable microsystems", 17th Aachen Colloquium on Biomaterials,(poster presentation)  
  Other publications
  more... Brück O, "Assembly and encapsulation of micro implants for stimulation and recording in the field of neural prosthetics", work done in Fraunhofer IBMT for the Master thesis submitted to University Of Applied Sciences, Karlsruhe  
Evaluation of in vivo long-term nerve regeneration through regenerative type electrodes  
 
  Publications on refereed journals
  more... Butí M, Verdú E, Labrador RO, Vilches JJ, Forés J, Navarro X. Influence of physical parameters of nerve chambers on peripheral nerve regeneration and reinnervation. Exp Neurol 1996, 137:26-33  
  more...

Navarro X, Calvet S, Butí M, Gómez N, Cabruja E, Garrido P, Villa R, Valderrama E. Peripheral nerve regeneration through microelectrode arrays based on silicon technology. Restor Neurol Neurosci 1996, 9:151-160.

 
  more... Navarro X, Rodríguez FJ, Labrador RO, Butí M, Ceballos D, Gómez N, Cuadras J, Perego G. Peripheral nerve regeneration through bioresorbable and durable nerve guides. J Periph Nerv System 1996, 1:57-64  
  more... Navarro X, Calvet S, Rodríguez FJ, Stieglitz T, Blau C, Butí M , Valderrama E, Meyer JU. Stimulation and recording from regenerated peripheral nerves through polyimide sieve electrodes. J Periph Nerv System 1998, 3:91-101  
  more... P. Dario, P. Garzella, M. Toro, S. Micera, M. Alavi, U. Meyer, E. Valderrama, L. Sebastiani, B. Ghelarducci, C. Mazzoni, P. Pastacaldi, "Neural interfaces for regenerated nerve stimulation and recording", IEEE Transaction on Rehabilitation Engineering, vol.6(4), pp.353-363, December 1998.  
  more... Rodríguez FJ, Verdú E, Ceballos D, Navarro X. Neural guides seeded with autologous Schwann cells improve nerve regeneration. Exp Neurol 2000, 161:571-584  
  more... Rodríguez FJ, Ceballos D, Schüttler M, Valderrama E, Stieglitz T, Navarro X. Polyimide cuff electrodes for peripheral nerve stimulation. J Neurosci Meth 2000, 98:105-118  
  more... Navarro X, Valderrama E, Stieglitz T, Schüttler M. Selective fascicular stimulation of the rat sciatic nerve with mutipolar polyimide cuff electrodes. Restor Neurol Neurosci 2001, 18:9-21  
  more... Valero-Cabré A, Navarro X. H reflex restitution and facilitation after different types of peripheral nerve injury and repair. Brain Res 2001, 919:302-312  
  more... Ceballos D, Valero-Cabré A, Valderrama E, Schüttler M, Stieglitz T, Navarro X. Morphological and functional evaluation of peripheral nerve fibers regenerated through polyimide sieve electrodes over long term implantation. J Biomed Mat Res 2002, 60:517-528  
  more... Valero-Cabré A, Navarro X. Functional impact of axonal misdirection after peripheral nerve injuries followed by graft or tube repair. J Neurotrauma 2002, 19:1475-1485  
  more... Avendaño C, Castro J, Negredo P, Lago N, Navarro X. Regrowth of sensory and motor axons through a regenerative electrode: stereological and retrograde tracer study in the rat. Program No. 152.12. 2003 Abstract Planner. Washington, DC: Society for Neuroscience, 2003. Online  
  Publications of conference proceedings
  more... Stieglitz T, Schüttler M, Schneider A, Valderrama E, Navarro X. Measurement of force development in the rat's foot during electrical stimulation of the sciatic nerve with polyimide-based cuff electrodes. Proc. 5 th Annu Conf IFESS, 2000, pp 372-375  
 
Implantable system for neural stimulation and recording  
  Publications of conference proceedings
  more... J. Sacristán, D. Marín, A. Uranga, M. T. Osés, "Implantable multichannel neuromuscular stimulator", IFESS 2002 (poster session), Ljubljana, Slovenia, June 2002  
  more... J. Sacristán, M. T. Osés, "Amplifier Structure for Neural Signal Recording" , IFESS 2002, Ljubljana, Slovenia, June 2002  
  more... J. Sacristán, M. T. Osés, "Sistema Implantable para Estimulación Eléctrica de Nervio Periférico", IBERCHIP 2002, Guadalajara, Mexico, April 2002  
Telemetric link for efferent and afferent signals  
  Publications of conference proceedings
  more... J. Sacristán, D. Marín, M. T. Osés, "Telemetric Implantable System for Neural Stimulation", IFESS 2002, Ljubljana, Slovenia, June 2002  
"Biologically-inspired" mechatronic hand  
  Publications on refereed journals
  more... L. Beccai, S. Roccella, A.Arena F. Valvo, P. Valdastri, A. Menciassi, M. C. Carrozza, P. Dario, “Design and fabrication of a hybrid silicon three-axial force sensor for biomechanical applications”, Sensors and Actuators A (in preparation)  
  more... P. Dario, M. C. Carrozza, E. Guglielmelli, C. Laschi, A. Menciassi, S. Micera, F. Vecchi, “Robotics as a “Future and Emerging Technology”: Biomimetics, Cybernetics and Neuro-robotics in European Projects”, IEEE Magazine on Robotics and Automation (submitted)  
  more... J. Carpaneto, S. Micera, F. Zaccone, F. Vecchi, P. Dario, "A Sensorized Thumb for Force Closed-loop Control of Hand Neuroprostheses", IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 11, pp. 346 - 353  
  more... M. C. Carrozza, C. Suppo, F. Sebastiani, B. Massa, F. Vecchi, R. Lazzarini, M. Cutkosky, and P. Dario, "The SPRING hand: development of a Self-adaptive Prosthesis for Restoring Natural Grasping", Journal of Autonomous Robots, Vol. 16, Issue 2, pp. 125-141, 2004  
  more... M.C. Carrozza, B. Massa, S. Micera, R. Lazzarini, M. Zecca, P. Dario, "The Development of a Novel Prosthetic Hand --- Ongoing Research and Preliminary Results", IEEE/ASME Transactions on Mechatronics, vol. 7, n. 2, June 2002, Pages 108-114.  
  more... M.C. Carrozza, B. Massa, P. Dario, R. Lazzarini, M. Zecca, S. Micera, and P. Pastacaldi, "A two DOF finger for a Biomechatronic Artificial Hand", Technology & Health Care, v. 10, n. 2, Pages 77 - 89, 2002.  
  Publications of conference proceedings
  more... P. Valdastri, S. Roccella, L. Beccai, F. Valvo, A. Menciassi, M.C. Carrozza, P. Dario, “Characterization of a Hybrid Silicon Three-Axial Force Sensor”, EUROSENSORS 2004, September 13-15, 2004, Rome, Italy (accepted)  
  more... F. Valvo, P. Valdastri, S. Roccella, L. Beccai, A. Menciassi, M.C. Carrozza, P. Dario, “Development and characterization of a silicon- based three-axial force sensor”, The 9th Nat. Conf. On Sensors and Microsystems, AISEM 2004  
  more... Carrozza MC, Cappiello G, Cavallaro E, Micera S, Vecchi F, Dario P., “Design and control of an underactuated cybernetic artificial hand”, 10th International Symposium on Robotics and Applications, ISORA04 (accepted)  
  more... M.C. Carrozza, G. Cappiello, L. Beccai, F. Zaccone, P. Dario, ” Design Methods For Innovative Hand Prostheses”, 6th IEEE EMBS Annual International Conference 2004 (accepted)  
  more... Scherillo P., Siciliano B., Zollo L., Carrozza M.C., Guglielmelli E., Dario P., “Parallel force/position control of a novel biomechatronic hand prosthesis”, in Proceedings of 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, Vol. 2, 20-24 July 2003, pp. 920 – 925.  
  more... P. Dario, C. Laschi, A. Menciassi, E. Guglielmelli, M. C. Carrozza, M. Zecca, L. Zollo, G. Teti, L. Beccai, F. Vecchi, S. Roccella, "A Human-like Robotic Manipulation System Implementing Human Models of Sensory-Motor Coordination", Humanoids 2003, (submitted).  
  more... M.C. Carrozza, F. Vecchi, S. Roccella, M. Zecca, F. Sebastiani, P. Dario, "The CyberHand: on the design of a cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system", IROS 2003 Vol. 3 , Oct. 27-31, 2003 , pp. 2642 – 2647. .  
  more... F. Sebastiani , S. Roccella, F. Vecchi, M.C. Carrozza and P. Dario, "Experimental analysis and performance comparison of three different prosthetic hands designed according to a biomechatronic approach", 2003 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2003, to be held in Kobe, Japan in July 20-24, Vol. 1, 20-24 July 2003, pp. 64-69. .  
  more... M.C. Carrozza, F. Vecchi, F. Sebastiani, G. Cappiello, S. Roccella, M. Zecca, R. Lazzarini, and P. Dario, "Experimental analysis of an innovative prosthetic hand with proprioceptive sensors", 2003 IEEE International Conference on Robotics and Automation ICRA 2003, Taipei, Taiwan, May 12-17 2003, Vol. 2, pp. 2230 - 2235.  
  more... M. Zecca, G. Cappiello, F. Sebastiani, S. Roccella, F. Vecchi, M. C. Carrozza, P. Dario, "Experimental analysis of the proprioceptive and exteroceptive sensors of an underactuated prosthetic hand", 8th International Conference on Rehabilitation Robotics ICORR 2003, KAIST Auditorium, KAIST, Daejeon, Republic of Korea, April 23-25, 2003.  
  more... P. Dario, C. Laschi, A. Menciassi, E. Guglielmelli, M. C. Carrozza, L. Zollo, G. Teti, L. Beccai, F. Vecchi, S. Roccella, "A Human-like Robotic Manipulation System Implementing Human Models of Sensory-Motor Coordination", The Third IARP International Workshop on Humanoid and Human Friendly Robotics, Tsukuba, Japan, December 2002, pp.97-103.  
  more... P. Dario, M.C. Carrozza, A. Menciassi, S. Micera, and M. Zecca, "On the development of a cybernetic hand prosthesis", Third IARP International Workshop on Humanoid and Human Friendly Robotics, IARP2002, Tsukuba, Japan, Dec 11-12, 2002.  
  more... B. Massa, S. Roccella, M.C. Carrozza, P.Dario," Design and development of an underactuated prosthetic hand", ICRA '02, IEEE International Conference on Robotics and Automation, Volume: 4 , 11-15 May 2002, pp. 3374 -3379.  
  more... M. C. Carrozza, B. Massa, S. Micera, M. Zecca, P. Dario, "A wearable artificial hand for prosthetics and humanoid robotics applications", IEEE-RAS International Conference on Humanoid Robots HUMANOIDS 2001, Waseda University International Conference Center, Tokyo, Japan, November 22-24, 2001.  
  more... M.C. Carrozza, F. Vecchi, S. Roccella, M. Zecca, F. Sebastiani, P. Dario, "The CyberHand: on the design of a cybernetic prosthetic hand intended to be interfaced to the peripheral nervous system", IROS 2003.  
Intentions decoding and prosthesis control unit  
  Publications on refereed journals
  more... An M.-H., Micera S., Yoshida K., Carrozza MC, Dario P, Sinkjaer T., “Extraction of information from LIFE electrodes for neuroprosthesis and neuro-robotics applications”, IEEE Trans Biomed Eng (in preparation)  
  more... Micera S., Carrozza M.C., Dario P., “Controlling robotic artefacts using EMG signals: state of the art, limits, and potentialities”, IEEE Trans Rob. (in preparation)  
  more... E. Cavallaro, S. Micera, P. Dario, W. Jensen, T. Sinkjær, "On the Intersubject Generalization Ability in Extracting Kinematic Information From Afferent Nervous Signals", IEEE Transactions on Biomedical Engineering, Vol. 50, No. 9, September 2003  
  more... S. Micera, W. Jensen, F. Sepulveda, R. Riso, T. Sinkjær, "Neuro-Fuzzy Extraction of Angular Information from Muscle Afferents for Ankle Control during Standing in Paraplegic Subjects: An Animal Model", IEEE Transactions on Biomedical Engineering, Vol. 48, No. 7, July 2001  
  more... M. Zecca, S, Micera, M.C. Carrozza, P. Dario, "On the control of multifunctional prosthetic hands by processing the electromyographic signal", Critical Reviews in Biomedical Engineering, vol. 30, Issue(s) 04-06, pag. 419-416, 2002.  
  more... E. Cavallaro, S. Micera, P. Dario, W. Jensen, T. Sinkjaer, "On the inter-subject generalization ability in extracting kinematic information from afferent nervous signals", IEEE Transaction on Biomedical Engineering,(accepted)  
  more... S. Micera, W. Jensen, F. Sepulveda, R. R. Riso, T. Sinkjaer, "Neuro-Fuzzy Extraction of Angular Information from Muscle Afferents for Ankle Control during Standing in Paraplegic Subjects: An Animal Model", IEEE Transaction on Biomedical Engineering, vol.48(7), pp. 787-794, July 2001  
  more... S. Micera, A. M. Sabatini, P. Dario, "Adaptive fuzzy control of electrically stimulated muscles for arm movements", Medical & Biological Engineering & Computing, vol. 37(6), pp. 680-685, November 1999.  
  more... S. Micera, A. M. Sabatini, P. Dario. "On automatic identification of upper-limb movements using small-sized training sets of EMG signals", Medical Engineering & Physics, vol. 22(8), pp. 527-533, October 2000.  
  more... S. Micera, A. M. Sabatini, P. Dario, B. Rossi, "A hybrid approach to EMG pattern analysis for classification of arm movements using statistical and fuzzy techniques", Medical Engineering & Physics, vol. 21, pp. 303-311, 1999.  
  more... S. Micera, G. Vannozzi, A. M. Sabatini, P. Dario, "Improving detection of muscle activation intervals", IEEE Engineering in Medicine and Biology Magazine, vol. 20(6), pp. 38-46, November-December 2001.  
  Publications of conference proceedings
  more... P. Dario, C. Laschi, A. Menciassi, E. Guglielmelli, M.C. Carrozza, S. Micera, "Interfacing neural and artificial systems: from neuroengineering to neurorobotics Neural Engineering", First International IEEE EMBS Conference, 20-22 March 2003, pp. 418 -421.  
Cognitive feedback subsystem  
  Publications of conference proceedings
  more... R. Riso, "The ability of normal subjects to discriminate multiple channels of cognitive feedback presented to digital nerves", IFESS 2003  

IST-FET Project #2001-35094