PhD Presentation, Nov , Pisa. CV of BioRobotics Arianna Menciassi Christian Cipriani

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1 PhD Presentation, Nov , Pisa CV of BioRobotics Arianna Menciassi Christian Cipriani

2 The BioRobotics Institute Pontedera, 20 km from Pisa, 15 minutes by train

2 Full Professors 3 + 1 Associate Professors 2 Assistant Professors (one tenured) 6 Administrative Assistants (5

3 2 Full Professors Associate Professors 2 Assistant Professors (one tenured) 6 Administrative Assistants (5 permanent) 7 Technical Assistants (6 permanent) 28 Research assistants 40 Post Docs research assistants 69 PhD Students People: 158

permanent) 7 Technical Assistants (6 permanent) 28 Research

4 EDUCATION RESEARCH TECHNOLOGY TRANSFER The BioRobotics Institute of the Scuola Superiore Sant Anna

5 MAIN AREAS and AREA LEADERS Humanoid Robotics (Paolo DARIO) Neuro-Robotics (Maria Chiara CARROZZA) Biomedical Signal Processing (Angelo Maria SABATINI) Surgical Robotics (Arianna MENCIASSI) Soft Robotics (Cecilia LASCHI) Neural Engineering (Silvestro MICERA) Creative Design (Cesare STEFANINI) Future and Emerging BioRobotics (Paolo DARIO)

Robotics (Arianna MENCIASSI) Soft Robotics (Cecilia LASCHI) Neural Engineering

6 Humanoid Robotics (Paolo Dario) SABIAN WABIAN The synergy between neuroscientific and robotics research fields The mutual exchange aims to validate biological theories and to discover new bio - inspired technologies. In particular, the research field focuses on the implementation of: Neuroscientific models for gaze control Sensory motor anticipation architectures Visual control algorithms for locomotive navigation Locomotion in Humanoid Robotics SABIAN (Sant Anna BIped humanoid) robotic Platform: Italian copy of WABIAN (WAseda BIped humanoid). Current Research: New Hardware & Software systems development necessary to the Sabian locomotion; New Methods to improve the stability of the platform.

In particular, the research field focuses on the implementation of: Neuroscientific models for gaze control Sensory motor anticipation architectures Visual control algorithms

7 Neuro-Robotics Area Responsible: prof. Maria Chiara Carrozza Is physical human-robot symbiosis doable? In 1960s, in Man-Computer symbiosis, J.C.R. Licklider formulated a vision of human-computer symbiosis in which computers and humans would become fluidly interdependent and share goals In 2010s, in many tasks, human and computer share goals and are interdependent Dexterous hand prosthesis Artificial sense of touch Wearable assistive machines Rehabilitation robotics and telerehabilitation Robotic hand able to perform dexterous actions and sense objects Suitable interfaces for controlling perception and actions Sense of body ownership for amputees Biomimetic fingertip and roughness discrimination Neuro-inspired processing Zero-power tactile sensing Wearable active orthoses for assistance and rehabilitation Non-invasive humanmachine interfaces Wearable sensors Upper-limb robot assisted rehabilitation Locomotion robotassisted rehabilitation Respiratory telerehabilitation and tele-monitoring

8 Area: Biomedical Signal Processing (M.A. Sabatini) The research activity concerns the development of wearable sensor systems for ambulatory human movement monitoring Activity 1 Design, fabrication and testing of wireless inertial and magnetic measurement units (WiiMU) Activity 2 State and parameter estimation techniques for processing data from WiiMU-based wearable sensor systems A2-1 Adaptive Extended Kalman Filtering algorithms for pose estimation of rigid bodies in highly perturbed magnetic environments A2-2 Hybrid generative/discriminative algorithms for classificationof physical activities, energy expenditure estimation, detection of incipient falls, and Hidden Markov Models for real-time gait segmentation from in-foot sensors WiiMU

sensor systems A2-1 Adaptive Extended Kalman Filtering algorithms for pose estimation of rigid bodies in highly perturbed magnetic environments A2-2 Hybrid generative/discriminative

9 Research Area of Surgical Robotics Why focusing on surgical robotics: - novel and advanced solutions for early diagnosis are available, BUT we have to cover the gap between diagnosis and therapy by developing systems for minimally invasive interventions - robotics can contribute dramatically by adding precision to interventions, standardizing procedures, reaching the microscale Districts: Endoscopy and therapy of the digestive tract, abdominal and thoracic surgery, vascular interventions Working at the level of - systems ARAKNES project SensorART project Vector project Micro-VAST project Arianna Menciassi - components With a blend between - theory and experiments

standardizing procedures, reaching the microscale Districts: Endoscopy and therapy of the digestive tract, abdominal and thoracic surgery, vascular interventions

10 Soft Robotics (Cecilia Laschi) Biologically inspired functional design Bioinspired algorythms Synthetic design Rigid links and joints Denavit Hartenberg Soft-bodied robots EULER Continuous approach NEWTON Discrete approach

design Rigid links and joints Denavit Hartenberg

Micera Self-opening intraneural electrodes Actuated intraneural electrodes

11 Neural Engineering (NeuENG) Area (Neural Interfaces and Neural Prostheses) Responsible: Dr. S. Micera Self-opening intraneural electrodes Actuated intraneural electrodes Vestibular neuroprosthesis (CLONS EU Project) Spinal neuroprosthesis (NeuWalk Project) Cybernetic hand prosthesis (TIME, MERIDIAN, NEMESIS Proj.)

12 Creative Design Area Inventing in engineering Cesare Stefanini

13 Future and Emerging Robotics - Paolo Dario Research Activities

14 EDUCATION RESEARCH TECHNOLOGY TRANSFER The BioRobotics Institute of the Scuola Superiore Sant Anna

15 The BioRobotics MODEL of EDUCATION: Inclusive Interdisciplinarity vs. specialisation Creativeness Bold/groundbreaking ideas Each new PhD student, regardless his/her background, attends the courses of: - Creative design - Innovation and technology management (in collaboration with the Institute of Management) Education at The BioRobotics Institute of the Scuola Superiore Sant Anna

background, attends the courses of: - Creative design - Innovation and technology management

16 Skills and tools for entrepreneurship and technology management Piccaluga Di Minin 3-6

17 Basic Program Abstract: Program: Final exam: The course objective is to provide students with the basic knowledge of microand nano-technologies for biomedical applications. In fact, micro- and nanosystems for biomedical applications represent a very effective alternative to traditional therapy and surgery techniques. The course will study the different technologies and solutions for medicine with a system approach, by investigating the micro- and nano-devices as mechatronic systems. Definitions: micro- and nano-robotics, nanotechnology, NEMS Basic micro- and nano-fabrication technologies Scaling laws from micro- to nano-phenomena Examples of nano sensors and nano actuators Nanotechnologies for bio/not-bio interface studies (e.g. for basic neuroscience and for investigating cell adhesion) Nanotechnologies for diagnosis and therapy: 1) cell ablation; 2) drug delivery; 3) imaging; 4) gene therapy. Previous examinations: One day or half day workshop with the analysis of a paper on topics related to the program 15 minutes of presentation (in English), 5 minutes of Q&A. Approximately 20 minutes x 12 students = 240 minutes = at least 4 hours. Current examination: written test (most likely) When: Second half of May beginning of June

The course will study the different technologies and solutions for medicine with a system approach, by investigating the micro- and nano-devices as mechatronic systems.

18 EDUCATION RESEARCH TECHNOLOGY TRANSFER The BioRobotics Institute of the Scuola Superiore Sant Anna

19 LION Shoes, San Miniato sensors Programming bus Optical mirror fibres Toyota Motor Corporation Continental, Fauglia

20 Thank you! Paolo Dario, Direttore Istituto di BioRobotica, Scuola Superiore Sant'Anna Polo Sant'Anna Valdera viale Rinaldo Piaggio 34, Pontedera (Pisa)

Leghe a memoria di forma come tecnologia di attuazione per la biorobotica

Leghe a memoria di forma come tecnologia di attuazione per la biorobotica Milano, 7 novembre, 2013 Maurizio Follador maurizio.follador@sssup.it Advanced Education, Frontier Interdisciplinary Research and