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People: 158
2 Full Professors
3 + 1 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
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)
Humanoid Robotics(Paolo Dario)
SABIAN WABIAN
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.
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
Neuro-Robotics AreaResponsible: 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
� Robotic hand able to perform dexterous actions and sense objects
� Suitable interfaces for controlling perception and actions
� Sense of body ownership for amputees
� Wearable active orthoses for assistance and rehabilitation
� Non-invasive human-machine interfaces
� Wearable sensors
� Upper-limb robot assisted rehabilitation
� Locomotion robot-assisted rehabilitation
� Respiratory tele-rehabilitation and tele-monitoring
� Biomimetic fingertip and roughness discrimination
� Neuro-inspired processing
� Zero-power tactile sensing
Dexterous hand prosthesis
Artificial sense of touch
Wearable assistive machines
Rehabilitation
robotics and tele-
rehabilitation
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 classification of physical
activities, energy expenditure estimation, detection of incipient falls, and
Hidden Markov Models for real-time gait segmentation from in-foot sensors
WiiMU
� 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, abdominaland thoracic surgery, vascular interventions
Research Area of Surgical RoboticsResearch Area of Surgical Robotics
- components
� Working at the level of- systems
ARAKNES project
Micro-VAST project
Vector project
SensorART project
… and experiments
� With a blend between - theory …
Arianna
Menciassi
Soft Robotics Soft Robotics (Cecilia Laschi)
DenavitHartenberg
Bioinspiredalgorythms
Synthetic design
Biologically inspired functional design
Rigid linksand joints
Discrete approach
Continuous approach
EULER NEWTON
Soft-bodied robots
Neural Engineering (NeuENG) Area
(Neural Interfaces and Neural Prostheses)
Cybernetic hand prosthesis (TIME, MERIDIAN, NEMESIS Proj.)
Vestibular neuroprosthesis (CLONS EU Project) Spinal neuroprosthesis
(NeuWalk Project)
Responsible:Dr. S. Micera
Actuated intraneural electrodes
Self-opening intraneural electrodes
Education at The BioRobotics Institute of the Scuol a Superiore Sant’Anna
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)
Skills and tools for entrepreneurship and
technology managementPiccaluga – Di Minin 3-6
http://www.mbr.iit.it
Abstract: The course objective is to provide students with the basic knowledge of micro-and nano-technologies for biomedical applications. In fact, micro- and nano-systems 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.
Program: •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.
Final exam:
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
Basic Program
Continental, Fauglia
LION Shoes, San Miniato
fibres
Optical mirror
sensorsProgramming
bus
fibres
Optical mirror
sensorsProgramming
bus
Toyota Motor Corporation