Alberto Borboni | University of Brescia (original) (raw)
Papers by Alberto Borboni
Giornale italiano di medicina del lavoro ed ergonomia
Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial lo... more Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the end of an analysis of the devices currently in literature and on the market, the present paper collects and synthesize the possible classification strategies of these prosthetic devices, paying particular attention also to the classification obtained by possible control strategies of the prosthesis. This summary aims to support and sustain physicians and patients along the identification of the most appropriate prosthesis, for the specific subject, the choice of the "optimal" device, must consider also patient needs and expectations, possible pathological constraints and technological complexity of the system. This paper present...
Agricultural Engineering International Cigr Journal, Sep 30, 2014
10th IEEE International Conference on Fuzzy Systems. (Cat. No.01CH37297), 2001
Abslracl The robotic inverse kinematic problem, described in the following paragraph, appears a v... more Abslracl The robotic inverse kinematic problem, described in the following paragraph, appears a very felt issue in the field of robotics 11-51. Its solution can he gained numerically in general and analytically in such situations 13-51. The analytical approach is fast and puts in ...
Journal of Chiropractic Medicine, 2013
Objective: The purpose of this case report is to describe a therapeutic intervention for peroneal... more Objective: The purpose of this case report is to describe a therapeutic intervention for peroneal nerve paralysis involving the sciatic nerve. Clinical features: A 24-year-old man presented with peroneal nerve paralysis with decreased sensation, severe pain in the popliteal fossa, and steppage gait, which occurred 3 days prior to the consultation. Magnetic resonance imaging and electromyography confirmed lumbar disk herniation with sciatic common peroneal nerve entrapment in the popliteal fossa. Intervention and outcome: A combined treatment protocol of spinal and fibular head manipulation and neurodynamic mobilization including soft tissue work of the psoas and hamstring muscles was performed. Outcome measures were assessed at pretreatment, 1 week posttreatment, and 3-month follow-up and included numeric pain rating scale, range of motion, pressure pain threshold, and manual muscle testing. Treatment interventions were applied for 3 sessions over a period of 1 week. Results showed reduction of the patient's subjective pain and considerable improvement in range of motion, strength, and sensation in his left foot, which was restored to full function. Conclusion: A combined program of spinal and fibular head manipulation and neurodynamic mobilization reduced pain, increased range of motion and strength, and restored full function to the left leg in this patient who had severe functional impairment related to a compressed left common peroneal nerve.
Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical ... more Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72 ± 6 years), with hemiparesis (< 6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment.
Giornale italiano di medicina del lavoro ed ergonomia
Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial lo... more Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the end of an analysis of the devices currently in literature and on the market, the present paper collects and synthesize the possible classification strategies of these prosthetic devices, paying particular attention also to the classification obtained by possible control strategies of the prosthesis. This summary aims to support and sustain physicians and patients along the identification of the most appropriate prosthesis, for the specific subject, the choice of the "optimal" device, must consider also patient needs and expectations, possible pathological constraints and technological complexity of the system. This paper present...
2008 Ieee Rsj International Conference on Intelligent Robots and Systems, 2008
AbstractA parallel and flexible meso-manipulator for finger rehabilitation treatments is present... more AbstractA parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robot's kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in ...
International Journal of Rehabilitation Research, 2015
Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical ... more Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72±6 years), with hemiparesis (&amp;amp;amp;amp;amp;amp;amp;lt;6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment.This is an open-access article distributed under the terms of the Creative Commons Attribution-Non Commercial-No Derivatives License 4.0 (CCBY-NC-ND), where it is permissible to download and share the work provided it is properly cited. The work cannot be changed in any way or used commercially. http://creativecommons.org/licenses/by-nc-nd/4.0/.
Journal of NeuroEngineering and Rehabilitation, 2015
Scoliosis is a complex three dimensional (3D) deformity: the current lack of a 3D classification ... more Scoliosis is a complex three dimensional (3D) deformity: the current lack of a 3D classification could hide something fundamental for scoliosis prognosis and treatment. A clear picture of the actually existing 3D classifications lacks. The aim of this systematic review was to identify all the 3D classification systems proposed until now in the literature with the aim to identify similarities and differences mainly in a clinical perspective.After a MEDLINE Data Base review, done in November 2013 using the search terms &amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;Scoliosis/classification&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot; [Mesh] and &amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;scoliosis/classification and Imaging, three dimensional&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot; [Mesh], 8 papers were included with a total of 1164 scoliosis patients, 23 hyperkyphosis and 25 controls, aged between 8 and 20 years, with curves from 10° to 81° Cobb, and various curve patterns. Six studies looked at the whole 3D spine and found classificatory parameters according to planes, angles and rotations, including: Plane of Maximal Curvature (PMC), Best Fit Plane, Cobb angles in bodily plane and PMC, Axial rotation of the apical vertebra and of the PMC, and geometric 3D torsion. Two studies used the regional (spinal) Top View of the spine and found classificatory parameters according to its geometrical properties (area, direction and barycenter) including: Ratio of the frontal and the sagittal size, Phase, Directions (total, thoracic and lumbar), and Shift. It was possible to find similarities among 10 out of the 16 the sub-groups identified by different authors with different methods in different populations.In summation, the state of the art of 3D classification systems include 8 studies which showed some comparability, even though of low level. The most useful one in clinical everyday practice, is far from being defined. More than 20 years passed since the definition of the third dimension of the scoliosis deformity, now the time has come for clinicians and bioengineers to start some real clinical application, and develop means to make this approach an everyday tool.
Applied Mechanics and Materials, 2015
Applied Mechanics and Materials, 2015
The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elabora... more The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.
International Journal of Advanced Robotic Systems, 2015
This study proposes a novel adaptive fixturing device based on active clamping systems for smart ... more This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results.
Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics, 2014
Volume 1: Applied Mechanics; Automotive Systems; Biomedical Biotechnology Engineering; Computational Mechanics; Design; Digital Manufacturing; Education; Marine and Aerospace Applications, 2014
Journal of Vibration and Acoustics, 2015
This paper aims at describing the dynamic behaviour of polymeric shape-memory stents. In particul... more This paper aims at describing the dynamic behaviour of polymeric shape-memory stents. In particular, considering the recovering phase, measurements have been performed to find a relation between different configurations and forces, which the specimens exerts. Shape memory materials, in fact, can exert a force when recovering their permanent form. An analytic model that describes the shape of an expanding specimen, based on a vision system, has been developed and experimentally calibrated. A measurement device has been specially designed to measure forces, which the expanding specimen exerts . This device is based on six trolleys free to fall, frictionless, thanks to pneumostatic bearing, on an inclined rail. So entity of the force applied on a shape memory specimen, constant along the whole movement, is determined by the inclination of the guide.
The paper describes the research activity jointly carried out by the Universities of Brescia, Ber... more The paper describes the research activity jointly carried out by the Universities of Brescia, Bergamo, Ancona and the Institute of Industrial Technologies and Automation of the Italian National Research Council, focusing on the main issues concerning the manipulation and assembly of extremely small components. Beside analyzing theoretical and practical aspects, the project, funded by the Italian Ministry for Education, Universities and Research, aims at the realization of an automated test bed for the assembly of micro pieces whose typical dimension belongs to the submillimeter scale range. The perspective is to contribute to the realization of general automatic production systems at the moment absent for objects of these dimensions.
Volume 2: Dynamics, Vibration and Control; Energy; Fluids Engineering; Micro and Nano Manufacturing, 2014
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014
Giornale italiano di medicina del lavoro ed ergonomia
Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial lo... more Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the end of an analysis of the devices currently in literature and on the market, the present paper collects and synthesize the possible classification strategies of these prosthetic devices, paying particular attention also to the classification obtained by possible control strategies of the prosthesis. This summary aims to support and sustain physicians and patients along the identification of the most appropriate prosthesis, for the specific subject, the choice of the "optimal" device, must consider also patient needs and expectations, possible pathological constraints and technological complexity of the system. This paper present...
Agricultural Engineering International Cigr Journal, Sep 30, 2014
10th IEEE International Conference on Fuzzy Systems. (Cat. No.01CH37297), 2001
Abslracl The robotic inverse kinematic problem, described in the following paragraph, appears a v... more Abslracl The robotic inverse kinematic problem, described in the following paragraph, appears a very felt issue in the field of robotics 11-51. Its solution can he gained numerically in general and analytically in such situations 13-51. The analytical approach is fast and puts in ...
Journal of Chiropractic Medicine, 2013
Objective: The purpose of this case report is to describe a therapeutic intervention for peroneal... more Objective: The purpose of this case report is to describe a therapeutic intervention for peroneal nerve paralysis involving the sciatic nerve. Clinical features: A 24-year-old man presented with peroneal nerve paralysis with decreased sensation, severe pain in the popliteal fossa, and steppage gait, which occurred 3 days prior to the consultation. Magnetic resonance imaging and electromyography confirmed lumbar disk herniation with sciatic common peroneal nerve entrapment in the popliteal fossa. Intervention and outcome: A combined treatment protocol of spinal and fibular head manipulation and neurodynamic mobilization including soft tissue work of the psoas and hamstring muscles was performed. Outcome measures were assessed at pretreatment, 1 week posttreatment, and 3-month follow-up and included numeric pain rating scale, range of motion, pressure pain threshold, and manual muscle testing. Treatment interventions were applied for 3 sessions over a period of 1 week. Results showed reduction of the patient's subjective pain and considerable improvement in range of motion, strength, and sensation in his left foot, which was restored to full function. Conclusion: A combined program of spinal and fibular head manipulation and neurodynamic mobilization reduced pain, increased range of motion and strength, and restored full function to the left leg in this patient who had severe functional impairment related to a compressed left common peroneal nerve.
Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical ... more Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72 ± 6 years), with hemiparesis (< 6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment.
Giornale italiano di medicina del lavoro ed ergonomia
Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial lo... more Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the end of an analysis of the devices currently in literature and on the market, the present paper collects and synthesize the possible classification strategies of these prosthetic devices, paying particular attention also to the classification obtained by possible control strategies of the prosthesis. This summary aims to support and sustain physicians and patients along the identification of the most appropriate prosthesis, for the specific subject, the choice of the "optimal" device, must consider also patient needs and expectations, possible pathological constraints and technological complexity of the system. This paper present...
2008 Ieee Rsj International Conference on Intelligent Robots and Systems, 2008
AbstractA parallel and flexible meso-manipulator for finger rehabilitation treatments is present... more AbstractA parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robot's kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in ...
International Journal of Rehabilitation Research, 2015
Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical ... more Robot gait training has the potential to increase the effectiveness of walking therapy. Clinical outcomes after robotic training are often not superior to conventional therapy. We evaluated the effectiveness of a robot training compared with a usual gait training physiotherapy during a standardized rehabilitation protocol in inpatient participants with poststroke hemiparesis. This was a randomized double-blind clinical trial in a postacute physical and rehabilitation medicine hospital. Twenty-eight patients, 39.3% women (72±6 years), with hemiparesis (&amp;amp;amp;amp;amp;amp;amp;lt;6 months after stroke) receiving a conventional treatment according to the Bobath approach were assigned randomly to an experimental or a control intervention of robot gait training to improve walking (five sessions a week for 5 weeks). Outcome measures included the 6-min walk test, the 10 m walk test, Functional Independence Measure, SF-36 physical functioning and the Tinetti scale. Outcomes were collected at baseline, immediately following the intervention period and 3 months following the end of the intervention. The experimental group showed a significant increase in functional independence and gait speed (10 m walk test) at the end of the treatment and follow-up, higher than the minimal detectable change. The control group showed a significant increase in the gait endurance (6-min walk test) at the follow-up, higher than the minimal detectable change. Both treatments were effective in the improvement of gait performances, although the statistical analysis of functional independence showed a significant improvement in the experimental group, indicating possible advantages during generic activities of daily living compared with overground treatment.This is an open-access article distributed under the terms of the Creative Commons Attribution-Non Commercial-No Derivatives License 4.0 (CCBY-NC-ND), where it is permissible to download and share the work provided it is properly cited. The work cannot be changed in any way or used commercially. http://creativecommons.org/licenses/by-nc-nd/4.0/.
Journal of NeuroEngineering and Rehabilitation, 2015
Scoliosis is a complex three dimensional (3D) deformity: the current lack of a 3D classification ... more Scoliosis is a complex three dimensional (3D) deformity: the current lack of a 3D classification could hide something fundamental for scoliosis prognosis and treatment. A clear picture of the actually existing 3D classifications lacks. The aim of this systematic review was to identify all the 3D classification systems proposed until now in the literature with the aim to identify similarities and differences mainly in a clinical perspective.After a MEDLINE Data Base review, done in November 2013 using the search terms &amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;Scoliosis/classification&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot; [Mesh] and &amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot;scoliosis/classification and Imaging, three dimensional&amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;amp;quot; [Mesh], 8 papers were included with a total of 1164 scoliosis patients, 23 hyperkyphosis and 25 controls, aged between 8 and 20 years, with curves from 10° to 81° Cobb, and various curve patterns. Six studies looked at the whole 3D spine and found classificatory parameters according to planes, angles and rotations, including: Plane of Maximal Curvature (PMC), Best Fit Plane, Cobb angles in bodily plane and PMC, Axial rotation of the apical vertebra and of the PMC, and geometric 3D torsion. Two studies used the regional (spinal) Top View of the spine and found classificatory parameters according to its geometrical properties (area, direction and barycenter) including: Ratio of the frontal and the sagittal size, Phase, Directions (total, thoracic and lumbar), and Shift. It was possible to find similarities among 10 out of the 16 the sub-groups identified by different authors with different methods in different populations.In summation, the state of the art of 3D classification systems include 8 studies which showed some comparability, even though of low level. The most useful one in clinical everyday practice, is far from being defined. More than 20 years passed since the definition of the third dimension of the scoliosis deformity, now the time has come for clinicians and bioengineers to start some real clinical application, and develop means to make this approach an everyday tool.
Applied Mechanics and Materials, 2015
Applied Mechanics and Materials, 2015
The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elabora... more The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper, based on the former idea, a prototype model of a 3-DOF walking robot is presented for walking only on flat surfaces. This walking robot is actuated by servo motors. The paper covers the kinematics, centre of gravity analysis, description of the robot and its control system made using Pololu controller. Experiments confirmed the feasibility of the proposed design.
International Journal of Advanced Robotic Systems, 2015
This study proposes a novel adaptive fixturing device based on active clamping systems for smart ... more This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results.
Volume 3: Engineering Systems; Heat Transfer and Thermal Engineering; Materials and Tribology; Mechatronics; Robotics, 2014
Volume 1: Applied Mechanics; Automotive Systems; Biomedical Biotechnology Engineering; Computational Mechanics; Design; Digital Manufacturing; Education; Marine and Aerospace Applications, 2014
Journal of Vibration and Acoustics, 2015
This paper aims at describing the dynamic behaviour of polymeric shape-memory stents. In particul... more This paper aims at describing the dynamic behaviour of polymeric shape-memory stents. In particular, considering the recovering phase, measurements have been performed to find a relation between different configurations and forces, which the specimens exerts. Shape memory materials, in fact, can exert a force when recovering their permanent form. An analytic model that describes the shape of an expanding specimen, based on a vision system, has been developed and experimentally calibrated. A measurement device has been specially designed to measure forces, which the expanding specimen exerts . This device is based on six trolleys free to fall, frictionless, thanks to pneumostatic bearing, on an inclined rail. So entity of the force applied on a shape memory specimen, constant along the whole movement, is determined by the inclination of the guide.
The paper describes the research activity jointly carried out by the Universities of Brescia, Ber... more The paper describes the research activity jointly carried out by the Universities of Brescia, Bergamo, Ancona and the Institute of Industrial Technologies and Automation of the Italian National Research Council, focusing on the main issues concerning the manipulation and assembly of extremely small components. Beside analyzing theoretical and practical aspects, the project, funded by the Italian Ministry for Education, Universities and Research, aims at the realization of an automated test bed for the assembly of micro pieces whose typical dimension belongs to the submillimeter scale range. The perspective is to contribute to the realization of general automatic production systems at the moment absent for objects of these dimensions.
Volume 2: Dynamics, Vibration and Control; Energy; Fluids Engineering; Micro and Nano Manufacturing, 2014
2014 IEEE/ASME 10th International Conference on Mechatronic and Embedded Systems and Applications (MESA), 2014