Dr. Marco Controzzi
Scientific and Academic Curriculum
Contact
The BioRobotics Institute - Scuola Superiore Sant’Anna
Artificial Hands Area
Polo Sant’Anna Valdera
Viale Rinaldo Piaggio, 34
56025 - Pontedera (PI), Italy
Phone:
Fax:
Mobile:
Email:
Personal Page:
(+39) 050-883 460
(+39) 050-883 101
(+39) 3477423017
[email protected]
The BioRobotics Institute
Personal Data
Place and date of birth: born in Pisa, Italy, on March 22, 1982.
Sex: male.
Nationality: Italian Citizen.
Address: via San Michele degli Scalzi 70, 56125 Pisa, Italy.
Personal: married, with one child.
Impact Factor
Parameter
Google Scholar
Scopus
Web of Science
Documents:
Citations:
H-index:
36
660
14
29
388
11
26
254
10
October 2015
Actual Position
Since March 2014 Assistant Professor in Biomedical Robotics (ING-IND/34) within the BioRobotics
Institute of Scuola Superiore Sant’Anna, Pisa, Italy (non tenured position). Team leader and responsible for the mechanical design and development of new technologies within the Artificial Hands Area
directed by Prof. C. Cipriani, and head of the Human Robot Interaction Laboratory.
Studies and Research
2013-2015 – Visiting Researcher - Tecnalia, Health division, Donostia-San Sebástian (Gipuzkoa).
Description: in the framework of the research project COGLABORATION. The objective was
to investigate and experimentally evaluate an innovative robotic companion able to actively and
safely cooperate with humans. Short visits were done in May 2013, January and July 2014,
January and March 2015.
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07|2013-02|2014 – Postdoctoral Researcher - Scuola Superiore Sant’Anna di Studi
Universitari e di Perfezionamento, Italy.
Description: within the research group at the Artificial Hands Area supervised by Prof. C.
Cipriani, Dr. Controzzi was the researcher responsible for the mechanical development of the
prosthetic/robotic hands and mechanisms, coordinating a small group of 5 researchers. During
his post-doc he was the internal team leader in the EU funded COGLABORATION project (20122015).
2010-2013 – PhD, Innovative Technologies of ICT and Robotics Engineering - Scuola
Superiore Sant’Anna di Studi Universitari e di Perfezionamento, Italy.
Final Mark: 100/100 cum laude.
Thesis: Advances in the design and control of dexterous artificial hands for functional substitution.
Principal Advisor: Prof.ssa Maria Chiara Carrozza.
Description: the aim of the PhD thesis was to present part of the research activities carried out
during the PhD program, focused on the design of next generation hand prostheses, i.e. highly
dexterous mechatronic devices, directly controlled by the human subject using biological signals underlying intentions. The original contributions by the PhD candidate were in the design
and fabrication of innovative bio-inspired components and efficient mechanisms for anthropomorphic artificial hands, their integration in functional prototypes, and the evaluation of such
systems in multiple studies focused on physiological and intuitive control of prehension.
01|2009-06|2013 – Research Fellow - Scuola Superiore Sant’Anna di Studi Universitari e di Perfezionamento, Italy.
Description: within the research group at the Advanced Robotics Technology and Systems laboratory
(ARTS lab) supervised by Prof. Maria Chiara Carrozza, Dr. Controzzi was the researcher responsible for the mechanical development of the prosthetic and robotic hands. During his fellowship
he was the internal team leader in the EU funded COGLABORATION project (2012-2015).
07|2012 – Visiting Researcher - University of Colorado, Biomechatronic Development Lab - Anschutz Medical Campus, Denver, USA.
Description: at Prof. Richard Weir’s laboratory, to support experiments on the control of the
IH2 dexterous hand by implantable EMG sensors (fine-wire tecnique) in human subjects in the
framework of the European project WAY. Short visit 10 days.
03|2011-09|2011 – Visiting Researcher - Qiushi Academy for Advanced Studies,
Zhejiang University, Hangzhou, China.
Description: at Prof. X. Zheng’s laboratory. The objective was to investigate and experimentally evaluate innovative invasive and non-invasive interfaces for the control of a technologically
advanced prosthetic hand. During my period abroad we investigated and successfully tested the
real time control of a prosthetic hand using the neural activity, recorded using multiunit arrays
chronically implanted in the PMd and M1 cortex. We also investigated the possibility to control a prosthetic hand using non invasive brain signals (surface EEG using P300 and the motion
imaginary technique). Finally we investigated and successfully tested a non invasive interface
based on electrooculography (EOG) to control hand assisted devices.
12|2010 – Visiting Researcher - IDSIA (Dalla Molle Institute for Artificial Intelligence), Universitá della Svizzera Italiana, Lugano, Switzerland.
Description: at Prof. Jürgen Schmidhuber’s laboratory. The objective was implement in a
bio-inspired sensorized finger a curiosity-driven reinforcement learning approach able to autonomously learn a set of motor skills during the exploration in absence of an explicit teacher
signal. Short visit 12 days.
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06|2006-12|2008 – Research Assistant - Scuola Superiore Sant’Anna di Studi Universitari e di Perfezionamento, Italy.
Description: within the research group at the Advanced Robotics Technology and Systems laboratory
(ARTS lab) supervised by Prof. Maria Chiara Carrozza, Dr. Controzzi was the researcher in
charge of the mechanical design of prosthetic and artificial hands.
2006-2008 – M.Sc. in Mechanical Engineering - Major in Mechanical design, University of Pisa, Italy
Final Mark: 109/110
Thesis: Design and development of underactuated robotic hand for biped humanoid robot (30/30 cum
laude).
Principal Advisors: Prof. Marco Beghini, Prof.ssa Maria Chiara Carrozza.
Description: The aim of the M.Sc. thesis was to design and develop an anthropomorphic
robotic hand to be integrate into the SABIAN Humanoid Robot. The state of the art analysis
encompasses a review on robotic hands developed in the past decades with particular attention
on actuation schemes and transmission routings. The objective was to design an underactuated
robotic human-like hand, with grasping and gesture capabilities. The analysis of the proposed
underactuated finger scheme lead to optimization procedure aimed at finding the optimal values
of pulleys radii for the tendon driven transmission. The design of extension transmission system,
able to mimic the natural motion of the human fingers, was based on ARTS-Lab Know-how.
Finally, the mechanical design of the robotic finger was carried out in order to integrate an
embedded sensory system in the structure.
2001-2005 – B.Sc. in Mechanical Engineering, University of Pisa, Italy
Final Mark: 106/110
Thesis: Influence of the linear tip relief modification on contact pressure in spur gear (30/30) - in collaboration with Avio Propulsione Aereospaziale S.p.A.
Principal Advisors: Prof. Marco Beghini, Dr. Ing. Fabio Presicce.
Description: The aim of the B.Sc. thesis was to analyse the effects that the linear tip relief
modification has on contact pressure in spur gear, making reference to the method proposed
from Prof. M. Beghini et al. The first part of the thesis was focused on the development of
several simulations using the FEM software Helical3D on various nominal profiles of different
gears, in collaboration with Avio Propulsione Aereospaziale S.p.A. Subsequently the linear tip
relief modification was considered. This kind of modification is considered to be dangerous for
contact pressure which is the primary reason of micro-pitting activation. Indeed the nominal tip
relief topography does not provide further continuity than only C0 and then gives rise to a sharp
edge. In the activity an effective profile was defined by Matlab on the bases of direct measurements and a more realistic contact pressure at start relief profile modification was determined.
Numerical results were compared to experimental evidence performed at the C.R.T.M of The
University of Pisa.
Summer Schools and Specialization courses
2012 – Summer School on Neurorehabilitation Engineering 2012, 60 hrs of lectures and hands-on
laboratory, Zaragoza, Spain.
2012 – Screw-Theory Based Methods in Robotics 2012, 70 hrs of lectures, University of Genova,
Italy.
2012 – ANSYS Mechanical Structural Nonlinearities, 24 hrs, Enginsoft.
2011 – Robotics in the Ubicloud 2011, 60 hrs of lectures, Waseda University, Tokyo, Japan.
2010 – Robot Grasping and Manipulation IURS 2010, 60 hrs, Universitat Jaume I, Spain.
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Other
03|2009-present – Company founder and associate, Prensilia SRL Peccioli (PI),
Italy.
Sector: Robotics, Start-up
Description: Prensilia is a company spun out from Scuola Superiore Sant’Anna. In 2011 Prensilia
launches IH2 Azzurra hand, the first market available 5-axis, human-sized, anthropomorphic
hand with actuation, sensory and control systems embedded in the palm, able to replicate real
hand functions at humanlike speeds. IH2 Azzurra is the cheapest anthropomorphic robotic hand
available for sale (with an average price of 26K eper unit). 22 artificial hands sold worldwide in
5 years. website: www.prensilia.com
Responsibilities: - High-level decisions about policy and business strategy. - Responsible for the
assigned projects (timely delivery, quality, and contract compliance). - Negotiation and customer
requirements identification.
Since 2016 – LEAR DeTOP (Dexterous Transradial Osseointegrated Prosthesis with neural
control and sensory feedback). 48 months; total budget: ∼ 5200 Ke (400 Ke to Prensilia). SSSA
as coordinator.
2009 – State exam for the Italian engineering profession qualification, University
of Pisa, Italy.
Sector: Industrial Engineer – Section A
Final Mark: 221/240
Awards and Honours
2015 – Premio Capitani dell’Anno 2015
Description: Research section of the Premio Capitani dell’Anno 2015 awarded to the MyHAND
project.
2013 – Mention - euRobotics Technology Transfer Award, European Robotics Association, Lyon, France.
Description: with Prensilia Srl selected as finalist (within the best 5 technology transfer story
in Europe) of the 2013 eu-Robotics Technology Transfer Award.
2012 – Second prize - Best Conference Paper during the International Conference
on NeuroRehabilitation, ICNR2012, Toledo, Spain.
Description: winner of the Second prize as Best Conference Paper International Conference on
NeuroRehabilitation, ICNR2012, Toledo, Spain, with the paper Decoding Grasp Types from the
Monkey Motor Cortex and On-line Control of a Dexterous Artificial Hand.
2009 – First prize - Vespucci Award from Tuscany regional Government, Florence,
Italy.
Description: with Prensilia Srl winner of the 2009 Vespucci Award (Innovation section) from
Tuscany regional Government with the project named: e-grasp, trans-radial prosthesis.
2009 – First prize - 2009 Antonio d’Auria Award, Italian Robotics and Automation
Association (SIRI), Milan, Italy.
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Description: winner of the Antonio d’Auria Award (open to European citizens) for projects and
prototypes of innovative robotic devices to aid the motor disabled from the Italian Robotics and
Automation Association (SIRI) with the SmartHand transradial-prosthesis prototype developed.
2009 – Finalist - Italian Prize for Innovation (PNI), Perugia, Italy.
Description: Third place at Start-Cup Toscana Business Plan Competition 2009, Pisa and competitor at the Italian Prize for Innovation (PNI), Perugia.
Languages
Italian – native
English – Independent user
Other – French (during the middle school) and an introduction to the Chinese (2011)
International and National Funded Grants
Proposal writing coordination in International projects:
Italian Ministry of Foreign Affairs MGR (Scientific Cooperation Projects between Italy and China).
Close-looped control of Dexterous Artificial hand using Bidirectional Brain Machine Interfaces on non-human primates. 36 months (2013-2015); total China funding: ∼ 500 Ke (21 ke
to SSSA).
Work package co-writing in European projects:
ERC Starting Grant 2015. MYKI (A Bidirectional MyoKinetic Implanted Interface for Natural
Control of Artificial Limbs). 60 months; total EU funding request: ∼ 1500 Ke (∼ 1500 Ke to
SSSA). PI Prof. C. Cipriani.
EC-H2020 ICT-24 RIA. DeTOP (Dexterous Transradial Osseointegrated Prosthesis with neural
control and sensory feedback). 48 months; total budget: ∼ 5200 Ke (731 Ke to SSSA). SSSA
as coordinator. Prof. C. Cipriani Project Coordinator, Dr. Marco Controzzi Project Manager.
FP7-ICT-2011-7 Challenge 2.1: Cognitive Systems and Robotics. STREP #287888: CogLaboration
(Successful real world human-robot collaboration: from the cognition of human-human collaboration to the cognition of fluent human-robot collaboration). 36 months (2012-2014); total
EU funding: 2520 Ke (430 ke to SSSA). Dr. Marco Controzzi Team Leader.
FP7-ICT-2013-10: Collaborative project. STREP #611687: NEBIAS (NEurocontrolled BIdirectional Artificial upper limb and hand prosthesiS). 48 months (2013-2017); total EU funding:
3500 Ke (850 ke to SSSA).
Proposal co-writing coordination in National projects:
INAIL (National Workers’ Compensation). PPR3 (Development of prosthetic finger phalanges).
36 months (2014-2016); total INAIL funding: 1700 Ke (1700 ke to SSSA). Dr. Marco Controzzi
project manager.
Work package co-writing in National projects (Ministry of Research and Ministry of Health):
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PRIN 2010-2011, PRIN # 20102YF2RY: HAND-BOT (Biomechatronic hand prostheses endowed
with bio-inspired tactile perception, bi-directional neural interfaces and distributed sensorimotor control). 36 months (2013-2016); total funding to SSSA ∼ 300 Ke .
FIRB 2010 (early career grant), MY-HAND (Myoelectric Hand prosthesis with Afferent Noninvaseve feedback Delivery). 36 months (2012-2015); total funding: 320 Ke (320 Ke to SSSA).
Dr. Cipriani Coordinator and PI, Dr. Controzzi key expert.
Work package writing in National projects:
FAR-FAS 2015 - Tuscany Regional Council CENTAURO (Colavoro, Efficienza, preveNzione
nell’industria dei motoveicoli mediante Tecnologie di AUtomazione e RObotica). 24 months;
total funding request: ∼ 2500 Ke (∼ 500 Ke to SSSA). Dr. Controzzi Team Leader.
Activities in National and International funded research projects
Since 2015 – Senior Researcher MYKI (A Bidirectional MyoKinetic Implanted Interface for
Natural Control of Artificial Limbs). 60 months; total EU funding: ∼ 1500 Ke (∼ 1500 Ke to SSSA).
PI Prof. C. Cipriani.
Since 2016 – Project Manager DeTOP (Dexterous Transradial Osseointegrated Prosthesis with
neural control and sensory feedback). 48 months; total budget: ∼ 5200 Ke (731 Ke to SSSA). SSSA
as coordinator.
Since 01|2014 – Project Manager INAIL Research Project - PPR3 (Sviluppo di un sistema
protesico nelle amputazioni digitali della mano/ Development of prosthetic finger phalanges) – 1700
Ke.
Since 06|2013 – Project Manager Closed-looped Control of Dexterous Artificial Hand Using Bi-directional Brain-Machine Interfaces on Non-human Primates, Progetti Bilaterali Italia-Cina di
Grande Rilevanza.
Since 11|2013 – Research Engineer FP7-ICT-2013-10, NEBIAS (NEurocontrolled BIdirectional
Artificial upper limb and hand prosthesiS) STREP #611687.
Since 06|2013 – Research Engineer PRIN 2011, HAND-BOT (Biomechatronic hand prostheses
endowed with bio-inspired tactile perception, bi-directional neural interfaces and distributed sensorimotor control) # 20102YF2RY.
Since 03|2012 – Team Leader (Hand development) FIRB2010, MY-HAND (Myoelectric
Hand prosthesis with Afferent Non-invasive feedback Devices # RBFR10VCLD).
2011-2015 – Team Leader, FP7-ICT-7-2.1 CogLaboration (Successful Real World Human-Robot
Collaboration # 287888).
2011-2015 – Research Engineer, FP7 ICT-WAY-7-5.5 (Wearable interfaces for hAnd function
recovery # 288551).
2010-2013 – Research Engineer, FP7 NMP-2008-1.1-1 NANOBIOTOUCH (Nano-resolved multiscale investigations of human tactile sensations and tissue engineered nanobiosensors # 228844).
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2010-2012 – Research Engineer, PRIN 2008, OPENHAND (OPEN neuro-prosthetic HAND
platform for clinical trials).
2006-2010 – Research Engineer, FP6 NMP-2004-3.4.1.1-1 SMARTHAND (The Smart bio-adaptive
hand prosthesis # 33423).
2007-2008 – Research Engineer, FPRIN 2006, SAFEHAND (Progettazione e sperimentazione di
una protesi di mano cibernetica).
2006-2007 – Research Engineer, FP6 IST-2002-2.3.2.4 Cognitive systems ROBOTCUB (Robotic
open-architecture technology for cognition, understanding and behaviour # 4370).
2006-2007 – Research Engineer, DARPA RPP 2007 (Support to the Revolutionizing Prosthetics
Program 2007).
Teaching Experience
09|2015-12|2015 – Teaching activity - Rehabilitation Bioengineering, University of
Pisa, Italy
Credits: 6 (60 hours of lectures)
Objectives: Rehabilitation engineering is the application of engineering analysis and design
expertise to overcome disabilities and improve quality of life. At the end of the course students
will able to address projects developing innovative and sound engineering solutions through
specification development, design reviews, and interacting with appropriate members of the
medical community.
This course will be an introduction to a field of engineering dedicated to improving the lives of
people with disabilities.
03|2015-07|2015 – Teaching activity - Analysis and Design of Mechanical Components, The Biorobotics Institute, Italy
Credits: 3 (30 hours of lectures)
Participants: ∼ 17
Objectives: To develop in students enthusiasm for design and to provide the basis of sound
design methodology, together with fundamental material selection, component design and analysis using state of the art tools. On successful completion of this course students will be able
to: i) analyse forces and stresses within mechanical assemblies, ii) apply stress analysis theory
and appropriate criteria of failure to the design of robot elements, iii) design power transmission
systems involving gears, belts, chains, clutches, brakes, couplings, shafts; iv) select appropriate
sizes of bolts, screws, bearings, belts, pulleys, chains and sprockets, gear boxes, couplings, ropes,
etc. v) communicate the results of a design assignment effectively by means of drawings and a
full design report; vi) make use of available CAD/FEM software.
2014 – Support to the teaching activities for the course of "‘Rehabilitation Bioengineering"’ (M.Sc. Biomedical Engineering, Campus Biomedico, Rome, Italy) Introduction to the design of hand prosthesis
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Hours: 3
Participants: ∼ 30
Objectives: this talk was an introduction to the design of artificial hands for functional substitution.
Mentoring Experience and Academic Activity
Dr. Marco Controzzi is/has been tutor or supervisor of different B.Sc., M.Sc., Ph.D. theses, internship
projects and research grant holders projects related to the design and control of prosthetic/robotic
hands.
PhD theses
Candidate: Ilario Imbinto - Ph.D. in Innovative Technologies of Info. & Com. Eng. and Robotics
- Bio-inspired design of actuated fingers for partial hand replacement (draft title). Advisor: C. Cipriani,
Tutor: M. Controzzi. Scuola Superiore Sant’Anna, 2017 (expected).
Candidate: Sergio Tarantino - Ph.D. in Innovative Technologies of Info. & Com. Eng. and
Robotics - Low invasive control interfaces for hand prosthesis (draft title). Advisor: C. Cipriani,
Tutor: M. Controzzi. Scuola Superiore Sant’Anna, 2017 (expected).
Candidate: Gunter Robert Kanitz - Ph.D. in Innovative Technologies of Info. & Com. Eng. and
Robotics - Advanced techniques for myoelectric control of dexterous prostheses. Advisor: C. Cipriani,
Tutor: M. Controzzi. Scuola Superiore Sant’Anna, 2015.
Candidate: Francesco Clemente - Ph.D. in Innovative Technologies of Info. & Com. Eng. and
Robotics - Sensory feedback in prosthetics (draft title). Advisor: C. Cipriani, Tutor: M. Controzzi.
Scuola Superiore Sant’Anna, 2015 (expected).
Candidate: Federico Montagnani - Ph.D. in Innovative Technologies of Info. & Com. Eng. and
Robotics - Mechatronic Wrist for prosthetic application (draft title). Advisor: C. Cipriani, Tutor: M.
Controzzi. Scuola Superiore Sant’Anna, 2015 (expected).
Candidate: Carlo Peccia - Ph.D. in Innovative Technologies of Info. & Com. Eng. and Robotics
- Bio-inspired cosmetic fingers for partial hand replacement (draft title). Advisor: C. Cipriani, Tutor:
M. Controzzi. Scuola Superiore Sant’Anna, 2015 (expected).
MSc theses
M.Sc. in Biomedical Engineer - candidate: Giandonato Stallone, Progettazione e Sviluppo di Protesi
Attiva di Mano. Advisors: M. Controzzi, C. Cipriani. Politecnico di Torino, A.Y. 2012/13.
M.Sc. in Automation Engineering - candidate: Ilaria Strazzulla, Controllo di una mano robotica
sotto-azionata e irreversibile (Control of an underactuated, non-backdrivable robotic hand). Advisors: L. Pollini, C. Cipriani. Tutor: M. Controzzi. University of Pisa, A.Y. 2012/13.
M.Sc. in Biomedical Engineering - candidate: Francesco Clemente, Progettazione di una portesi
di mano trans-radiale (Design of a trans-radial hand prosthesis). Advisors: M. C. Carrozza, M.
Controzzi. University of Pisa, A.Y. 2011/12.
M.Sc. in Biomedical Engineering - candidate: Carlo Peccia, Progettazione di dita complianti bio
inspirate (Design of bio-inspired compliant fingertips). Advisors: M. C. Carrozza, M. Controzzi.
University of Pisa, A.Y. 2011/12.
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M.Sc. in Biomedical Engineering - candidate: Marco Donati, Studio di un sistema di attuazione
per una protesi di mano destra ad elevati gradi di libertá (Investigation of an actuation system for
a prosthetic hand with multiple degrees of freedom). Advisors: M. C. Carrozza, P. Dario, C.
Cipriani. Tutor: M. Controzzi. University of Pisa, A.Y. 2009/10.
BSc projects
B.Sc. in Biomedical Engineering - candidate: Luca Gemma, Controllo di protesi di mano con sistema
stereo video basato su le affordances umane. Advisors: M. C. Carrozza, M. Controzzi. University of
Pisa, A.Y. 2011/12.
Research Assistants projects (assegnisti di ricerca)
Torquato Cecchini, M.Sc.CS from University of Pisa, Control Algorithms for seamless human-robot
interaction. Supervisors: C. Cipriani, M. Controzzi. Year: since 05|2015.
Lorenzo Bassi Luciani, PhD in Mech. Eng. from University Tor Vergata and M.Sc.ME from
University of Pisa, Design of a variable stiffness mechanism. Supervisor: M. Controzzi. Year: since
03|2015.
Alessio Ghionzoli, PhD in Mech. Eng. from University Tor Vergata and M.Sc.ME from University
of Pisa, Design of trans-radial hand prosthesis. Supervisor: M. Controzzi. Year: since 06|2014.
Carlo Peccia, M.Sc.BME from University of Pisa, Compliant fingers design. Supervisors: M.
D’Alonzo, M. Controzzi, C. Cipriani. Year: 2012 (6 months).
Federico Montagnani, M.Sc.ME from University of Pisa, Sensory feedback. Supervisors: M. Controzzi, C. Cipriani. Year: 2012 (12 months).
Internship projects
Beryl Jehenne, student in mechanical engineering from the University of Technology of Compiégne, Compiégne, France, Design of a robotic wrist. Supervisor: C. Cipriani, M. Controzzi.
Year: 2010 (6 months).
Mohamed Mounsif, student in financial mathematics from the Ecole Nationale des Ponts et
Chaussées, Marne la Vallée, France, Modelling of bowden cable transmission. Supervisors: C.
Cipriani, M. Controzzi. Year: 2010 (3 months).
Farida Khattout, 4th year mechanical engineering from SUPMECA, Toulon, France, Design of
actuators for robotic hands. Supervisors: C. Cipriani, M. Controzzi, M. C. Carrozza. Year: 2009
(3 months).
Dr. Marco Controzzi serves / has served SSSA as:
2014 – 2015 – member of the Technical Committee for the evaluation of the furniture of the
multidisciplinary technological laboratory in Grosseto, Italy (2014-2015). Tender starting budget:
(∼ 3010 Ke);
since 03|2014 – faculty Member of The BioRobotics Institute, Scuola Superiore Sant’Anna.
since 03|2014 – member of the Collegio dei Docenti, dedicated to the PhD program steering (PhD
in Biorobotics, the BioRobotics Institute of Scuola Superiore Sant’Anna).
since 03|2014 – member of the selection committee for the admission of PhD students and
member of the examination board for the assignment of PhD degrees in Biorobotics, at the
BioRobotics Institute of Scuola Superiore Sant’Anna.
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Referee appointments
Dr. Marco Controzzi regularly serves as a reviewer for the following Journals and Conferences:
Journal IEEE Transactions on Robotics, Journal IEEE/ASME Transactions on Mechatronics, Journal ASME Mechanism and Robotics, ICORR IEEE International Conference on Rehabilitation
Robotics, AIM IEEE/ASME International Conference on Advanced Intelligent Mechatronics, International Conference of the IEEE Engineering in Medicine and Biology Society in Merging
Medical Humanism and Technology EMBC, ICRA IEEE International Conference on Robotics
and Automation, IROS IEEE/RSJ International Conference on Intelligent Robots and Systems.
Editorial Boards
Since 01|2015 – Associate Editor
Applied Bionics and Biomechanics Journal, Hindawi Publishing Corporation (ISI).
Invited Talks
Presented by Dr. Controzzi:
Invited speaker at the Frontiers in Interdisciplinary Neuroscience and Technology 2015 (FINT-2015)
held in September 24-25, 2015, Hangzhou, Zhejiang, China.
Invited speaker at the Workshop on Human–Robot Hand-Over Workshop at the RSS 2015 to be held
during July 17, 2015 at Rome, Italy. In addition to the publication submitted by the COGLABORATION consortium, Dr. Controzzi has been invited to give an additional talk in relation to
results achieved within the COGLABORATION project.
Invited speaker at the Workshop – Anthropomorphic robotic hands: design and control within the 2014
IEEE-RAS International Conference on Humanoid Robots. November 18-20th 2014. Madrid. Spain.
Title of the talk: Ongoing research on the design and control of artificial hands for functional substitution.
Invited speaker at the 3rd National Congress of the Italian Society of Tele-medicine and e-Healthcare
(SIT Societá Italiana Telemedicina e Sanitá Elettronica, in the framework of the EXPOSANITÁ 2012,
May 16-17-18 2012, Bologna, Italy. Title of the talk: Recenti progressi in neuro protesica e nello
sviluppo di mani artificiali.
Invited speaker at the euRobotics Forum 2013, Lyon, France, 19-20-21 March, 2013x. Title of the
talk: Prensilia – Versatile hands for biorobotics.
Invited speaker at the 50 years of Minimotor Company – annual meeting, Lugano, Minimotor SA,
Swiss. December 2012. Title of the talk: Design of Artificial Hands.
Invited speaker at the International Scientific Week organized by the Warsaw University in collaboration with the Italian Institute of Culture and the Italian Embassy in Warsaw, Warsaw, Poland.
September 2012. Title of the talk: Neuro-prosthesis and artificial hands: results and on-going research.
Invited speaker at the Workshop on Robotics, mechatronics and biomedical applications, China–Italy Regional Cooperation Forum on Technology and Innovation, Fortezza da Basso – Firenze, Italy, November 12, 2010. Title of the talk: Prensilia – Versatile hands for biorobotics.
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References
Prof. Marco Beghini
Chair of the Mechanical Engineering Degree at the University of Pisa.
Full Professor of:
Tecnica delle Costruzioni Meccaniche (Theory of Structures), – BSc Mechanical Engineering
Comportamento Meccanico dei Materiali (Mechanics of solids), – MSc Mechanical Engineering
Costruzioni di Macchine (Mechanism Design), – MSc Aerospace Engineering.
Contacts:
DMNP University of Pisa
Diotisalvi, 2
Pisa, C.A.P. 56126
Phone: (+39) 050-836 616
Email: [email protected]
Personal Page: University of Pisa
Prof.ssa Maria Chiara Carrozza
Member of the Chamber of Deputies (Parliament of Italy).
Full Professor of:
Bioingegneria Industriale (Bioengineer).
Contacts:
Scuola Superiore Sant’Anna
Piazza Martiri della Libertá, 33
Pisa, C.A.P. 56127
Email: [email protected]
Personal Page: The Biorobotics Institute
Prof. Christian Cipriani
Deputy Director of The Biorobotics Institute.
Associate Professor of:
Bioingegneria Industriale (Bioengineer).
Contacts:
Scuola Superiore Sant’Anna
Piazza Martiri della Libertá, 33
Pisa, C.A.P. 56127
Email: [email protected]
Personal Page: The Biorobotics Institute
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Scientific Publications
Papers on Journal Indexed by ISI WOS | Scopus
I. Imbinto, C. Peccia, M. Controzzi, A. Cutti, A. Davalli, R. Sacchetti, C. Cipriani, Treatment of the
Partial Hand Amputation: An Engineering Perspective. IEEE Reviews in Biomedical Engineering.
Accepted.
F. Clemente, M. D’Alonzo, M. Controzzi, B.B. Edin, and C. Cipriani, Non-invasive, temporally
discrete feedback of object contact and release improves grasp control of closed-loop myoelectric transradial
prostheses, IEEE Transactions on Neural Systems & Rehabilitation Engineering. in press.
F. Montagnani, M. Controzzi, C. Cipriani, Is it finger or wrist dexterity that is missing in current
hand prostheses?, IEEE in Transactions on Neural Systems & Rehabilitation Engineering, On-line
Early Access, 2015.
F. Montagnani†, M. Controzzi†, C. Cipriani, Non-Back-Drivable Rotary Mechanism with Intrinsic
Compliance for Robotic Thumb Abduction/Adduction, Advanced Robotics, 29 (8), 561-571, 2015.
L. Orlando Russo, G. Airó Farulla, D. Pianu, A. R. Salgarella, M. Controzzi, C. Cipriani, C. M.
Oddo, C. Geraci, S. Rosa, and M. Indaco, PARLOMA – A Novel Human-Robot Interaction System
for Deaf-blind Remote Communication, International Journal of Advanced Robotic Systems, 12 (57),
2015.
Y. Hao, Q. Zhang, M. Controzzi, C. Cipriani, Y. Li, J. Li, S. Zhang, Y. Wang, W. Chen, M.
C. Carrozza, and X. Zheng, Distinct neural patterns enable grasp types decoding in monkey dorsal
premotor cortex, Journal of Neural Engineering, 11 (6), 2014.
J.L. Segil, M. Controzzi, R.F. Weir, C. Cipriani, Comparison of State of the Art Myoelectric Controllers
for Advanced Prosthetic Hands using Virtual and Physical Assessment, Journal of Rehabilitation Research & Development, 51 (9), 2014.
M. Controzzi†, M. D’Alonzo†, C. Peccia, C. M. Oddo, M. C. Carrozza, C. Cipriani, Bioinspired
fingertip for anthropomorphic robotic hands, Applied Bionics and Biomechanics, 11 (1-2), 2014.
S. Raspopovic, M. Capogrosso, F. Petrini, M. Bonizzato, J. Rigosa, G. Di Pino, J. Carpaneto, M.
Controzzi, T. Boretius, E. Fernandez, G. Granata, C. M. Oddo, L. Citi, A.L. Ciancio, C. Cipriani,
M.C. Carrozza, W. Jensen, E. Guglielmelli, T. Stieglitz, P.M. Rossini, S. Micera, Restoring natural
sensory feedback in real-time bidirectional hand prostheses, Science Translational Medicine, 6 (222),
2014.
Y. Hao, M. Controzzi, C. Cipriani, D. B. Popovic,́ X. Yang, W. Chen, X. Zheng, and M. C.
Carrozza, Controlling Hand-Assistive Devices: Utilizing Electrooculography as a Substitute for Vision,
IEEE Robotics and Automation Magazine, 20 (1), 2013.
Antfolk, M. D’Alonzo, M. Controzzi, G. Lundborg, B. Rosén, F. Sebelius, C. Cipriani, Artificial
redirection of sensation from prosthetic fingers to the phantom hand map on transradial amputees: vibrotactile versus mechanotactile sensory feedback discrimination, IEEE Trans. on Neural Systems and
Marco Controzzi
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Rehabilitation Engineering, 21 (1), 2013. (online version 2012)
C. Cipriani, M. Controzzi, G. Kanitz, R. Sassu, The effects of weight and inertia of the prosthesis on
the Sensitivity of EMG pattern recognition in relax state, Journal of Prosthetics & Orthotics, 24 (2),
2012.
L. Pape, C. M. Oddo, M. Controzzi, C. Cipriani, A. Forster, M. C. Carrozza, J. Schmidhuber,
Learning tactile skills through curious exploration, Frontiers in Neurorobotics, 6 (6), 2012.
C. M. Oddo, M. Controzzi, L. Beccai, C. Cipriani, M. C. Carrozza, Roughness Tactile Encoding in
Active Touch with an Artificial Actuated Finger, IEEE Transactions on Robotics, 27 (3), 2011.
C. Cipriani, M. Controzzi, M. C. Carrozza. The SmartHand Transradial Prosthesis, Journal of
NeuroEngineering and Rehabilitation, 8 (29), 2011;
c
C. Cipriani, C. Antfolk, M. Controzzi, G. Lundborg, B. RosÃn,
M. C. Carrozza, F. Sebelius,
Online Myoelectric Control of a Dexterous Hand Prosthesis by Transradial Amputees, IEEE Trans. on
Neural Systems and Rehabilitation Engineering, 19 (3), 2011.
S. Dosen, C. Cipriani, M. Kostic, M. Controzzi, M. C. Carrozza, D. B. Popovic, Cognitive Vision
System and EMG-Based Control of a Dexterous Prosthetic Hand, Journal of NeuroEngineering and
Rehabilitation, 7 (42), 2010.
M. Controzzi, C. Cipriani, M. C. Carrozza, Miniaturized non-back-drivable mechanism for robotic
applications, Mechanism and Machine Theory, Elsevier, 45 (10), 2010.
C. Cipriani, M. Controzzi, M. C. Carrozza, Objectives, criteria and methods for the design of the
SmartHand transradial prosthesis, ROBOTICA, Robotica Cambridge University Press, 28 (6), 2010.
(Online publication Dec. 2009).
†Equal Contribution
Papers on other Journals
C. Antfolk, C. Cipriani, M. Controzzi, M. C. Carrozza, G. Lundborg, B. Rosén, F. Sebelius,Using
EMG for Real-time Prediction of Joint Angles to Control a Prosthetic Hand Equipped with a Sensory
Feedback System, Journal of Medical and Biological Engineering, 30(6), 2010;
Patents
G. Kanitz, U. Rongala, M. Controzzi. Actuation mechanism for body powered prosthesis, Italian
patent pending no. PI102015000061334. 2015. Status: pending.
P. Prinetto, I. Marco, G. Airó Farulla, C. Pintor,L. Russo, A. Salgarella, G. Micotti, C. Oddo, C.
Cipriani, M. Controzzi, Sistema per la comunicazione di simboli appartenenti ad una lingua dei segni
tattile, e relativo metodo, Italian patent pending no. TO2014A000982. 2014. Status: pending.
M. Controzzi, F. Clemente, C. Cipriani, M.C. Carrozza, Self-Contained Multifunctional Hand Prosthesis European patent no. 13164114.4, 2013. Status: granted.
Marco Controzzi
14
M. Controzzi, F. Clemente, C. Cipriani, M.C. Carrozza, Protesi di mano auto contenuta Italian
patent no. PI2012A000049, 2012. Status: granted.
C. Cipriani, M. Controzzi, M.C. Carrozza, Interface device between an individual and a machine and
interfacing method thereof, Italian national patent no. LU2010A000008, 2010. Status: granted.
F. Bedini†, M. Controzzi†, A. Rossi†, M. Zapponi†, Sucking gripper for naval tow, Italian national
patent no. PI20080045, 2006. Status: granted.
Articles and patents in preparation/submitted:
I. Strazzulla, M. Nowak, M. Controzzi, C. Cipriani, C. Castellini, Online Bimanual Manipulation Using
Surface Electromyography and Incremental Learning, second revision on Transactions on Neural Systems
and Rehabilitation Engineering. Under Review.
M. Controzzi, A. Ghionzoli, D. Barone, F. Clemente, C. Cipriani, MyHand: dexterous trans-radial hand
based on a geneva drive. Journal paper. In preparation.
L. Bassi Luciani, M. Controzzi, F. Montagnani, C. Cipriani. Elemento deformabile per giunto compliante.
Patent application. In preparation.
L. Bassi Luciani, M. Controzzi, F. Montagnani, C. Cipriani. Selettore per giunto compliante. Patent application. In preparation.
PhD Dissertation
M. Controzzi, Advances on the design and control of artificial hands for functional substitution, Scuola
Superiore di Studi Universitari e di Perfezionamento Sant’Anna, Pisa, July 2013.
Book Chapters
M. Bortole†, M. Controzzi†, I. Pisotta†, A. Úbeda†, BMIs for Motor Rehabilitation: key concepts and
challenges, within the book Neurorehabilitation Emerging Therapies, Springer Berlin Heidelberg,
vol. 4, pp. 235-247, 2014.
M. Controzzi, C. Cipriani, M.C. Carrozza, Design of artificial hands: a review, in The Human Hand:
A Source of Inspiration for Robotic Hands, Springer Tracts in Advanced Robotics (STAR) series,
Balasubramanian, R. and Santos, V.J., Eds., Springer, Heidelberg, vol. 95, pp. 219-246, 2014.
Articles in peer reviewed conference proceedings (≥ 4 pages)
F. Montagnani, M. Controzzi, C. Cipriani, Exploiting arm posture synergies in activities of daily
living to control the wrist rotation in upper limb prostheses: a feasibility study, 37th Annual
International Conference of the IEEE Engineering in Medicine and Biology Society of the IEEE
Engineering in Medicine and Biology Society (EMBC’15) to be held in MiCo, Milano Conference
Center, Milano, Italy on August 25-29, 2015.
Marco Controzzi
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D. Pianu, G. Micotti, A. R. Salgarella, D. Camboni, M. Controzzi, C. Cipriani, C. M. Oddo, S.
Rosa, M. Indaco, Real-Time Single Camera Hand Gesture Recognition System for Remote DeafBlind Communication, Augmented and Virtual Reality: First International Conference, AVR
2014, Lecce, Italy, September 17-20, 2014, Revised Selected Papers.
F. Montagnani, M. Controzzi, C. Cipriani, Preliminary design and development of a two degrees
of freedom passive compliant prosthetic wrist with switchable stiffness, Robotics and Biomimetics (ROBIO), 2013 IEEE International Conference on, Shenzhen, China, December 12-14, 2013.
M. Controzzi, Y. Hao, Q. Zhang, C. Cipriani, S. Zhang, W. Chen, M. C. Carrozza and X. Zheng.
Decoding Grasp Types from the Monkey Motor Cortex and On-line Control of a Dexterous
Artificial Hand. Proceedings of the International Conference on NeuroRehabilitation, ICNR2012,
Toledo, Spain pp. 67-71; Published by Springer. Winner of the second prize as Best Conference
Paper.
C. Cipriani, R. Sassu, M. Controzzi, M. C. Carrozza, Influence of the Weight Actions of the Hand
Prosthesis on the Performance of Pattern Recognition Based Myoelectric Control: Preliminary
Study, 33nd Annual International Conference of the IEEE Engineering in Medicine and Biology
Society in Merging Medical Humanism and Technology, EMBC 2011, Boston, MA, Aug. 30-Sept.
3, 2011.
M. Controzzi, C. Cipriani, B. Jehenne, M. Donati, M.C. Carrozza. Bio-Inspired Mechanical Design of a Tendon-Driven Dexterous Prosthetic Hand, 32nd Annual International Conference of
the IEEE Engineering in Medicine and Biology Society in Merging Medical Humanism and Technology, EMBC 2010. September 2010 Buenos Aires, Argentina.
C. Antfolk, C. Cipriani, M. Controzzi, M. C. Carrozza, F. Sebelius. Integration of a EMG-Control
System for a Prosthetic Hand - Preliminary Observations. ISSNIP Biosignals and Biorobotics
Conference 2010, 4-6 January 2010 in Vitoria, Brazil.
C. Cipriani, M. Controzzi, M.C. Carrozza. Progress Towards the Development of the SmartHand
Transradial Prosthesis, 2009 IEEE 11th International Conference on Rehabilitation Robotics, 2326 June 2009, Kyoto International Conference Center, Japan.
M. Controzzi, C. Cipriani, M.C. Carrozza. Mechatronic Design of a transradial cybernetic hand,
IEEE/RSJ IROS-2008 International Conference on Intelligent RObots and Systems September,
22-26, 2008, Nice, France.
C. Cipriani, M. Controzzi, F. Vecchi, M.C. Carrozza. Embedded Hardware Architecture Based on
Microcontrollers for the Action and Perception of a Transradial Prosthesis. IEEE/RAS-EMBS International Conferences on Biomedical Robotics and Biomechatronics, 19-22 October 2008 Scottsdale. Arizona, USA.
Articles with peer review at international workshops
A. Remazeilles, M. Prada, M. Controzzi, C. Cipriani, J. Canseco, D. Cabañeros, A. M. Wing, E.
Gatti, M. Burgin, G.Pegman, Towards Human-Robot object exchange: lessons learned, Workshop
on Human-ÂRobot Hand-Over Workshop at the RSS 2015 - July 17, 2015 - Rome, Italy.
Marco Controzzi
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M. Controzzi, M. Rank, I Strazzulla, C Peccia, AM Wing, C Cipriani, Human-inspired release
controller for natural robot to human handover tasks, workshop on Behaviour Coordination
between Animals, Humans, and Robots, within the Human-Robot Interaction international Conference, March 2-5, 2015.
F. Montagnani, M. Controzzi, C. Cipriani and M.C. Carrozza, Design of a rotary non-backdrivable mechanism with intrinsic compliance, Third national conference in bioengineering,
GNB 2012, Rome, Italy, June 26th-29th, 2012.
M. D’Alonzo, M. Controzzi, C. Peccia, C. Cipriani, and M.C. Carrozza, Design of biomimetic
artificial fingertips and analysis of stiffness at the contact, Third national conference in bioengineering, GNB 2012, Rome, Italy, June 26th-29th, 2012.
M. Controzzi, C. Cipriani, M. D’Alonzo, C. Peccia and M. C. Carrozza, Design of an Anthropomorphic Robotic Hand with Intrinsic Actuation and Compliant Fingers, Third national conference in bioengineering, GNB 2012, Rome, Italy, June 26th-29th, 2012.
L. Beccai, C. M. Oddo, M. Controzzi, C. Cipriani, M. C. Carrozza, Roughness Discrimination of
Surfaces in Artificial Active Touch, Royal Society Theo Murphy meeting on active touch sensing,
Kavli Royal Society Centre, London, UK, Jan. 31 - Feb. 2, 2011.
L. Beccai, C. M. Oddo, C. Cipriani, M. Controzzi, F. Mattioli, M. C. Carrozza, A bioinspired
tactile fingertip for texture discrimination, EuroHaptics 2010 satellite workshop, Amsterdam,
The Netherlands, July 7, 2010.
C. Antfolk, C. Cipriani, M. C. Carrozza, F. Sebelius, Myoelectric control of a cybernetic hand,
Congress of the International Society of Electrophysiology and Kinesiology, ISEK 2010, Aalborg,
Denmark, June 16-19, 2010.
C. Cipriani, M. Controzzi, F. Vecchi, M. C. Carrozza, C. Carboni, D. Loi, M. Barbaro, L. Raffo, G.
Cavallo, L. Zollo, E. Guglielmelli, SAFEHAND - Design and Experimental Analysis of a NeuroControlled Prosthetic Hand, Second national conference in bioengineering, GNB 2010, Turin,
Italy, July 8-10, 2010.
G. Matrone, C. Cipriani, E. L. Secco, M. C. Carrozza, G. Magenes, A biomimetic approach based
on principal components analysis for multi-DoF prosthtetic hand control, Workshop CORNER
2009, Genoa, Italy, Dec. 14-15, 2009.
C. Cipriani, A. Persichetti, M. Controzzi, G. Stellin, M. C. Carrozza, Robust sensory system for
anthropomorphic fingers in prosthetic hands, In Acts of National conference in bioengineering,
GNB 2008, Pisa, Italy, 3-5 July, 2008, pp. 263-264.
M. Controzzi, C. Cipriani, M. C. Carrozza, Design of a transradial cybernetic hand, First national
conference in bioengineering, GNB 2008, Pisa, Italy, 3-5 July, 2008.
Articles with no peer review at international conferences and workshops
M. Controzzi, M. Rank, I. Strazzulla, C. Peccia, A.M. Wing, C. Cipriani, Improving the fluency of
Marco Controzzi
17
the robot to human handovers using a human inspired feed-forward release controller, abstract
presented at the 7th International Workshop on Human-Friendly Robotics, Pisa, Italy, October
23rd-24th, 2014.
M. Controzzi, F. Clemente, S. Dragoni, C. Cipriani, A dexterous hand prosthesis based on a
geneva drive: preliminary design, MEC Symposium 2014, New Brunswick, Canada, August 1822, 2014.
F. Montagnani, M. Controzzi, C. Cipriani, A Comparison Between Different Configurations Of
Hand/wrist Prosteses, MEC Symposium 2014, New Brunswick, Canada, August 18-22, 2014.
C. Cipriani, R. Sassu, M. Controzzi, G. Kanitz, M. C. Carrozza, Preliminary study on the influence of inertia and weight of the prosthesis on the EMG pattern recognition robustness, In
Proc. of the Myoelectric Control/Powered Prosthetics Symposium, Fredericton, NB, Canada,
Aug. 14-19, 2011.
Other
Guidelines on Regulating Robotics, Robot-law final project deliverable. Authors: Erica Palmerini,
Federico Azzarri, Fiorella Battaglia, Andrea Bertolini, Antonio Carnevale, Jacopo Carpaneto, Filippo Cavallo, Angela Di Carlo, Marco Cempini, Marco Controzzi, Bert-Jaap Koops, Federica
Lucivero, Nikil Mukerji, Luca Nocco, Alberto Pirni, Huma Shah. 2014.