This document represents the final report of the study “Non invasive brain-machine interfaces” performed by the Interdepartmental Research Center “E. Piaggio” of the University of Pisa within the ARIADNA framework of activities promoted by the European Space Agency (ESA). Contents of the report are organized as follows. The first part presents a literature survey on the state of the art of brain-machine interfaces (BMI), with a particular emphasis on the non-invasive types. In order to discuss potential benefits deriving from the use even of additional interfa-ces, conceived as complementary and auxiliary for BMI, the second part reviews different types of non-invasive man-machine interfaces. Their working principles, implementations, possible applications and typical features are discussed. Such additional interfaces are considered as a useful help, especially for multi-task activities. The report then presents a selection of the most promising and feasible non- nvasive BMI concept for space applications, as well as the most interesting man-machine interface concepts capable of working as auxiliary and complementary tools. In particular, selected concepts consist of EEG- based BMI, to be eventually used in combination with interfaces based on speech recognition, EMG activation and motion capture and gesture recognition. The final part reports potential fields of space applications for such types of interfaces.

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The focus of our research program is the restoration of limb function through a biohybrid approach. We consider the limb conceptually as a biohybrid organ con-sisting of biological tissue, endoprostheses (including neural devices and joint replacements), and exopro-stheses. The biohybrid limb maximizes biological function and functional articulations with optimized hu-manprosthesis interfaces. Our long-term goals are to create biomimetic prostheses, optimized control systems for pros-theses, and optimized human-prosthesis interfaces using both limb lengthening and osseointegration techniques.

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This paper reports on the evaluation of various actuation technologies to be used in a portable exoskeleton for space applications. It is divided into four parts. The first part defines the scope of the project and gives a brief overview of the existing arm exoskeleton devices. The second part is devoted to the description of the three actuation technologies evaluated: DC motors and their combination with other mechanical systems in order to integrate them in a portable haptic device, a brake prototype developed at the ASL using magnetorheological fluid and finally ultrasonic motors. The third part is devoted to the experimental prototyping with the description of the 1 DOF setup built to compare the actuators, and the results obtained for each of them. Finally, the fourth part shows some comparisons between the technologies, related to relevant parameters for portable haptic interfaces.

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Diese Arbeit stellt ein Modell und ein System zur Steuerung von Exoske-letten mit Hilfe von elektrischen Signalen vor, die an den Muskeln des Benutzers gemessen werden. Anhand dieser Signale wird der eigene Drehmomentbeitrag des Benutzer zur gewünschten Bewegung abgeschätzt, und ein einstellbarer Faktor bestimmt das vom Exoskelett hinzugefügte Drehmoment in Bezug auf den Beitrag des Benutzers. Die Signale werden durch ein komplexes biomechanisches Modell ausgewertet.

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In this paper, the design of a hip joint of an exoskeleton is presented so as to automatically assist the hip joint motion of a physically weak person. A spherical three-degrees-of-freedom parallel mechanism is used for the purpose. The problem is framed as an optimization problem with an objective of determining the proper connection points for the links of the structure at the human body, keeping in account the aspects of self-collision, human anatomy and comfort. The design parameters are optimized for a specific pose and the workspace around this central configuration is built to develop enough mobility required for the human body to attain different postures.

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