Several scientific papers have been published by research groups worldwide using robotic hands, fingers and platforms now offered by Prensilia; this page lists most recent articles.


 © Scuola Superiore Sant'Anna

Non-invasive control / Assistive robotics

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", Robotics and Automation Magazine, vol. 20, no. 1, pp. 40-52, 2013

D. Johansen, D. B. Popovic, F. Sebelius, S. Jensen, L. N. S. A. Struijk, "Enhancing control of advanced hand prostheses using a tongue control system," International Federation for Medical and Biological Engineering Proceedings, vol. 34, 253-256, 2011.

C. Cipriani, C. Antfolk, M. Controzzi, G. Lundborg, B. Rosén, M. C. Carrozza, F. Sebelius, “Online Myoelectric Control of a Dexterous Hand Prosthesis by Transradial Amputees,” IEEE Trans. on Neural Systems Rehabilitation Engineering, vol. 19, no. 3, pp. 260-270, 2011

S. Došen, C. Cipriani, M. Kostić, M. Controzzi, M. C. Carrozza, D. B. Popović, "Cognitive Vision System for Control of Dexterous Prosthetic Hands: Experimental Evaluation," Journal of NeuroEngineering and Rehabilitation, vol. 7, no. 42, 2010. Free Access.


 © Scuola Superiore Sant'Anna

Neural engineering

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, vol. 6, no. 222, pp. 222ra19, 2014.

C. Cipriani, J. Segil, A. Birdwell, R. Weir, “Dexterous control of a prosthetic hand using fine-wire intramuscular electrodes in targeted extrinsic muscles,” IEEE Trans. on Neural Systems and Rehabilitation Engineering, In press, 2014

S. Micera, P.M. Rossini, et al., “Decoding of grasping information from neural signals recorded using peripheral intrafascicular interfaces,” Journal of NeuroEngineering and Rehabilitation, vol. 8, no. 53, 2011. Free Access.

P.M. Rossini, S. Micera, et al., “Double Nerve Intraneural Interface Implant on a Human Amputee for Robotic Hand Control,” Clinical Neurophysiology, vol. 121, no. 5, pp. 777-783, May 2010.


Cognitive neuroscience

M.L. Blefari, C. Cipriani, M. C. Carrozza, "A Novel Method for Assessing Sense of Body-Ownership Using Electroencephalography," IEEE Trans. Biomedical Engineering, vol. 58, no.1, pp.12-15, 2011.

B. Rosén, H. Ehrsson, C. Antfolk, C. Cipriani, F. Sebelius, G. Lundborg, “Sensory transfer into an advanced hand prosthesis,” Scandinavian Journal of Plastic and Reconstructive Surgery and Hand Surgery, vol. 43, pp. 260-266, 2009.


 © Scuola Superiore Sant'Anna


M. Markovic, S. Dosen, C. Cipriani, D. Popovic, D. Farina, “Stereovision and augmented reality for closed loop control of grasping in hand prostheses”, Journal of Neural Engineering, In press, 2014

C. 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 Rehabilitation Engineering, vol. 21, no. 1, pp. 112-120, 2013.

C. Cipriani, C. Antfolk, C. Balkenius, B. Rosén, G. Lundborg, M. C. Carrozza, F. Sebelius, ”A Novel Concept for a Prosthetic Hand with a Bidirectional Interface: A Feasability Study,” IEEE Trans. Biomedical Engineering, vol. 56, no. 11, part 2, pp. 2739-2743, 2009.

C. Cipriani, F. Zaccone, S. Micera, M.C. Carrozza, "On the shared control of an EMG controlled prosthetic hand: analysis of user-prosthesis interaction ," IEEE Transactions on Robotics, Vol. 24, no. 1, pp. 170-184, 2008.




L. Pape, C. M. Oddo, M. Controzzi, C. Cipriani, A. Förster, M. C. Carrozza, and J. Schmidhuber, "Learning tactile skills through curious exploration." Frontiers in neurorobotics, 6:6, 2012. Free access

C. M. Oddo, M. Controzzi, L. Beccai, C. Cipriani, and M. C. Carrozza, “Roughness Encoding for Discrimination of Surfaces in Artificial Active Touch, “ IEEE Transactions on Robotics, vol. 27, no. 3, pp. 522-533, 2011.

T. Suzuki, S. Yano, and Kenji Suzuki, "Motivation oriented action selection for understanding dynamics of objects," Proc. of the 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems , pp.846-851, 2008.

H. Miwa, K. Itoh, et al., “Effective Emotional Expressions with Emotion Expression Humanoid Robot WE-4RII,” Proc. of the 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2203-2208, 2004.


Grasping & manipulation

G. Matrone, C. Cipriani, E. L. Secco, G. Magenes, M. C. Carrozza, "Principal Components Analysis based control of a multi-DoF underactuated prosthetic hand," Journal of NeuroEngineering and Rehabilitation, vol. 7, no. 16, 2010. Free Access.

C. Cipriani, F. Zaccone, G. Stellin, L. Beccai, G. Cappiello, M.C. Carrozza and P. Dario, "Closed Loop Controller for a Bio-inspired Multi-fingered Underactuated Prosthesis," In Proc. of IEEE Intl. Conf. on Robotics and Automation, ICRA, pp. 2111-2116, 2006.


Some images in this page are from the LifeHand2 project and licensed under CC BY-NC-SA 2.0.