EVolving morphologies for human-Robot sYmbiotic interactiON


Principal Investigator: 
Maria Chiara Carrozza

Project Manager: 
Nicola Vitiello

Project Lifetime
Feb 2009 to Dec 2013

Funding Institutions: 

European Commission under the 7th Framework Programme (FP7-ICT-FET-STREP, 2009-2012)

Dedicated website: 

The EVRYON project aims at providing a novel design methodology for harvesting the potentialities of structural intelligence in the development of lower-limb wearable robots (e.g. exoskeletons, active orthoses and prostheses), using a design for emergence approach where a symbiotic interaction between the robot and the human body is sought to achieve emerging dynamic behaviours useful for rehabilitation and assistive applications

What we do: 

Within the project Scuola Superiore Sant’Anna is the leader of Working package 6 (Sensory fusion and adaptive control). In particular, SSSA leads the research group that designs, develops, tests and integrates the sensory system that is used to monitor the internal state of the exoskeleton and to monitor the state on the human-machine interface. In addition, SSSA leads WP8 (Dissemination and exploitation) and contribute to other RTD WPs.


University of Ljubljana - TU Delft - University of Twente - Ecole polytechnique Fédérale de Lausanne - Budapest University of Technology and Economics

Media - pictures: 



T. Lenzi, S. M. M. De Rossi, N. Vitiello, M. C. Carrozza, Intention-based EMG Control for Powered Exoskeletons, IEEE Transactions on Biomedical Engineering, 2012, in press, DOI: 10.1109/TBME.2012.219882
S. M. M. De Rossi, S. Crea, M. Donati, P. Reberšek, D. Novak, N. Vitiello, T. Lenzi, J. Podobnik, M.Munih, M. C. Carrozza, Gait Segmentation Using Bipedal Foot Pressure Patterns, Proc. of the 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2012
D. Novak, P. Reberšek, T. Beravs, J. Podobnik, M.Munih, S.M.M. De Rossi, M. Donati, T. Lenzi, N. Vitiello, M. C. Carrozza, Early recognition of gait initiation and termination using wearable sensors, Proc. of the 2012 4th IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics (BIOROB), 2012
S. Crea, S. M. M. De Rossi, M. Donati, P. Reberšek, D. Novak, N. Vitiello, T. Lenzi, J. Podobnik, M. Munih, M. C. Carrozza, Development of Gait Segmentation Methods for Wearable Foot Pressure Sensors, Proc. of the 2012 Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC), 2012
R.Ronsse, T. Lenzi, N.Vitiello, B.Koopman, E. van Asseldonk, S.M. M.De Rossi, J.van den Kieboom, H. van der Kooij, M.C.Carrozza, A. J. Ijspeert, Oscillator-based assistance of cyclical movements: model-based and model-free approaches, Med Biol Eng Comput (2011) 49:1173–1185, DOI 10.1007/s11517-011-0816-1
T. Lenzi, N.Vitiello, • J. McIntyre, •S. Roccella, • M. C. Carrozza, A robotic model to investigate human motor control, Biol Cybern (2011) 105:1–19, DOI 10.1007/s00422-011-0444-8
T.Lenzi, N. Vitiello, S.M. M.De Rossi, A. Persichetti, F. Giovacchini, S. Roccella, F.Vecchi, M.C. Carrozza, Measuring human–robot interaction on wearable robots: A distributed approach, Mechatronics 21 (2011) 1123–1131
A. Chiri, N. Vitiello, F.Giovacchini, S.Roccella, F.Vecchi, M. C. Carrozza, Mechatronic Design and Characterization of the Index Finger Module of a Hand Exoskeleton for Post-Stroke Rehabilitation, IEEE Transactions on Mechatronics, DOI: 10.1109/TMECH.2011.2144614, 2011, on line at http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5771114.

Meet the team

Prof.  Carrozza , Maria Chiara


Dr.  Vitiello , Nicola

Assistant Professor

Dr.  Roccella , Stefano

Post Doctoral Fellow

Dr.  Vecchi , Fabrizio