The Geometrical Arrangement of Knee Constraints That Makes Natural Motion Possible: Theoretical and Experimental Analysis.

The study of the knee natural motion, namely the unresisted motion that the knee exhibits in the absence of external loads, provides insights into the physiology of this articulation. The natural motion represents the baseline condition upon which deformations of its passive structures (i.e., ligaments and cartilage) take place when loads are applied. Moreover, during natural motion, the strain energy density stored within ligaments and cartilage is minimized. This reduces the chance of microdamage occurrences and the corresponding metabolic cost for tissue repairing. The study of the knee natural motion is thus fundamental in understanding the joint physiology. This paper shows that the line of action of resultant forces of all the knee constraints provided by the passive structures must intersect the instantaneous helical axis (IHA) to make the knee natural motion possible. In other words, the lines of action of all these constraints must cross the same line at each flexion angle to guarantee the natural motion of the joint. This geometrical property is first proven theoretically and then verified in four in vitro and one in vivo experiments. The geometrical characterization of the knee natural motion presented in this study provides a fundamental property that must be satisfied to allow the correct joint mobility. The knowledge of this property may thus allow the definition of better models, treatments, and devices.

A three-dimensional ankle kinetostatic model to simulate loaded and unloaded joint motion.

A kinetostatic model able to replicate both the natural unloaded motion of the tibiotalar (or ankle) joint and the joint behavior under external loads is presented. The model is developed as the second step of a sequential procedure, which allows the definition of a kinetostatic model as a generalization of a kinematic model of the joint defined at the first step. Specifically, this kinematic model taken as the starting point of the definition procedure is a parallel spatial mechanism which replicates the ankle unloaded motion. It features two rigid bodies (representing the tibia-fibula and the talus-calcaneus complexes) interconnected by five rigid binary links, that mimic three articular contacts and two nearly isometric fibers (IFs) of the tibiocalcaneal ligament (TiCaL) and calcaneofibular ligament (CaFiL). In the kinetostatic model, the five links are considered as compliant; moreover, further elastic structures are added to represent all the main ankle passive structures of the joint. Thanks to this definition procedure, the kinetostatic model still replicates the ankle unloaded motion with the same accuracy as the kinematic model. In addition, the model can replicate the behavior of the joint when external loads are applied. Finally, the structures that guide these motions are consistent with the anatomical evidence. The parameters of the model are identified for two specimens from both subject-specific and published data. Loads are then applied to the model in order to simulate two common clinical tests. The model-predicted ankle motion shows good agreement with results from the literature.

Ante-mortem characterization of sudden deaths as first-manifestation in Italy.

PURPOSE: There is a relative paucity of data on ante-mortem clinical characteristics of young (age 1 to 35 years) sudden death (SD) victims. The aim of the study was to characterize ante-mortem characteristics of SD victims, in a selected national cohort identified by a web search. METHODS: A dataset of all SD (January 2010 and December 2015) was built from national forensic data and medical records, integrated with Google search model. Families were contacted to obtain consent for interviews. Data were obtained on ante-mortem symptoms. ECG characteristics and autopsy data were available. RESULTS: Out of 301 SD cases collected, medical and family history was available in 132 (43.9%). Twenty-eight (21.1%) had a positive family history for SD. SD occurred during sport/effort in 76 (57.6%). One hundred twelve (85%) SD cases had no prior reported symptoms. Autopsy data were available in 100/132 (75.8%) cases: an extra cardiac cause was identified in 20 (20%). Among the 61 cases with a cardiac diagnosis, 21 (34%) had hypertrophic cardiomyopathy. Among the 19 (19%) victims without structural abnormalities, molecular autopsy identified pathogenic variants for channelopathies in 9 cases. Ten (10%) victims had no identifiable cause. CONCLUSIONS: Most SD were due to cardiac causes and occurred in previously asymptomatic patients. SD events mainly occurred during strenuous activity. In a minority of cases, no cause was identified. The web-based selection criteria, and incomplete data retrieval, need to be carefully taken into account for data interpretation and reproducibility.

Prediction of Individual Knee Kinematics From an MRI Representation of the Articular Surfaces.

OBJECTIVE: The knowledge of individual joint motion may help to understand the articular physiology and to design better treatments and medical devices. Measurements of in-vivo individual motion are nowadays invasive/ionizing (fluoroscopy) or imprecise (skin markers). We propose a new approach to derive the individual knee natural motion from a three-dimensional representation of articular surfaces. METHODS: We hypothesize that tissue adaptation shapes articular surfaces to optimize load distribution. Thus, the knee natural motion is obtained as the envelope of tibiofemoral positions and orientations that minimize peak contact pressure, i.e. that maximize joint congruence. We investigated four in-vitro and one in-vivo knees. Articular surfaces were reconstructed from a reference MRI. Natural motion was computed by congruence maximization and results were validated versus experimental data, acquired through bone implanted markers, in-vitro, and single-plane fluoroscopy, in-vivo. RESULTS: In two cases, one of which in-vivo, maximum mean absolute error stays below 2.2° and 2.7 mm for rotations and translations, respectively. The remaining knees showed differences in joint internal rotation between the reference MRI and experimental motion at 0° flexion, possibly due to some laxity. The same difference is found in the model predictions, which, however, still replicate the individual knee motion. CONCLUSION: The proposed approach allows the prediction of individual joint motion based on non-ionizing MRI data. SIGNIFICANCE: This method may help to characterize healthy and, by comparison, pathological knee behavior. Moreover, it may provide an individual reference motion for the personalization of musculoskeletal models, opening the way to their clinical application.

Quantification of the errors associated with marker occlusion in stereophotogrammetric systems and implications on gait analysis.

Optoelectronic stereophotogrammetric systems (OSSs) represent the standard for gait analysis. Despite widespread, their reported accuracy in nominal working conditions shows a variability of several orders of magnitude, ranging from few microns to several millimetres. No clear explanation for this variability has been provided yet. We hypothesized that this reflects an error affecting OSS outcomes when some of the tracked markers are totally or partially occluded. The aim of this paper is to quantify this error in static and dynamic conditions, also distinguishing between total and partial marker occlusion. A Vicon system featuring 8 cameras is employed in this study. Two camera distributions, one designed to maximize OSS accuracy and another one representative of a typical gait setup, are investigated. For both the setups, static and dynamic tests are performed, evaluating the different impact of partial and total marker occlusions. Marker occlusions significantly affected the system performances. The maximum measure variation reached 1.86 mm and 7.20 mm in static and dynamic conditions, respectively, both obtained in the case of partial occlusion. This systematic source of error is likely to affect gait measures: markers placed on the patient body are often visible only by half of the cameras, with swinging arms and legs providing moving occlusions. The maximum error observed in this study can potentially affect the kinematics outcomes of conventional gait models, particularly on frontal and coronal plane, and consequently the peak muscle forces estimated with musculoskeletal models.

The relationship between tibiofemoral geometry and musculoskeletal function during normal activity.

BACKGROUND: The effect of tibiofemoral geometry on musculoskeletal function is important to movement biomechanics. RESEARCH QUESTION: We hypothesised that tibiofemoral geometry determines tibiofemoral motion and musculoskeletal function. We then aimed at 1) modelling tibiofemoral motion during normal activity as a function of tibiofemoral geometry in healthy adults; and 2) quantifying the effect of tibiofemoral geometry on musculoskeletal function. METHODS: We used motion data for six activity types and CT images of the knee from 12 healthy adults. Geometrical variation of the tibia and femoral articular surfaces were measured in the CT images. The geometry-based tibiofemoral motion was calculated by fitting a parallel mechanism to geometrical variation in the cohort. Matched musculoskeletal models embedding the geometry-based tibiofemoral joint motion and a common generic tibiofemoral motion of reference were generated and used to calculate joint angles, net joint moments, muscle and joint forces for the six activities analysed. The tibiofemoral model was validated against bi-planar fluoroscopy measurements for walking for all the six planes of motion. The effect of tibiofemoral geometry on musculoskeletal function was the difference between the geometry-based model and the model of reference. RESULTS: The geometry-based tibiofemoral motion described the pattern and the variation during walking for all six motion components, except the pattern of anterior tibial translation. Tibiofemoral geometry had moderate effect on cohort-averages of musculoskeletal function (R2 = 0.60-1), although its effect was high in specific instances of the model, outputs and activities analysed, reaching 2.94 BW for the ankle reaction force during stair descent. In conclusion, tibiofemoral geometry is a major determinant of tibiofemoral motion during walking. SIGNIFICANCE: Geometrical variations of the tibiofemoral joint are important for studying musculoskeletal function during normal activity in specific individuals but not for studying cohort averages of musculoskeletal function. This finding expands current knowledge of movement biomechanics.

Relationship of Knee Forces to Subjective Function Pre- and Post-ACL Reconstruction.

PURPOSE: Although basic objective measures (e.g., knee laxity, strength, and hop tests) have been related to subjective measures of function, associations between knee-specific objective and subjective measures have yet to be completed. The objective was to determine if knee joint contact and ligament forces differ between pre- and post-anterior cruciate ligament (ACL) reconstructed states and if these forces relate to their patient's respective subjective functional ability scores. METHODS: Twelve patients performed a hopping task before and after reconstruction. Magnetic resonance images and OpenSim were used to develop patient-specific models in static optimization and joint reaction analyses. Questionnaires concerning each patient's subjective functional ability were also collected and correlated with knee joint contact and ligament forces. RESULTS: No significant differences were observed between deficient and reconstructed groups with respect to knee joint contact or ligament forces. Nevertheless, there were several significant (P < 0.05) moderate to strong correlations between subjective and objective measures including Tegner activity level to contact force in both states (r = 0.67-0.76) and International Knee Documentation Committee to compressive and anterior shear forces (r = 0.64-0.66). CONCLUSION: Knee-specific objective measures of a patient's functional capacity can represent their subjective ability, which explains this relationship to a greater extent than past anatomical and gross objective measures of function. This consolidation is imperative for improving the current rehabilitation schema as it allows for external validation of objective and subjective functional measures. With poor validation of subjective function against objective measures of function, the reinjury rate is unlikely to diminish, continuing the heavy financial burden on health care systems.

Effect of implementing magnetic resonance imaging for patient-specific OpenSim models on lower-body kinematics and knee ligament lengths.

BACKGROUND: OpenSim models are typically based on cadaver findings that are generalized to represent a wide range of populations, which curbs their validity. Patient-specific modelling through incorporating magnetic resonance imaging (MRI) improves the model's biofidelity with respect to joint alignment and articulations, muscle wrapping, and ligament insertions. The purpose of this study was to determine if the inclusion of an MRI-based knee model would elicit differences in lower limb kinematics and resulting knee ligament lengths during a side cut task. METHODS: Eleven participants were analyzed with the popular Rajagopal OpenSim model, two variations of the same model to include three and six degrees of freedom knee (DOF), and a fourth version featuring a four DOF MRI-based knee model. These four models were used in an inverse kinematics analysis of a side cut task and the resulting lower limb kinematics and knee ligament lengths were analyzed. RESULTS: The MRI-based model was more responsive to the movement task than the original Rajagopal model while less susceptible to soft tissue artifact than the unconstrained six DOF model. Ligament isometry was greatest in the original Rajagopal model and smallest in the six DOF model. CONCLUSIONS: When using musculoskeletal modelling software, one must acutely consider the model choice as the resulting kinematics and ligament lengths are dependent on this decision. The MRI-based knee model is responsive to the kinematics and ligament lengths of highly dynamic tasks and may prove to be the most valid option for continuing with late-stage modelling operations such as static optimization.

Computational evaluation of TKR stability using feedback-controlled compressive loading.

Pre-clinical assessment of stability in total knee replacement is crucial for developing preferred implant performance. Current total knee replacement patients often experience joint instability that the human body addresses with compensatory strategies. Specifically, an increased quadriceps-hamstrings co-contraction serves to increase joint stability through an increased compressive force across the tibiofemoral joint. The aim of this study is to introduce a novel method to evaluate total knee replacement by determining the compressive loading required to achieve natural knee stability. Four current total knee replacement geometries in both their cruciate-retaining and posterior-stabilized forms are modeled in a finite-element framework. The finite-element model is initially validated experimentally using traditional knee laxity testing with a constant compressive load and anterior-posterior displacement or internal-external rotation. Model predictions of constraint are in reasonable agreement with experimental results (average root mean square errors: 0.46 Nm, 62.5 N). The finite-element model is subsequently interfaced with a feedback controller to vary the compressive force that the implant requires in order to match experimental natural knee internal-external and anterior-posterior stability at different flexion angles. Results show that the lower constraint total knee replacement designs require on average 66.7% more compressive load than the higher constraint designs to achieve natural knee constraint. As expected, total knee replacement stability and compressive load requirements to replicate natural kinematics vary with inclusion of tibiofemoral ligaments. The current study represents a novel approach to evaluate stability in existing total knee replacement geometries and to design implants that better restore natural knee mechanics. © 2018 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 36:1901-1909, 2018.

Kinematic models of lower limb joints for musculo-skeletal modelling and optimization in gait analysis.

Kinematic models of lower limb joints have several potential applications in musculoskeletal modelling of the locomotion apparatus, including the reproduction of the natural joint motion. These models have recently revealed their value also for in vivo motion analysis experiments, where the soft-tissue artefact is a critical known problem. This arises at the interface between the skin markers and the underlying bone, and can be reduced by defining multibody kinematic models of the lower limb and by running optimization processes aimed at obtaining estimates of position and orientation of relevant bones. With respect to standard methods based on the separate optimization of each single body segment, this technique makes it also possible to respect joint kinematic constraints. Whereas the hip joint is traditionally assumed as a 3 degrees of freedom ball and socket articulation, many previous studies have proposed a number of different kinematic models for the knee and ankle joints. Some of these are rigid, while others have compliant elements. Some models have clear anatomical correspondences and include real joint constraints; other models are more kinematically oriented, these being mainly aimed at reproducing joint kinematics. This paper provides a critical review of the kinematic models reported in literature for the major lower limb joints and used for the reduction of soft-tissue artefact. Advantages and disadvantages of these models are discussed, considering their anatomical significance, accuracy of predictions, computational costs, feasibility of personalization, and other features. Their use in the optimization process is also addressed, both in normal and pathological subjects.

Articular contact at the tibiotalar joint in passive flexion.

The knowledge of the contact areas at the tibiotalar articulating surfaces during passive flexion is fundamental for the understanding of ankle joint mobility. Traditional contact area reports are limited by the invasive measuring techniques used and by the complicated loading conditions applied. In the present study, passive flexion tests were performed on three anatomical preparations from lower leg amputation. Roentgen Stereophotogrammetric Analysis was used to accurately reconstruct the position of the tibia and the talus at a number of unconstrained flexion positions. A large number of points was collected on the surface of the tibial mortise and on the trochlea tali by a 3-D digitiser. Articular surfaces were modelled by thin plate splines approximating these points. Relative positions of these surfaces in all the flexion positions were obtained from corresponding bone position data. A distance threshold was chosen to define contact areas. A consistent pattern of contact was found on the articulating surfaces. The area moved anteriorly on both articular surfaces with dorsiflexion. The average position of the contact area centroid along the tibial mortise at maximum plantarflexion and at maximum dorsiflexion was respectively 58% posterior and 40% anterior of the entire antero-posterior length. For increasing dorsiflexion, the contact area moved from medial to lateral in all the specimens.

Joint kinematics from functional adaptation: A validation on the tibio-talar articulation.

Biologic tissues respond to the biomechanical conditions to which they are exposed by modifying their architecture. Experimental evidence from the literature suggests that the aim of this process is the mechanical optimization of the tissues (functional adaptation). In particular, this process must produce articular surfaces that, in physiological working conditions, optimize the contact load distribution or, equivalently, maximize the joint congruence. It is thus possible to identify the space of adapted joint configurations (or adapted space of motion) starting solely from knowledge of the shape of the articular surfaces, by determining the envelope of the maximum congruence configurations. The aim of this work was to validate this hypothesis by testing its application on 10 human ankle joints. Digitalizations of articular surfaces were acquired in 10 in-vitro experimental sessions, together with the natural passive tibio-talar motion, which may be considered as representative of the adapted space of motion. This latter was predicted numerically by optimizing the joint congruence. The highest mean absolute errors between each component of predicted and experimental motion were 2.07° and 2.29 mm respectively for the three rotations and translations. The present kinematic model replicated the experimentally observed motion well, providing a reliable subject-specific representation of the joint motion starting solely from articulating surface shapes.

Validation of a multi-body optimization with knee kinematic models including ligament constraints.

Motion analysis aims at evaluating the joint kinematics but the relative movement between the bones and the skin markers, known as soft tissue artifact (STA), introduces large errors. Multi-body optimization (MBO) methods were proposed to compensate for the STA. However, the validation of the MBO methods using no or simple kinematic constraints (e.g., spherical joint) demonstrated inaccurate in vivo kinematics. Anatomical constraints were introduced in MBO methods and various ligament constraints were proposed in the literature. The validation of these methods has not been performed yet. The objective of this study was to validate, against in vivo knee joint kinematics measured by intra-cortical pins on three subjects, the model-based kinematics obtained by MBO methods using three different types of ligament constraints. The MBO method introducing minimized or prescribed ligament length variations showed some improvements in the estimation of knee kinematics when compared to no kinematic constraints, to degree-of-freedom (DoF) coupling curves, and to null ligament length variations. However, the improvements were marginal when compared to spherical constraints. The errors obtained by minimized and prescribed ligament length variations were below 2.5° and 4.1mm for the joint angles and displacements while the errors obtained with spherical joint constraints were below 2.2° and 3.1mm. These errors are generally lower than the errors previously reported in the literature. As a conclusion, this study presented encouraging results for the compensation of the STA by MBO and for the introduction of anatomical constraints in MBO. Personalization of the geometry should be considered for further improvements.

An EMG-Controlled Robotic Hand Exoskeleton for Bilateral Rehabilitation.

This paper presents a novel electromyography (EMG)-driven hand exoskeleton for bilateral rehabilitation of grasping in stroke. The developed hand exoskeleton was designed with two distinctive features: (a) kinematics with intrinsic adaptability to patient's hand size, and (b) free-palm and free-fingertip design, preserving the residual sensory perceptual capability of touch during assistance in grasping of real objects. In the envisaged bilateral training strategy, the patient's non paretic hand acted as guidance for the paretic hand in grasping tasks. Grasping force exerted by the non paretic hand was estimated in real-time from EMG signals, and then replicated as robotic assistance for the paretic hand by means of the hand-exoskeleton. Estimation of the grasping force through EMG allowed to perform rehabilitation exercises with any, non sensorized, graspable objects. This paper presents the system design, development, and experimental evaluation. Experiments were performed within a group of six healthy subjects and two chronic stroke patients, executing robotic-assisted grasping tasks. Results related to performance in estimation and modulation of the robotic assistance, and to the outcomes of the pilot rehabilitation sessions with stroke patients, positively support validity of the proposed approach for application in stroke rehabilitation.

A sound and efficient measure of joint congruence.

In the medical world, the term "congruence" is used to describe by visual inspection how the articular surfaces mate each other, evaluating the joint capability to distribute an applied load from a purely geometrical perspective. Congruence is commonly employed for assessing articular physiology and for the comparison between normal and pathological states. A measure of it would thus represent a valuable clinical tool. Several approaches for the quantification of joint congruence have been proposed in the biomechanical literature, differing on how the articular contact is modeled. This makes it difficult to compare different measures. In particular, in previous articles a congruence measure has been presented which proved to be efficient and suitable for the clinical practice, but it was still empirically defined. This article aims at providing a sound theoretical support to this congruence measure by means of the Winkler elastic foundation contact model which, with respect to others, has the advantage to hold also for highly conforming surfaces as most of the human articulations are. First, the geometrical relation between the applied load and the resulting peak of pressure is analytically derived from the elastic foundation contact model, providing a theoretically sound approach to the definition of a congruence measure. Then, the capability of congruence measure to capture the same geometrical relation is shown. Finally, the reliability of congruence measure is discussed.

Is early osteoarthritis associated with differences in joint congruence?

Previous studies suggest that osteoarthritis (OA) is related to abnormal or excessive articular contact stress. The peak pressure resulting from an applied load is determined by many factors, among which is shape and relative position and orientation of the articulating surfaces or, referring to a more common nomenclature, joint congruence. It has been hypothesized that anatomical differences may be among the causes of OA. Individuals with less congruent joints would likely develop higher peak pressure and thus would be more exposed to the risk of OA onset. The aim of this work was to determine if the congruence of the first carpometacarpal (CMC) joint differs with the early onset of OA or with sex, as the female population has a higher incidence of OA. 59 without and 38 with early OA were CT-scanned with their dominant or arthritic hand in a neutral configuration. The proposed measure of joint congruence is both shape and size dependent. The correlation of joint congruence with pathology and sex was analyzed both before and after normalization for joint size. We found a significant correlation between joint congruence and sex due to the sex-related differences in size. The observed correlation disappeared after normalization. Although joint congruence increased with size, it did not correlate significantly with the onset of early OA. Differences in joint congruence in this population may not be a primary cause of OA onset or predisposition, at least for the CMC joint.

One-degree-of-freedom spherical model for the passive motion of the human ankle joint.

Mathematical modelling of mobility at the human ankle joint is essential for prosthetics and orthotic design. The scope of this study is to show that the ankle joint passive motion can be represented by a one-degree-of-freedom spherical motion. Moreover, this motion is modelled by a one-degree-of-freedom spherical parallel mechanism model, and the optimal pivot-point position is determined. Passive motion and anatomical data were taken from in vitro experiments in nine lower limb specimens. For each of these, a spherical mechanism, including the tibiofibular and talocalcaneal segments connected by a spherical pair and by the calcaneofibular and tibiocalcaneal ligament links, was defined from the corresponding experimental kinematics and geometry. An iterative procedure was used to optimize the geometry of the model, able to predict original experimental motion. The results of the simulations showed a good replication of the original natural motion, despite the numerous model assumptions and simplifications, with mean differences between experiments and predictions smaller than 1.3 mm (average 0.33 mm) for the three joint position components and smaller than 0.7° (average 0.32°) for the two out-of-sagittal plane rotations, once plotted versus the full flexion arc. The relevant pivot-point position after model optimization was found within the tibial mortise, but not exactly in a central location. The present combined experimental and modelling analysis of passive motion at the human ankle joint shows that a one degree-of-freedom spherical mechanism predicts well what is observed in real joints, although its computational complexity is comparable to the standard hinge joint model.

Benign clinical significance of J-wave pattern (early repolarization) in highly trained athletes.

BACKGROUND: J wave/QRS slurring (early repolarization) on 12-lead ECG has been associated with increased risk for ventricular fibrillation in the absence of cardiovascular (CV) disease. OBJECTIVE: The purpose of this study was to assess the prevalence and clinical significance of J wave/QRS slurring in a large population of competitive athletes. METHODS: Seven hundred four athletes (436 males [62%], age 25 ± 5 years) free of CV disease who had engaged in 30 different sports were examined. Serial clinical, ECG, and echocardiographic evaluations were available over 1 to 18 years of follow-up (mean 6 ± 4 years). RESULTS: J wave was found in 102 athletes (14%) and was associated with QRS slurring in 32 (4%). It was found most commonly in anterior, lateral, and inferior leads (n = 73 [72%]), occasionally in lateral leads (n = 26 [25%]), and rarely in inferior leads (n = 3 [3%]). Most of 102 athletes (n = 86 [84%]) also showed ST-segment elevation. J wave/QRS slurring was associated with other training-related ECG changes (ie, increased R/S-wave voltages in 76%) and left ventricular (LV) morphologic remodeling (LV mass 199 ± 48 g vs 188 ± 56 g, P <.05). During follow-up, no athlete with J wave experienced cardiac event or ventricular tachyarrhythmias, or developed structural CV disease. CONCLUSION: In athletes, early repolarization pattern usually is associated with other ECG changes, such as increased QRS voltages and ST-segment elevation, as well as LV remodeling, suggesting that it likely represents another benign expression of the physiologic athlete's heart. J wave (early repolarization) is common in highly trained athletes and does not convey risk for adverse cardiac events, including sudden death or tachyarrhythmias.

Strip-driven devices for the spatial motion guidance of human joints.

Orthoses and exoskeletons need devices that can replicate the natural spatial motion of human joints. These devices should be simple and should have a high accuracy, in order not to constrain and load the joints unnaturally. In this study, strip-driven devices are proposed to guide the spatial joint motion. Classic planar devices are generalized to obtain rolling without slipping between two ruled surfaces. The special case of spherical motion is presented and analysed in details. The influence of several design parameters on the kinematic and static behaviour of these devices is also presented.

Preliminary results of BRAVO project: brain computer interfaces for Robotic enhanced Action in Visuo-motOr tasks.

This paper presents the preliminary results of the project BRAVO (Brain computer interfaces for Robotic enhanced Action in Visuo-motOr tasks). The objective of this project is to define a new approach to the development of assistive and rehabilitative robots for motor impaired users to perform complex visuomotor tasks that require a sequence of reaches, grasps and manipulations of objects. BRAVO aims at developing new robotic interfaces and HW/SW architectures for rehabilitation and regain/restoration of motor function in patients with upper limb sensorimotor impairment through extensive rehabilitation therapy and active assistance in the execution of Activities of Daily Living. The final system developed within this project will include a robotic arm exoskeleton and a hand orthosis that will be integrated together for providing force assistance. The main novelty that BRAVO introduces is the control of the robotic assistive device through the active prediction of intention/action. The system will actually integrate the information about the movement carried out by the user with a prediction of the performed action through an interpretation of current gaze of the user (measured through eye-tracking), brain activation (measured through BCI) and force sensor measurements.