{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,27]],"date-time":"2026-02-27T03:36:45Z","timestamp":1772163405643,"version":"3.50.1"},"reference-count":55,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2023,5,6]],"date-time":"2023-05-06T00:00:00Z","timestamp":1683331200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Italian National Institute for Insurance against Accidents at Work","award":["PR19-PAI-P2"],"award-info":[{"award-number":["PR19-PAI-P2"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Recent years have witnessed relevant advancements in the quality of life of persons with lower limb amputations thanks to the technological developments in prosthetics. However, prostheses that provide information about the foot\u2013ground interaction, and in particular about terrain irregularities, are still missing on the market. The lack of tactile feedback from the foot sole might lead subjects to step on uneven terrains, causing an increase in the risk of falling. To address this issue, a biomimetic vibrotactile feedback system that conveys information about gait and terrain features sensed by a dedicated insole has been assessed with intact subjects. After having shortly experienced both even and uneven terrains, the recruited subjects discriminated them with an accuracy of 87.5%, solely relying on the replay of the vibrotactile feedback. With the objective of exploring the human decoding mechanism of the feedback startegy, a KNN classifier was trained to recognize the uneven terrains. The outcome suggested that the subjects achieved such performance with a temporal dynamics of 45 ms. This work is a leap forward to assist lower-limb amputees to appreciate the floor conditions while walking, adapt their gait and promote a more confident use of their artificial limb.<\/jats:p>","DOI":"10.3390\/s23094521","type":"journal-article","created":{"date-parts":[[2023,5,8]],"date-time":"2023-05-08T02:29:22Z","timestamp":1683512962000},"page":"4521","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["Uneven Terrain Recognition Using Neuromorphic Haptic Feedback"],"prefix":"10.3390","volume":"23","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-7339-5099","authenticated-orcid":false,"given":"Sahana","family":"Prasanna","sequence":"first","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Jessica","family":"D\u2019Abbraccio","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-3365-7725","authenticated-orcid":false,"given":"Mariangela","family":"Filosa","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Interdisciplinary Research Center Health Science, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Davide","family":"Ferraro","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Ilaria","family":"Cesini","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8274-2117","authenticated-orcid":false,"given":"Giacomo","family":"Spigler","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Andrea","family":"Aliperta","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Filippo","family":"Dell\u2019Agnello","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"given":"Angelo","family":"Davalli","sequence":"additional","affiliation":[{"name":"Centro Protesi INAIL (Italian National Institute for Insurance against Accidents at Work), 40054 Budrio, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0732-8378","authenticated-orcid":false,"given":"Emanuele","family":"Gruppioni","sequence":"additional","affiliation":[{"name":"Centro Protesi INAIL (Italian National Institute for Insurance against Accidents at Work), 40054 Budrio, Italy"}]},{"given":"Simona","family":"Crea","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Interdisciplinary Research Center Health Science, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-8636-7716","authenticated-orcid":false,"given":"Nicola","family":"Vitiello","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Interdisciplinary Research Center Health Science, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"IRCCS Fondazione Don Carlo Gnocchi, 50143 Florence, Italy"}]},{"given":"Alberto","family":"Mazzoni","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1489-5701","authenticated-orcid":false,"given":"Calogero Maria","family":"Oddo","sequence":"additional","affiliation":[{"name":"The BioRobotics Institute, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Department of Excellence in Robotics & AI, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"},{"name":"Interdisciplinary Research Center Health Science, Sant\u2019Anna School of Advanced Studies, 56127 Pisa, Italy"}]}],"member":"1968","published-online":{"date-parts":[[2023,5,6]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1","DOI":"10.1080\/19424280.2011.653990","article-title":"Effects of changes in plantar sensory feedback on human gait characteristics: A systematic 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