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ACANTO: A CyberphysicAl social NeTwOrk using robot friends

Total Cost €


EC-Contrib. €






 ACANTO project word cloud

Explore the words cloud of the ACANTO project. It provides you a very rough idea of what is the project "ACANTO" about.

innovative    situations    offers    mental    fripad    toward    executed    services    designed    risk    context    circles    connection    recognised    creates    actions    monitoring    combined    acanto    created    personal    computing    prescriptions    collect    permanent    phases    preferred    familiar    walker    opportunity    reliance    basis    power    group    validation    training    abate    despite    cognitive    profile    motion    thanks    robotic    friwalk    pinpointing    emotional    revisits    barriers    interface    regular    older    living    community    environment    navigation    compelling    healthy    trainer    recommendation    robot    profiles    combines    assistants    contribution    adults    friwalks    proposes    network    interconnect    day    coordinated    observations    enter    behaviours    relatives    cloud    physical    cyberphysical    supports    notion    therapists    secured    engage    vehicle    recommendations    consolidated    matched    walking    extensive    receive    cpsn    assisted    social    generate    benefits    operates    tablet    gateway   

Project "ACANTO" data sheet

The following table provides information about the project.


Organization address
address: VIA CALEPINA 14
city: TRENTO
postcode: 38122

contact info
title: n.a.
name: n.a.
surname: n.a.
function: n.a.
email: n.a.
telephone: n.a.
fax: n.a.

 Coordinator Country Italy [IT]
 Project website
 Total cost 4˙295˙755 €
 EC max contribution 4˙295˙755 € (100%)
 Programme 1. H2020-EU.3.1.4. (Active ageing and self-management of health)
 Code Call H2020-PHC-2014-single-stage
 Funding Scheme RIA
 Starting year 2015
 Duration (year-month-day) from 2015-02-01   to  2018-07-31


Take a look of project's partnership.

# participants  country  role  EC contrib. [€] 
1    UNIVERSITA DEGLI STUDI DI TRENTO IT (TRENTO) coordinator 1˙115˙593.00
4    ATOS SPAIN SA ES (MADRID) participant 444˙000.00
5    UNIVERSITA DEGLI STUDI DI SIENA IT (SIENA) participant 358˙750.00
8    SERVICIO MADRILENO DE SALUD ES (MADRID) participant 294˙582.00
9    TELECOM ITALIA SPA IT (MILANO) participant 290˙625.00


 Project objective

'Despite its recognised benefits, most older adults do not engage in a regular physical activity. The ACANTO project proposes a friendly robot walker (the FriWalk) that will abate a some of the most important barriers to this healthy behaviour. The FriWalk revisits the notion of robotic walking assistants and evolves it towards an activity vehicle. The execution of a programme of physical training is embedded within familiar and compelling every-day activities. The FriWalk operates as a personal trainer triggering the user actions and monitoring their impact on the physical and mental well-being. It offers cognitive and emotional support for navigation pinpointing risk situations in the environment and understanding the social context. It supports coordinated motion with other FriWalks for group activities. The FriWalk combines low cost and advanced features, thanks to its reliance on a cloud of services that increase its computing power and interconnect it to other assisted living devices. Very innovative is its ability to collect observations on the user preferred behaviours, which are consolidated in a user profile and used for recommendation of future activities. In this way, the FriWalk operates as a gateway toward a CyberPhysical Social Network (CPSN), which is an important contribution of the project. The CPSN is at the basis of a recommendation system in which users' profiles are created, combined into 'circles' and matched with the opportunity offered by the environment to generate recommendations for activities to be executed with the FriWalk support. The permanent connection between users and CPSN is secured by the FriPad, a tablet with a specifically designed user interface. The CPSN creates a community of users, relatives and therapists, who can enter prescriptions on the user and receive information on her/his state. Users are involved in a large number in all the phases of the system development and an extensive validation is carried out at the end.'


List of deliverables.
D1.3.2 User requirements refinement report Documents, reports 2019-10-11 14:45:56
D4.3.2 User communities creations based on user’s profile matching (dynamic and adaptive profile) Documents, reports 2019-10-11 14:45:56
D9.1.2 Second annual dissemination report Documents, reports 2019-10-11 14:45:56
D6.3 Algorithms for cutaneous feedback and wearable haptics Documents, reports 2019-10-11 14:45:56
D4.1.2 User profile repository Demonstrators, pilots, prototypes 2019-10-11 14:45:56
D4.4.2 Social activity recommendations Documents, reports 2019-10-11 14:45:56
D5.3.2 Activity monitor Documents, reports 2019-10-11 14:45:56
D2.2.2 User, activity and environmental description Documents, reports 2019-10-11 14:45:56
D2.1.2 Human motion models Documents, reports 2019-10-11 14:45:56
D5.2.2 Activity planning Documents, reports 2019-10-11 14:45:56
D4.2.2 Social activity repository Demonstrators, pilots, prototypes 2019-10-11 14:45:56
D4.5 Social activity monitor Documents, reports 2019-10-11 14:45:56
D3.1.2 User state modeling and collaborative platform localization Documents, reports 2019-10-11 14:45:56
D5.1.2 Reactive planning Documents, reports 2019-10-11 14:45:56
D2.3.2 Activity plans representation Documents, reports 2019-10-11 14:45:56
D8.2 Clinical validation plan Documents, reports 2019-10-11 14:45:56
D7.3.2 Real–Time components for the cloud Documents, reports 2019-10-11 14:45:55
D1.4.1 Design Workshop Report Documents, reports 2019-10-11 14:45:55
D8.3.1 Midterm clinical validation report Documents, reports 2019-10-11 14:45:55
D3.4 Integration of contextual information Documents, reports 2019-10-11 14:45:55
D3.3.2 Interpreting the social context (final) Documents, reports 2019-10-11 14:45:55
D9.3.2 Communication activities Websites, patent fillings, videos etc. 2019-10-11 14:45:55
D9.1.3 Final dissemination report Documents, reports 2019-10-11 14:45:55
D3.2.2 Perception of the Environment (final) Documents, reports 2019-10-11 14:45:54
D8.3.2 Final clinical validation report Documents, reports 2019-10-11 14:45:55
D1.4.3 Summative Evaluation Report Documents, reports 2019-10-11 14:45:54
D1.4.2 Prototype Evaluation Report Documents, reports 2019-10-11 14:45:55
D8.4 Technical report of the clinical validation Documents, reports 2019-10-11 14:45:55
D1.2.4 Longitudinal tracking report Documents, reports 2019-10-11 14:45:54
D5.1.1 User reactive planning Documents, reports 2019-10-11 14:45:54
D3.1.1 User perception and platform localisation Documents, reports 2019-10-11 14:45:54
D9.3.1 Website Websites, patent fillings, videos etc. 2019-10-11 14:45:54
D1.2.2 Motivation and Persuasion report Documents, reports 2019-10-11 14:45:54
D4.3.1 User communities creations based on user’s profile matching (static profile) Documents, reports 2019-10-11 14:45:54
D10.1.3: Data management plan Documents, reports 2019-10-11 14:45:54
D 1.1. Privacy Report Documents, reports 2019-10-11 14:45:54
D10.1.1 Project presentation brochure Websites, patent fillings, videos etc. 2019-10-11 14:45:54
D1.3.1 User requirements Documents, reports 2019-10-11 14:45:54
D9.1.1 First annual dissemination report Documents, reports 2019-10-11 14:45:54
D7.1 Software interfaces Documents, reports 2019-10-11 14:45:54

Take a look to the deliverables list in detail:  detailed list of ACANTO deliverables.


year authors and title journal last update
List of publications.
2018 Bernardo Villalba Frías, Luigi Palopoli, Luca Abeni, Daniele Fontanelli
The PROSIT tool: Toward the optimal design of probabilistic soft real-time systems
published pages: , ISSN: 0038-0644, DOI: 10.1002/spe.2604
Software: Practice and Experience 2019-10-11
2017 Stefano Scheggi, Marco Aggravi, Domenico Prattichizzo
Cooperative Navigation for Mixed Human–Robot Teams Using Haptic Feedback
published pages: 1-12, ISSN: 2168-2291, DOI: 10.1109/THMS.2016.2608936
IEEE Transactions on Human-Machine Systems 2019-10-11
2018 M. Andreetto, P. Bevilacqua, S. Divan, D. Fontanelli, D. Macii, V. Magnago, L. Palopoli, F. Zenatti
Characterization of sensors for smart walker indoor localization
published pages: , ISSN: , DOI:
2015 Alessio Colombo, Daniele Fontanelli, Axel Legay, Luigi Palopoli, Sean Sedwards
Efficient customisable dynamic motion planning for assistive robots in complex human environments
published pages: 617-634, ISSN: 1876-1364, DOI: 10.3233/AIS-150338
Journal of Ambient Intelligence and Smart Environments 7/5 2019-10-11
2016 Yan Yan, Elisa Ricci, Ramanathan Subramanian, Gaowen Liu, Oswald Lanz, Nicu Sebe
A Multi-Task Learning Framework for Head Pose Estimation under Target Motion
published pages: 1070-1083, ISSN: 0162-8828, DOI: 10.1109/TPAMI.2015.2477843
IEEE Transactions on Pattern Analysis and Machine Intelligence 38/6 2019-10-11
2018 S. Catalano
Development of a pick-up system for a robotic walker
published pages: , ISSN: , DOI:
2018 Valdés-Aragonés. M, Moreno P.A, Pérez-Rodríguez. R, Oviedo-Briones M, Walter. S , García-Grossocordon. N , Rodríguez-Mañas. L.
ACANTO Project: recruitment description on elderly admitted into Geriatrics departments through the use of a robotic friendly walker.
published pages: , ISSN: 1878-7657, DOI:
European Geriatric Medicine 2019-10-11
2016 P. Panteleris and A.A. Argyros, In
Monitoring and Interpreting Human Motion to Support Clinical Applications of a Smart Walker
published pages: , ISSN: , DOI:
2015 F. Moro, D. Fontanelli, R. Passerone, D. Prattichizzo, L. Rizzon, S. Scheggi, S. Targher, A. De Angeli and L. Palopoli
Follow, listen, feel and go: alternative guidance systems for a walking assistance device
published pages: , ISSN: , DOI:
2017 Michela Cozza, Antonella De Angeli, Linda Tonolli
Ubiquitous technologies for older people
published pages: , ISSN: 1617-4909, DOI: 10.1007/s00779-017-1003-7
Personal and Ubiquitous Computing 2019-10-11
2018 M. Frego and E. Bertolazzi
On the distance between a point and a clothoid curve
published pages: , ISSN: , DOI:
2017 M. Rodas Britez, M. Marchese, L. Cernuzzi
Towards a Social and Physical Activities Recommendation System for Active Ageing
published pages: , ISSN: , DOI:
2016 Luca Rizzon, Federico Moro, Roberto Passerone, David Macii, Daniele Fontanelli, Payam Nazemzadeh, Michele Corrà, Luigi Palopoli, Domenico Prattichizzo
c-Walker: A Cyber-Physical System for Ambient Assisted Living
published pages: 75-82, ISSN: , DOI: 10.1007/978-3-319-20227-3_10
2018 Marco Andreetto, Paolo Bevilacqua, Stefano Divan, Daniele Fontanelli, David Macii, Valerio Magnago, Luigi Palopoli, Fabiano Zenatti
Ruling the Control Authority of a Service Robot based on Information Precision
published pages: , ISSN: , DOI:
2018 Paolo Bevilacqua, Marco Frego, Daniele Fontanelli, Luigi Palopoli
Reactive Planning for Assistive Robots
published pages: 1276-1283, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2795642
IEEE Robotics and Automation Letters 3/2 2019-10-11
2018 C. Panagiotakis, G. Karvounas and A.A. Argyros
Unsupervised Detection of Periodic Segments in Videos
published pages: , ISSN: , DOI:
2018 M. Rodas Britez, D. Lissoni, M. Marchese
An evaluation framework for groups’ clustering algorithms in social networks. The use case of a Meetup dataset of older adults
published pages: , ISSN: 1016-2364, DOI:
Journal of Information Science and Engineering 2019-10-11
2018 Marco Andreetto, Stefano Divan, Francesco Ferrari, Daniele Fontanelli, Luigi Palopoli, Fabiano Zenatti
Simulating Passivity for Robotic Walkers via Authority-Sharing
published pages: 1306-1313, ISSN: 2377-3766, DOI: 10.1109/LRA.2018.2797321
IEEE Robotics and Automation Letters 3/2 2019-10-11
2017 Dan Xu, Yan Yan, Elisa Ricci, Nicu Sebe
Detecting anomalous events in videos by learning deep representations of appearance and motion
published pages: 117-127, ISSN: 1077-3142, DOI: 10.1016/j.cviu.2016.10.010
Computer Vision and Image Understanding 156 2019-10-11
2017 Francesco Farina, Daniele Fontanelli, Andrea Garulli, Antonio Giannitrapani, Domenico Prattichizzo
Walking Ahead: The Headed Social Force Model
published pages: e0169734, ISSN: 1932-6203, DOI: 10.1371/journal.pone.0169734
PLOS ONE 12/1 2019-10-11
2016 Luigi Palopoli, Daniele Fontanelli, Luca Abeni, Bernardo Villalba Frias
An Analytical Solution for Probabilistic Guarantees of Reservation Based Soft Real-Time Systems
published pages: 640-653, ISSN: 1045-9219, DOI: 10.1109/TPDS.2015.2416732
IEEE Transactions on Parallel and Distributed Systems 27/3 2019-10-11
2018 Farina, Francesco; Garulli, Andrea; Giannitrapani, Antonio
Distributed interpolatory algorithms for set membership estimation
published pages: , ISSN: , DOI:
1 2019-10-11
2016 Lynne Coventry, Pam Briggs
Mobile Technology for Older Adults: Protector, Motivator or Threat?
published pages: 424-434, ISSN: , DOI: 10.1007/978-3-319-39943-0_41
2018 M. Frego and P. Bevilacqua and E. Bertolazzi and F. Biral and D. Fontanelli and L. Palopoli
Efficient Re-planning for Robotic Cars
published pages: , ISSN: , DOI:
2017 M. Valdés Aragonés, P.A. Moreno, R. Pérez-Rodríguez, L. Rodríguez-Mañas
ACANTO: a robotic friendly walker
published pages: , ISSN: 1878-7649, DOI:
European Geriatric Medicine 2019-10-11
2018 Valdés-Aragonés. M, Pérez-Rodríguez. R, Oviedo-Briones M, Moreno P.A, S. Walter , N. García-Grossocordon , L. Rodríguez-Mañas
ACANTO Project: Short Physical Performance Battery evaluation after intervention with a Friendly Robotic Walker (FriWalk) during admission in Acute Care Unit and Orthogeriatrics Unit.
published pages: , ISSN: 1878-7657, DOI:
European Geriatric Medicine 2019-10-11
2016 Dimitrios Kosmopoulos, Konstantinos Papoutsakis, Antonis Argyros
A framework for online segmentation and classification of modeled actions performed in the context of unmodeled ones
published pages: 1-1, ISSN: 1051-8215, DOI: 10.1109/TCSVT.2016.2589678
IEEE Transactions on Circuits and Systems for Video Technology 2019-10-11
2018 Costas Panagiotakis, Konstantinos Papoutsakis, Antonis Argyros
A graph-based approach for detecting common actions in motion capture data and videos
published pages: 1-11, ISSN: 0031-3203, DOI: 10.1016/j.patcog.2018.02.001
Pattern Recognition 79 2019-10-11
2018 A. Antonucci and D. Fontanelli
Towards a Predictive Behavioural Model for Service Robots in Shared Environments
published pages: , ISSN: , DOI:
2018 Tommaso Lisini Baldi, Stefano Scheggi, Marco Aggravi, Domenico Prattichizzo
Haptic Guidance in Dynamic Environments Using Optimal Reciprocal Collision Avoidance
published pages: 265-272, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2738328
IEEE Robotics and Automation Letters 3/1 2019-10-11
2017 Marco Andreetto, Stefano Divan, Daniele Fontanelli, Luigi Palopoli
Path Following With Authority Sharing Between Humans and Passive Robotic Walkers Equipped With Low-Cost Actuators
published pages: 2271-2278, ISSN: 2377-3766, DOI: 10.1109/LRA.2017.2724772
IEEE Robotics and Automation Letters 2/4 2019-10-11
2017 Payam Nazemzadeh, Daniele Fontanelli, David Macii, Luigi Palopoli
Indoor Localization of Mobile Robots Through QR Code Detection and Dead Reckoning Data Fusion
published pages: 2588-2599, ISSN: 1083-4435, DOI: 10.1109/TMECH.2017.2762598
IEEE/ASME Transactions on Mechatronics 22/6 2019-10-11
2016 McNeill, A. & Coventry, L.
Even in a group I’ll not tell them all”: Understanding privacy concerns of older adults for designing online social networks
published pages: , ISSN: 1861-4280, DOI:
International Reports on Socio-Informatics (IRSI) 2019-10-11
2016 Xavier Alameda-Pineda, Jacopo Staiano, Ramanathan Subramanian, Ligia Batrinca, Elisa Ricci, Bruno Lepri, Oswald Lanz, Nicu Sebe
SALSA: A Novel Dataset for Multimodal Group Behavior Analysis
published pages: 1707-1720, ISSN: 0162-8828, DOI: 10.1109/TPAMI.2015.2496269
IEEE Transactions on Pattern Analysis and Machine Intelligence 38/8 2019-10-11
2018 Tommaso Lisini Baldi, Gianluca Paolocci, Domenico Prattichizzo
Human Guidance: Suggesting Walking Pace Under Manual and Cognitive Load
published pages: 416-427, ISSN: , DOI: 10.1007/978-3-319-93399-3_36
2018 Enrico Bertolazzi, Marco Frego
On the G 2 Hermite Interpolation Problem with clothoids
published pages: 99-116, ISSN: 0377-0427, DOI: 10.1016/
Journal of Computational and Applied Mathematics 341 2019-10-11

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