A RobotMediated Assessment of Tinetti Balance scale for Sarcopenia Evaluation in Frail Elderly* Aging society is characterized by a high prevalence of sarcopenia, which is considered one of the most common health problems of the elderly population. Sarcopenia is due to the agerelated loss of muscle mass and muscle strength. Recent literature findings highlight that the Tinetti Balance Assessment (TBA) scale is used to assess the sarcopenia in elderly people. In this context, this article proposes a model for sarcopenia assessment that is able to provide a quantitative assessment of TBAgait motor parameters by means of a cloud robotics approach. The proposed system is composed of cloud resources, an assistive robot namely ASTRO and two inertial wearable sensors. Particularly, data from two inertial sensors (i.e., accelerometers and gyroscopes), placed on the patientxe2x80x99s feet, and data from ASTRO laser sensor (position in the environment) were analyzed and combined to propose a set of motor features correspondent to the TBA gait domains. The system was preliminarily tested at the hospital of xe2x80x9cFondazione Casa Sollievo della Sofferenzaxe2x80x9d in Italy. The preliminary results suggest that the extracted set of features is able to describe the motor performance. In the future, these parameters could be used to support the clinicians in the assessment of sarcopenia, to monitoring the motor parameters over time and to propose personalized careplan.

HumanintheLoop Assessment of an Ultralight, LowCost Body Posture Tracking Device In rehabilitation, assistive and space robotics, the capability to track the body posture of a user in real time is highly desirable. In more specific cases, such as teleoperated extravehicular activity, prosthetics and home service robotics, the ideal posturetracking device must also be wearable, light and lowpower, while still enforcing the best possible accuracy. Additionally, the device must be targeted at effective humanmachine interaction. In this paper, we present and test such a device based upon commercial inertial measurement units: it weighs 575 grams in total, lasts up to 10.5 hours of continual operation, can be donned and doffed in under a minute and costs less than 290 EUR. We assess the attainable performance in terms of error in an online trajectorytracking task in Virtual Reality using the device through an experiment involving 10 subjects, showing that an average user can attain a precision of 0.66 cm during a static precision task and 6.33 cm while tracking a moving trajectory, when tested in the full peripersonal space of a user.