Robotic devices for rehabilitation and training is a promising challenging research topic with potentially huge social impact. The availability of tools autonomously performing physiotherapy exercises increases their efficiency, provides supplementary information about results progress, reduces physiotherapists’ efforts the need physical presence during exercise sessions, encourages autonomy independence in people disabilities. Nevertheless, supportive technologies developed without inputs...

In this study, we present an efficient mathematical representation of soft robotic fingers based on screw theory. Then, show how the model and its main properties can be exploited in design phase, application for underactuated tendon-driven gripper with a modular structure, which joint stiffness values are defined to obtain desired equivalent kinematics manipulability at fingertips. A distribution through flexible parts is fundamental characterize overall behavior: The introduced enables...

This article investigates some aspects related to the design, modeling, prototyping, and testing of soft–rigid tendon-driven grippers. As a case study, we present design development two-finger soft gripper exploit it as an example demonstrate application scenario our mathematical model based on screw theory. A formulation theory is then presented dynamics. The proposed extension previously introduced including mechanical system In this type gripper, possible achieve different behaviors,...

The Fin-Ray principle, inspired by the physiology of fish rays, represents foundation a large number robotic devices. However, despite their popularity, there is not any <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">ad-hoc</i> theoretical model technique for analysis this family fingers. This lack main motivation presented work, which provides mathematical modeling, analysis, and prototyping closed-chain finger. In scenario, contribution...

Augmenting the human hand with robotic extra fingers is a cutting-edge research topic and has many potential applications, in particular as compensatory rehabilitation tool for patients upper limb impairments. Devices composed of two are preferred respect to single finger devices when reliable grasps, resistance external disturbances, higher payloads required. Underactuation compliance design choices that can reduce device complexity weight, maintaining adaptability different grasped...

In this paper, we introduce a set of guidelines for the design grippers suitable safe human robot/interaction in cooperative tasks. Modularity, adaptability, robustness, intuitive control, limited weight are some key elements that could allow to effectively spread these devices industrial and service applications. Following such guidelines, present prototype Co-Gripper: robotic device manipulation tasks with humans. The gripper is composed two pairs fingers, actuated motors, can be...

In this paper, we present the design and prototype of a wearable supernumerary robotic finger, inspired by Fin Ray®, an underactuated device physiology fish fins. The application propose has been designed for patients suffering from sensorimotor hand impairment, to compensate their missing grasping abilities. context Ray® effect based closed-chain structure, effectively exploiting underactuation compliance, are interesting solution meet ergonomics functional requirements, get light but...

The aim of this letter is to introduce the concept bilateral haptic cooperation as a novel paradigm for human-robot cooperative tasks. approach demonstrated with system composed soft gripper and wearable interface. gripper, called CoGripper, has been designed guarantee safe interaction giving possibility operator reconfigure device according object be grasped. interface used control open/close motion feedback information about important task parameters, e.g., grasp tightness. result...

The design of robotic grippers requires the accomplishment several contrasting requirements. Research in under actuated soft hands is a lively topic, with potentialities and challenges. Soft are simple, robust able adapting to uncertain environment operative conditions, however their intrinsic compliance underactuation reduce control capabilities precision. Recent studies attempted compensate this limitation by wisely exploiting environmental constraints considering them as supports...

Robot rehabilitation is an emerging and promising topic that incorporates robotics with neuroscience to define new methods for supporting patients neurological diseases. As a consequence, the process could increase efficacy exploiting potentialities of robot-mediated therapies. Nevertheless, nowadays clinical effectiveness not enough widely introduce robotic technologies in such social contexts. In this paper we propose step further, presenting innovative exoskeleton wrist flexion/extension...

Losing an hand seizes nearly all principal activities of amputees life. However, with the development in field prosthesis, can get back to normal life use simple yet functional prosthetic devices. In this study, we presents design, model and 3D printed prototype a tendon driven underactuated modular soft hand. The proposed robotic is actuated using only one motor differential mechanism. flexible fingers are built stiff link connected joints. Different stiffness joints be set follow desired...

Collaborative robots promise to add flexibility production cells thanks the fact that they can work not only close humans but also with humans. The possibility of a direct physical interaction between and allows perform operations were inconceivable industrial robots. soft grippers have been recently introduced extend this beyond robot end-effector, making able directly act on robotic hands. In work, we propose exploit collaborative in novel paradigm which these devices be easily attached...

This letter introduces Mag-Gripper, a novel robotic gripper specifically designed for autonomous clothing manipulation. It is capable of improving grasp repeatability, and precision, compensating uncertainties in the target grasping locations. We propose to approach manipulation challenge by involving suitable magnetic force. For this reason, Mag-Gripper equipped with an electromagnet interacting small metal parts properly placed on garment be grasped. Electromagnet exploitation not novelty...

A common trend in robotic manipulation is to build compliant hands that can exploit environmental constraints perform robust grasps. However, large-scale industrial applications, end-effectors are mostly rigid. How we using rigid grippers? We propose add compliance the environment, thanks a soft modular pneumatic surface: SoftPad. Pressure sensors connected its modules allow estimate object pose and center of mass detect contact between gripper SoftPad during grasping task. new grasp...

All the developed countries that agreed to be donors under proposal for Generalized System of Preferences (GSP) adopted at first UNCTAD session in 1964, have introduced their individual schemes.1 Under these schemes, imports a large number manufactures and semimanufactures from less are permitted zero or reduced tariff rates up certain maximum amount. The full continue apply other countries. Attention has focused on institutional arrangements underlying nature possible effects quantitative...

Reclamation of sodic soils requires soluble calcium for exchange absorbed sodium and adequate flow water through beyond the root zone to remove salts. Therefore, reclamation a combination chemical (gypsum application) mechanical (ploughing) measures. Traditionally gypsum is either broadcast or applied with irrigation field prior ploughing. Ploughing loosens soil depth 20–30 cm. restricted shallow depths only. The slotting technique may overcome this limitation. This paper presents results...