A5037895834- Robotic Mechanisms and Dynamics
- Soft Robotics and Applications
- Modular Robots and Swarm Intelligence
- Dynamics and Control of Mechanical Systems
- Robotic Path Planning Algorithms
- Robot Manipulation and Learning
- Teleoperation and Haptic Systems
- Robotic Locomotion and Control
- Control and Dynamics of Mobile Robots
- Stroke Rehabilitation and Recovery
- Computer Graphics and Visualization Techniques
- Advanced Vision and Imaging
- Advanced Surface Polishing Techniques
- Tactile and Sensory Interactions
- Planetary Science and Exploration
- Robotics and Sensor-Based Localization
- Vibration and Dynamic Analysis
- Manufacturing Process and Optimization
- Mechanics and Biomechanics Studies
- Evacuation and Crowd Dynamics
- Gaze Tracking and Assistive Technology
- Visual perception and processing mechanisms
- Cellular Mechanics and Interactions
- Spacecraft Design and Technology
- Space Satellite Systems and Control
University of Trieste
2015-2024
University of Udine
2021
Google (United States)
2020
Japan Science and Technology Agency
2020
Walter de Gruyter (Germany)
2020
Microsoft (United States)
2020
SAES Group (Italy)
2011
University of Padua
1996-2004
Telecom Italia Lab
2002
Ohio University
2002
This paper presents the development of and clinical tests on NeReBot (NEuroREhabilitation roBOT): a three degrees-of-freedom (DoF), wire-driven robot for poststroke upper-limb rehabilitation. Basically, consists set wires independently driven by electric motors. The are connected to patient's upper limb means splint supported transportable frame, located above patient. By controlling wire length, rehabilitation treatment (based passive or active-assistive spatial motion limb) can be...
A dynamic model is presented for omnidirectional wheeled mobile robots, including wheel/motion surface slip. We derive the dynamics model, experimentally measure friction coefficients, and force to cause slip (to validate our model). Dynamic simulation examples are demonstrate motion with After developing an improved compared initial results agree well experimentally-measured trajectory data Initially, we thought that only high robot velocity acceleration governed resulting slipping motion....
Abstract Body schema, a sensorimotor representation of the body used for planning and executing movements, is plastic because it extends by using tool to reach far objects. Modifications peripersonal space, i.e., functional usually co-occur with schema changes. Here, we hypothesized that such changes depend on experience controlling course events in space trough one’s own actions, sense agency. In two experiments, were assessed before after participants’ agency over virtual hand was...
Abstract We present the simulated dynamics and control of a planar, translational cable‐directdriven robot (CDDR). The motivation behind this work is to improve serious cable interference problem with existing CDDRs avoid configurations where negative tensions are required exert general forces moments on environment during dynamic motions. Generally for commanded rotations more demanding than translations in terms slack conditions. Therefore we propose CDDR whose end‐effector may be fitted...
In this paper, authors present a novel architecture for controlling an industrial robot via eye tracking interface artistic purposes. Humans and robots interact thanks to acquisition system based on tracker device that allows the user control motion of robotic manipulator with his gaze. The feasibility is evaluated experimental tests in which teleoperated draw images. tool can be used by artists investigate forms art amputees or people movement disorders muscular paralysis, as assistive...
In the last three years, a wire-based robot called NeReBot (neurorehabilitation robot) was developed at Robotics Laboratory of Department Innovation in Mechanics and Management, University Padua, Italy. is 3 degrees-of-freedom (d.o.f.) robot, designed for treatment patients with stroke-related paralyzed or paretic upper limb during acute phase. Although first clinical tests showed encouraging results terms motor recovery functional outcome, presented some limitations. Hence new MariBot...
In this paper, we present non-photorealistic rendering techniques that are applied together with a painting robot to realize artworks original styles. Our robotic system is called Busker Robot and it has been considered of interest in recent art fairs international exhibitions. It consists six degree-of-freedom collaborative series image processing path planning algorithms. particular, here, two different presented description the experimental set-up carried out. Finally, results discussed...
Abstract The paper presents an overview of the design status Radial Neutron Camera (RNC), that, together with Vertical Camera, will provide, through reconstruction techniques applied to measured line-integrated neutron fluxes, time resolved measurement ITER and α-source profile (i.e. emissivity, neutrons emitted per unit volume). RNC is composed two subsystems, In-Port Ex-Port located, respectively, inside outside Plug Equatorial Port #01. subsystem in a more advanced stage since it has...
This work presents a general simulation tool to evaluate the performance of set cable suspended rehabilitation robots. Such simulator is based on mechanical model upper limb patient. The was employed assess performances two cable-driven robots, NeReBot and MariBot, developed at Robotics & Mechatronics Laboratories Department Innovation in Mechanics Management (DIMEG) University Padua, Italy. comparison demonstrates that second machine, which conceived as an evolution first one, yields much...
In this paper, we present a new family of overhead traveling cranes based on variable radius drums (VRDs), called cable-based robotic (CBRCs). A VRD is characterized by the variation spool along its profile. This kind device used, in context, for development cable-robot, which can support and move load through planar working area with just two degrees freedom. First kinematic analysis synthesis geometry Then, schema bidimensional horizontal moving mechanism, theory, an experimental prototype...
A core issue in collaborative robotics is that of impact mitigation, especially when collisions happen with operators. Passively compliant structures can be used as the frame cobot, although, usually, they are implemented by means a single-degree-of-freedom (DoF). However, n-DoF preloaded offer number advantages terms flexibility designing their behavior. In this work, we propose comprehensive framework for classifying structures, including one-, two-, and three-dimensional arrays....
Abstract A hybrid parallel/serial manipulator architecture is introduced where the translational freedoms are provided by a cable-direct-driven robot (CDDR) and rotational serial wrist mechanism. The motivation behind this work to improve serious cable interference problem with existing CDDRs avoid configurations negative tensions required exert general forces on environment. Only CDDR considered in paper; including kinematics statics modeling, determination of workspace (the space wherein...