Cinzia Amici

A Compliant PKM Mesomanipulator: Kinematic and Dynamic Analyses:

The kinematic and dynamic analyses of a PKM mesomanipulator are addressed in this paper: the proposed robot architecture allows only pure translations for the mobile platform, while the presence of flexure hinges introduces compliance into the structure. The analytical solutions to direct and inverse kinematic problems are evaluated after a brief introduction of the basic adopted nomenclature, the manipulator workspace and the robot singularity configurations are then described, and the analytical solution to the inverse dynamic problem is presented. Thereafter, an overview on some of the simulations results obtained through a software implementation of the described algorithms is addressed, and the most salient aspects of this topic are summarized in the final conclusions.

A parallel compliant meso-manipulator for finger rehabilitation treatments: Kinematic and dynamic analysis.

A parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robotpsilas kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in those patients with even a partial lack of the fingers functionality, for instance due to a stroke. As a result of its structural compliance, the meso-manipulator results particularly suitable for a rehabilitative application: after having coupled the manipulator to a common cloth-glove joined to the mobile platform of the robot, the patientpsilas finger can be driven to the required movement. As external loads can also be imposed to the involved tendons, the realized motion parts performed by the robot and by the patient can be quantified. In this way, the surgeon can constantly monitor the therapy trend, but also the patient has an objective quantification of his/her improvement.

PKM Mechatronic Clamping Adaptive Device

This study proposes a novel adaptive fixturing device based on active clamping systems for smart micropositioning of thin-walled precision parts. The modular architecture and the structure flexibility make the system suitable for various industrial applications. The proposed device is realized as a Parallel Kinematic Machine (PKM), opportunely sensorized and controlled, able to perform automatic error-free workpiece clamping procedures, drastically reducing the overall fixturing set-up time. The paper describes the kinematics and dynamics of this mechatronic system. A first campaign of experimental trails has been carried out on the prototype, obtaining promising results.

Kinematic Analysis of a Compliant, Parallel and Three-Dimensional Meso-Manipulator Generated from a Planar Structure

The study of a parallel meso-manipulator, characterized by flexure hinge joints and by an original planar structure, is addressed in this paper under small displacements. Once the manipulator structure has been briefly introduced, with a particular attention paid within the different possible actuators configurations, a kinematic analysis is performed, underlining different singularity configurations of the system. The analysis of the robot workspace is then addressed, by presenting the symbolical resolution of the problem and the extreme configurations of this architecture.

Use of Wearable Inertial Sensor in the Assessment of Timed-Up-and-Go Test: Influence of Device Placement on Temporal Variable Estimation

The “Timed Up and Go” (TUG) test is widely used in various disorders to evaluate subject’s mobility, usually evaluating only time execution. TUG test specificity could be improved by using instrumented assessment based on inertial sensors. Position of the sensor is critical. This study aimed to assess the reliability and validity of an inertial sensor placed in three different positions to correctly segment the different phases in the TUG test. Finding demonstrated good reliability of the proposed methodology compared to the gold standard motion analysis approach based on surface markers and an optoelectronic system. Placing the sensor just beneath the lumbar-sacral joint reported the lower values of deviation with respect to the gold standard. Optimized position can extend the proposed methodology from the clinical context towards ubiquitous solutions in an ecological approach.

Differential System for Limb Rehabilitation

This work proposes a new device for lower and upper limb rehabilitation. The device is portable and modular and can be adopted to realize different system configurations and to perform different exercises. A design description and an analysis are shown, a working prototype is under construction and tests on humans are planned.

Hand Robotic Rehabilitation: From Hospital to Home

Stroke patients are often affected by hemiparesis. In the rehabilitation of these patients the function of the hand is often neglected. Thus in this work we propose a robotic approach to the rehabilitation of the hand of a stroke patient in hospital and also at home. Some experimental results can be presented here especially for inpatients. Further experimental results on home-patients must be acquired through a telemedicine platform, designed for this application.

An Ethical Reflection on the Application of Cyber Technologies in the Field of Healthcare

Optimal rehabilitation results can be achieved only through an intense and constant physical therapy. The adoption of cyber-physical technologies in the field of healthcare can guarantee benefits in terms of patient care and health results. Compared to manual therapy, cyber-physical technologies have additional risks that should be reduced and controlled. The introduction of these technologies will also pose a legislative and ethical challenge. According to Biomedical Ethics, robots should act in the best interests of the humans and not to harm them and robotic research activities should look at the “Precautionary principle”. Another important ethical aspect is the respect for one’s autonomy. Technological acceptance is also to be considered: the point is if patients want to be taken care of by robots and if they agree to be diagnosed by robots. We must also think about the problems of an equal access to the new technologies, discrimination and stigmatization. The ethical question is: where does a medical professional have to stop with the artificial enhancement of humans?

Vibration Modes of Piezoelectric Bimorphs: A Sensitivity Analysis

The paper presents a sensitivity study on the first five vibration modes of a bimorph piezoelectric beam. More in detail, the analysis focuses on the kinematic response of these kind of strips to uncertainties in the identification of electric, piezoelectric and mechanical parameters. The study defines these uncertainties as input errors in the identification process of the first five natural frequencies. The free vibration problem for bimorph piezoelectric beam constrained by simple supports has been solved, and results have been compared with the exact two-dimensional solution. Numerical simulations have also been implemented and data analyzed according to the Weibull distribution theory; eventually, high order functions have been identified, enabling to foresight the final frequency identification error.