Daniele Cafolla

How to Use 3D Printing for Feasibility Check of Mechanism Design

In this paper, 3D printing is presented as useful means for checking design feasibility of mechanism structures for robots. A procedure is outlined for rapid prototyping that can produce scaled prototypes for experimental validation since early stages of robot developments. An example from LARM activities shows the soundness and practical implementation of the proposed method.

Design and Simulation of a Cable-Driven Vertebra-Based Humanoid Torso

Artificial torso is a fundamental part of humanoid robots with special features for mimicking human performance. In this paper, a novel torso design is presented with cable-driven vertebra-based solution, as inspired by human anatomy. Whereas the anatomy of the human torso and their joints are indeed very complex, a formulation for basic functioning of the humanoid torso has been developed. The structure is introduced by describing its main characteristics and performance starting from its kinematics up to design constrains. The design is presented with numerical results of dynamic simulation and FEM analysis with the aim of testing the feasibility of the proposed solution and characterizing its operation performance.

HeritageBot Service Robot assisting in Cultural Heritage

This paper presents results of HeritageBot, a regional research project for developing a robotic platform to be used in Cultural Heritage frameworks. The design and a prototype of HBOT Platform for demo purposes is introduced with features of low-cost construction and user-oriented performance. The design requirements are presented for application in monitoring and working within frames for conservation of goods of Cultural Heritage with characteristics that are aimed for technological transfer and entrepreneurship plans.

Design and FEM Analysis of a Novel Humanoid Torso

An effective trunk behaviour is one of the most important factors for a humanoid to accomplish any given task using stable operations. In this paper, a novel structure that can reproduce a human-like movement of the torso-pelvis part with a pure simple low-cost rotation mechanism easy to realize and control is proposed.

An experimental validation of a novel humanoid torso

In this paper a novel humanoid torso prototype is presented in two design configurations: the torso structure and the humanoid torso with head, arms and hands. An experimental validation has been carried out for each configuration while replicating human-like basic movements. The aim of this paper is to characterize the performance of the prototype by means of angles displacements and linear accelerations measured by an IMU (Inertia Measurement Unit) on the humanoid spine. Furthermore, power consumption has been monitored to check the feasibility for the usage of a Li-Po battery as on-board power supply in order to make the humanoid torso fully portable and to permit its assembly in a full humanoid robot. CAUTO is a hybrid cable-driven structure that replicates two Human FSU.CAUTO satisfactory replicate human torso behaviour.CAUTO can afford common forces acting on a human body.CAUTO is very light: 1.21.6kg and fully portable.CAUTO (Cassino hUmanoid Torso) can lift up to 53% of its own weight.

Prototype and Testing of HeritageBot Platform for Service in Cultural Heritage

The paper presents of a prototype of HeritageBot Platform for demo purposes with features of low-cost construction and user-oriented performance. The design requirements are presented for application in monitoring and working within frames for conservation of goods of Cultural Heritage. The design of the robotic platform is conceived with modular structure with a module for locomotion and a module for short flight. A prototype is presented with its construction peculiarities and preliminary test results through an evolution of solutions.

LARMbot: A New Humanoid Robot with Parallel Mechanisms

LARMbot humanoid robot is presented with its peculiar design as based on mechanisms with parallel architecture. The mechanical design is described as motivated by biomimetic inspiration to human anatomy and functionality. The mechanical structure of the main parts are discussed with performance characterization. A prototype is presented with a built solution with low-cost solution and user-oriented operation by using commercial components and 3D printing manufacturing.

A Study of Feasibility of a Human Finger Exoskeleton

Finger impairment following stroke results in significant deficit in hand manipulation and the performance of everyday tasks. Recent advances in rehabilitation robotics have shown improvement in efficacy of rehabilitation. Current devices, however, lack the capacity to accurately interface with the human finger at levels of velocity and torque comparable to the performance of everyday hand manipulation tasks. This paper tries to fill this need with a newly designed system intended to aid in hand rehabilitation. A 3D CAD model and simulations have been developed for verifying the engineering feasibility.

An Overview of the Ongoing Humanoid Robot Project LARMbot

LARMbot project aims to develop a humanoid robot with biomimetic inspiration from human anatomy by using parallel mechanisms. Previous related work is presented particularly referring to torso and leg modules. A specific design of LARMbot is proposed by using proper parallel mechanisms in torso and leg designs. A CAD model is elaborated in SolidWorks® environment and the corresponding prototype is fabricated with low-cost user-oriented features by using commercial components and parts manufactured using 3D printing. Preliminary results of experiment tests are also reported for operation evaluation and architecture design characterization.

Experimental Inspiration and Rapid Prototyping of a Novel Humanoid Torso

In this paper, problems for design and operation of solutions for a robotic torso are discussed by referring to a background with experiences and designs that have been developed at LARM in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.