Massimo Bergamasco

A linear SMA motor as direct-drive robotic actuator

A push-pull actuator for commanding the motion of the interphalangeal joints of anthropomorphic robotic hands is proposed. The actuator, based on coil springs, made of the shape-memory alloy Nitinol, is compact enough to be easily incorporated into the phalangeal structure of a robotic finger, thus eliminating the complex routing of the cables and tendons usually adopted for transmitting motion from conventional actuators (e.g. DC servomotors) to the joints. The performance of the SMA actuator is illustrated, and the concepts of temperature, strain, and stress limits for the control of the whole push-pull actuating system are emphasized. The methods adopted to improve the usually limited frequency response of SMA actuators are also described. Finally, the control of the whole system and some experimental results demonstrating promising actuator performance are discussed.<<ETX>>

A two degrees-of-freedom planar haptic interface with high kinematic isotropy

Presents the kinematic analysis and the mechanical design of a new tendon drive for a closed 5-bar linkage. This transmission system allows reaching of higher kinematic isotropy than the direct drive of base joints, over a large workspace with respect to the device bulk. The optimum mechanism geometry has been chosen from both kinematic and dynamic perspective. As a result a new two degrees-of-freedom planar haptic interface with high kinematic performance has been designed.

The mechanical design of the MARCUS prosthetic hand

The present article deals with the work carried out in the framework of the TIDE project No.150 MARCUS, for the development of a new three-fingered polyarticulated myoelectric prosthesis. The prosthetic hand is equipped with position, force, slip sensors while a sensor-based control allows it to maintain a stable grasping of the object without affecting the user attention. A general description of the whole system is given by emphasizing the mechanical solutions utilized for the three fingers. Force sensors at the level of the fingertips as well as palm sensors have been integrated in the structure. Results of sensor performances are also shown.

Comparing Different Storytelling Approaches for Virtual Guides in Digital Immersive Museums

Virtual museums are becoming increasingly popular, especially thanks to the recent spread of low-cost immersive technologies enabling even small cultural realities to enrich their technology-based offer. The growing availability of computational power and high-quality visual elements enables the use of virtual characters in order to add depth to the virtual visit experience, up to nowadays often limited to the exploration of lifeless environments. This paper presents a pilot study aimed at investigating the positive effects that the use of avatars can provide to a virtual cultural experience, proposing a virtual museum with three different alternatives of storytelling, including one featuring virtual humans, and comparing the results in terms of engagement and understanding of the proposed content.