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作者： Ramirez, O. Torres-San-Miguel, Ch. R. Ceccarelli, M. Urriolagoitia-Calderon, G. LARM: Laboratory OF Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Instituto Politécnico Nacional Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Unidad Profesional "Adolfo López Mateos" Zacatenco México D.F. Mexico

This paper presents the experimental tests that have been carried out using a new implant design for osteosynthesis as a solution for the treatment of human rib fractures. First, it is provided a description of the proposed novel design of the osteosynthesis implant. Subsequently, it is described the proposal to develop an experimental test in order to determine if due to the use of this osteosynthesis implant the repaired rib becomes more rigid as compared to a healthy one. To carry out the experimental test, TEMARI test bed was used at the robotics and mechatronics laboratory LARM at the university of cassino in Italy. The obtained results showed from biomechanical aspects, that the design of the implant is an appropriate one for its application in the medical sector without being necessary to make any modification on its design. In addition, obtained results also showed the structural behavior of both the osteosynthesis plate and the rib when they are subjected to loading conditions simulating the respiratory cycle in humans. © 2019, Springer Nature Switzerland AG.

关键词： Biomechanics

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Experimental dynamic tests of RIB implants

Experimental dynamic tests of RIB implants

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作者： Ramirez, Octavio Ceccarelli, Marco Russo, Matteo Torres-San-Miguel, Christopher R. Urriolagoitia-Calderon, Guillermo LARM: Laboratory of Robotics and Mechatronics University of Cassino and South Latium Cassino Italy Escuela Superior de Ingeniería Mecánica y Eléctrica Sección de Estudios de Posgrado e Investigación Instituto Politécnico Nacional Unidad Profesional "Adolfo López Mateos" Zacatenco Mexico D.F. Mexico

This paper presents dynamic tests that are performed on swine ribs. TEMARI (TEsting MAchine for Artificial RIbs) machine has been modified in order to set up and adapt an osteosynthesis implant in a fractured swine rib under load conditions emulating the respiratory cycle in a human being. The method for analyzing innovative implants is work ed out as based on strain gauge arrangements on the swine rib under testing with data acquisition system MM01-350 USB of Micro-Measurements. The test results are discussed in terms of motion characteristics of the specimen as well as the forces of compression and reaction on it during each compression cycle. © Springer Nature Switzerland AG 2019

关键词： Biomechanics

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Dynamic modeling and simulation of sliding mode control for a cable driven parallel robot

Dynamic modeling and simulation of sliding mode control for ...

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作者： Inel, F. Mansouri, Z. Ceccarelli, M. Carbone, G. Mechanical Engineering Department University of Skikda Skikda Algeria Technology Department University of Skikda Skikda Algeria LARM: Laboratory of Robotics and Mechatronics DICeM: University of Cassino and South Latium Cassino Italy

In this paper we propose a dynamic sliding mode control strategy for a cable-driven parallel robot. The proposed control algorithm provides stability of the end-effector for improving the robot performance in terms of tracking a desired path. A non-linear control technique is proposed for a robust management of uncertainty and error conditions. Numerical simulations have been carried out by developing a specific code which includes a graphical user interface for a user-friendly real time visualization of end-effector position as well as modification of the system parameters. Results of simulation for a dynamic model with sliding mode control are discussed for different trajectories applied for this robot, in order to confirm the validity of accurate tracking of a desired path. The effectiveness of the proposed robust control scheme is demonstrated through different simulation results. © 2018, Springer International Publishing AG, part of Springer Nature.

关键词： Sliding mode control

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Design optimization of a cable-driven parallel robot in upper arm training-rehabilitation processes 6th

Design optimization of a cable-driven parallel robot in uppe...

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6th International Symposium on Multibody Systems and mechatronics, MuSMe 2017

作者： Hernandez, Eusebio Valdez, S. Ivvan Carbone, Giuseppe Ceccarelli, Marco Secc. de Estudios de Posgrado e Investigacion ESIME UP TICOMAN IPN Mexico City Mexico Department of Computer Science Center for Research in Mathematics Mexico City Mexico Laboratory of Robotics and Mechatronics University of Cassino and Southern Lazio Meridionale Cassino Italy

ISBN: (纸本)9783319675664

This paper presents an optimized design of a cable driven parallel manipulator which is intended in rehabilitation or exercise of patients with shoulder problems like illness, traumatic events or for the elderly who need to exercise their limbs. Cable based parallel manipulators have characteristics that make them suitable for rehabilitation-exercise purposes like large workspace, re-configurable architecture, portability and low cost. From these purposes, upper-limb movements are analyzed and different prescribed workspaces are defined. After kinematic and wrench analysis, the Jacobian matrix of the cable driven manipulator is derived, which is used as a quantitative representation of dexterity along the workspace. An optimization model is presented to simultaneously fulfill the prescribed workspace and to improve dexterity by selecting proper length cables and other structural parameters. Numerical examples delineate effectiveness of an Estimation of Distribution Algorithm (EDA), where correlation among variables are inserted in the optimization process. © 2018, Springer International Publishing AG.

关键词： Cables

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Preface

Mechanisms and Machine Science

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Mechanisms and Machine Science 2019年 65卷 v-vi页

作者： Carbone, Giuseppe Ceccarelli, Marco Pisla, Doina Laboratory of Robotics and Mechatronics University of Cassino and Southern Lazio Cassino Italy DICeM University of Cassino and Southern Lazio Cassino Italy Research Center for Industrial Robot Technical University of Cluj-Napoca Cluj-Napoca Romania

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A workspace analysis of 4R manipulators via level-set formulation

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International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016

作者： Russo, Matteo Ceccarelli, Marco LARM: Laboratory of Robotics and Mechatronics DICEM University of Cassino and South Latium Via G. Di Biasio 43 CassinoFR03043 Italy

ISBN: (纸本)9783319441559

This paper presents a workspace analysis of a general 4R manipulator by using a level-set formulation. This formulation is used to detect the main features of the workspace, such as points corresponding to singular configurations, voids and regions with multiple IK solutions. The effect of the variation of kinematic parameters is discussed through numerical examples. © Springer International Publishing Switzerland 2017.

关键词： Kinematics

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An experimental characterization of human knee joint motion capabilities

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International Federation for the Promotion of Mechanism and Machine Science, IFToMM 2016

作者： Olinski, Michal Ceccarelli, Marco Cafolla, Daniele Gronowicz, Antoni Department of Biomedical Engineering Mechatronics and Theory of Mechanisms Wroclaw University of Science and Technology Wroclaw Poland Laboratory of Robotics and Mechatronics University of Cassinoand South Latium Cassino Italy

ISBN: (纸本)9783319441559

The article is focused on experimental knee joint characterisation by measurements of essential parameters of relative angular motion of thigh and shin by using IMU sensors. A wireless IMU system was developed for this purpose and a procedure was designed for building an experimental setup, with calibration, programming, testing and visualization. A series of experiments was conducted in order to gather data for knee motion characterization. Identification of important aspects and interpretation of results from experiments were worked out. © Springer International Publishing Switzerland 2017.

关键词： Joints (anatomy)

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Experimental Characterization of a Binary Actuated Parallel Manipulator

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Chinese Journal of Mechanical Engineering 2016年第3期29卷 445-453页

作者： CARBONE GIUSEPPE Department of Engineering and Mathematics Sheffield Hallam UniversitySheffieldUnited Kingdom Laboratory of Robotics and Mechatronics University of Cassino and South LatiumCassino(Fr)Italy

This paper describes the BAPAMAN（Binary Actuated Parallel MANipulator） series of parallel manipulators that has been conceived at laboratory of robotics and mechatronics（LARM）. Basic common characteristics of BAPAMAN series are described. In particular, it is outlined the use of a reduced number of active degrees of freedom, the use of design solutions with flexural joints and Shape Memory Alloy（SMA） actuators for achieving miniaturization, cost reduction and easy operation features. Given the peculiarities of BAPAMAN architecture, specific experimental tests have been proposed and carried out with the aim to validate the proposed design and to evaluate the practical operation performance and the characteristics of a built prototype, in particular, in terms of operation and workspace characteristics.

关键词： parallel manipulators binary actuation experimental characterization

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A feasibility study on the design and walking operation of a biped locomotor via dynamic simulation

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Frontiers of Mechanical Engineering 2016年第2期11卷 144-158页

作者： Mingfeng WANG Marco CECCARELLI Giuseppe CARBONE School Of Mechanical and Electrical Engineering Central SouthUniversity Changsha 410083 China Laboratory of Robotics andMechatronics (LARM) DICeM University of Cassino and SouthLatium Cassino 03043 Italy Laboratory of Robotics and Mechatronics (LARM) DICeM Universityof Cassino and South Latium Cassino 03043 Italy

A feasibility study on the mechanical design and walking operation of a cassino biped locomotor is presented in this paper. The biped locomotor consists of two identical 3 degrees-of-freedom tripod leg mechanisms with a parallel manipulator architecture. Planning of the biped walking gait is performed by coordinating the motions of the two leg mechanisms and waist. A three- dimensional model is elaborated in SolidWorks environ- ment in order to characterize a feasible mechanical design. Dynamic simulation is carried out in *** environment with the aims of characterizing and evaluat- ing the dynamic walking design. Simulation results performance of the proposed show that the proposed biped locomotor with proper input motions of linear actuators performs practical and feasible walking on fiat surfaces with limited actuation and reaction forces between its feet and the ground. A preliminary prototype of the biped locomotor is built for the purpose of evaluating the operation performance of the biped walking gait of the proposed locomotor.

关键词： feasibility study biped locomotor bipedwalking mechanical design dynamic simulation tripodleg mechanism 3-UPU parallel manipulator

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Design and simulation of a cable-pulley-based transmission for artificial ankle joints

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Frontiers of Mechanical Engineering 2016年第2期11卷 170-183页

作者： Huaxin LIU Marco CECCARELLI Qiang HUANG Intelligent Robotics Institute School of Mechatronical Engineering Beijing Institute of Technology Beijing 100081 China Key Laboratory of Biomimetic Robots and Systems (Beijing Institute of Technology) Ministry of Education Beijing 100081 China Laboratory of Robotics and Mechatronics (LARM) DICeM University of Cassino and South Latium Cassino 03043 Italy Beijing Innovation Center for Intelligent Robots and Systems Beijing 100081 China State Key Laboratory of Intelligent Control and Decision of Complex Systems Beijing 100081 China

In this paper, a mechanical transmission based on cable pulley is proposed for human-like actuation in the artificial ankle joints of human-scale. The anatomy articular characteristics of the human ankle is discussed for proper biomimetic inspiration in designing an accurate, efficient, and robust motion control of artificial ankle joint devices. The design procedure is presented through the inclusion of conceptual considerations and design details for an interactive solution of the transmission system. A mechanical design is elaborated for the ankle joint angular with pitch motion. A multi-body dynamic simulation model is elaborated accordingly and evaluated numerically in the ADAMS environment. Results of the numerical simulations are discussed to evaluate the dynamic performance of the proposed design solution and to investigate the feasibility of the proposed design in future applications for humanoid robots.

关键词： biomimetic designs ankle joints cable-pulleytransmissions multi-body dynamic simulation numericalcharacterization

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