By Giovanni Boschetti, Alessandro Gasparetto
This quantity comprises the complaints of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The ebook comprises contributions at the most modern advances on Mechanism and computer technology. The fifty-nine papers take care of such subject matters as biomechanical engineering, historical past of mechanism and computing device technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.
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Fig. 3 DARTAGNAN for right arm Fig. 4 DARTAGNAN for left arm DARTAGNAN a Self-balanced Rehabilitation Robot … 27 4 The Kinematic Models Once the patient’s arm or leg lengths are known, then the computer is able to calculate their motion as direct kinematic, determining the position of the forearm or leg, which coincides with the robots end effector position. Figure 5 shows the direct kinematic model for the human arm with according to Denavit-Hartembreg . The kinematic model of DARTAGNAN with the relative DH transformation table is visible in Fig.
Recent prototypes produced by this research that have been published in the literature are a two segment needle prototype, with a 4 mm outer diameter (OD), which is capable of only planar steering, and a four segment needle prototype, with an 8 mm OD, capable of 3D steering but not of a clinically acceptable size. This paper describes the design and manufacture of a new four segment, 4 mm OD needle and its application to multi-target delivery. Our group has previously developed a system for reaching a single moving target, with on-line path planning on a plane .
The achieved motion properly matches with the simulated operation in Fig. 5. Further work should be carried out for improving the control and of the used servomotors as well as for taking into account the flexibility of cables into the control loop as well as the effect of human limb weight and inertia. Fig. 7 Preliminary experimental tests of the adduction training movement at LARM in Cassino: a forearm at −45°; b forearm at 0°; c forearm at 45° A Study of Feasibility for a Limb Exercising Device 19 7 Conclusions This paper deals with the development of a device for limb exercising.
Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto
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