DIEM Dept. of Mechanical Eng.

Group of Robotics andArticular Biomechanics

Dir: Prof. V. Parenti Castelli

Speaker: Dr. Marco Carricato

Collaborations

GRAB has collaborations and agreements with :

• Universities :

Duisburg-Essen University (Germany)

Guanajuato University (Mexico)

Laval University (Canada) MIT (USA) Monastir University (Tunisia) Oxford University (Great

Britain) Paris 6 University (France) Scuola Superiore Sant’Anna

(Italy) …

• Research Centers:

CNR-ITIA (Italy) Fraunhofer Institute (Germany) INAIL Prosthetic Centre (Italy) INRIA – Sophia Antipolis (France) Jozef Stefan Institute (Slovenia) Rizzoli Orthopaedic Institute ( Italy) …

Collaborations

GRAB has collaborations and agreements with :

• Industry:

DUCATI LAMBORGHINI EMMEGI GROUP DVP CALZONI VARVEL HERA VARIAN RAINER …

PARALLEL ROBOTS

Analysis of parallel robots:• geometry• kinematics• dynamics

Synthesis of parallel robotsfor improved performances:•simpler control;•better real-time performances;•greater dexterity;•enhanced actuator operation;•limited singularity problems.

Patented parallel robots for:• translational motion• orientational motion

CABLE ROBOTS

Collaboration: INRIA Sophia Antipolis, Équipe COPRIN (Dr: Jean-Pierre Merlet)

Cable-Driven Parallel Robots:• reduced manufacturing and

assembling costs;• ample workspace;• mechanical modularity.

Service Robotics for Assistance and Rehabilitation :• cost mechanical simplicity;• high degree of modularity;• adaptability to users needs and

environment.

Activity in Bologna:• Mechanical problems

(kinetostatic analysis, stability analysis, etc.)

HUMAN-MACHINEPHYSICAL INTERFACES (HMPI)

Design of novel HMPI kinematic architectures.Design of novel actuation systems for HMPI:• Based on Dielectric Elastomers

• Large deformations• Large force (power)-to-weight ratios• Low costs [ <0.5€/W vs. >3€/W of traditional

EM drives ];• Large shock-insensitivity;

• Different actuators geometries have been studied and optimized

Collaboration: SCUOLA SUPERIORE SANT’ANNA (Pisa, Italy)

V = 0kV

0kV 6kV

COMPLIANT MECHANISMSand SOFT MATERIALS

Collaboration: Group of Mechatronic Design, UNIBO (Prof. G. Vassura)

Finger prototype

Design of compliant fingers (robotic grippers / orthesis)

• Reduction of assembly costs• Monolithic prototypes

Design soft covers similar to biological skin:• Hardness similar to human thumb• Better friction properties• Reduced thickness

→ easier to accommodate mechanical parts

ROBOTIC HANDS

Collaboration: Group of Mechatronic Design, DIEM/DEISMechanical design of robotic

hands• Endoskeletal structure

articulated by means of non conventional joints

• sliding • compliant

• Actuated by means of tendons• Surface compliance through

a purposely designed soft cover• Systematic parts integration

• Reduction of assembly complexity

• Reduction of weight and cost of the overall hand system

• increased "affordability."

UBH-IV: DIEM/DEIS

– Design methodology focused on the patient

– Design of upper limb Prostheses and Exoskeletons

– Definition of control strategies– Bench tests– Clinical tests

REHABILITATION ANDASSISTIVE ROBOTICS

HUMAN JOINT MODELLING

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-0.02

-0.01

0

0.01

0.02

0.03

0.04

Flexion (rad)

(

rad

)

Ab/Adduction

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-0.1

0

0.1

0.2

0.3

0.4

Flexion (rad)

(r

ad)

Intra/Extra Rotation

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-15

-10

-5

0

5

Flexion (rad)

x (m

m)

Position components

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 220

22

24

Flexion (rad)

y (m

m)

0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2-8

-6

-4

-2

0

Flexion (rad)

z (m

m)

Experimental analysis of human joints:• Articular surfaces• Passive articular structures• Natural motion

Knee and ankle models:• Kinematic models based on parallel

mechanisms• Static models• Different models for different

applications• High accuracy

PROSTHESES

Design of innovative medical devices:

• Internal prostheses• External prostheses• Orthoses and Exoskeletons

Collaborations: Rizzoli Orthopaedic Institute, Smith & Nephew, Hit Medica

Advantages:• Natural motion reproduction• Natural constraints of the joint• Mechanically simple

Patents and prototypes:• 2 international patents covering the

basic ideas (that can be applied to several human joints) and 4 prosthetic solutions for the knee

• 5 prototypes of total knee replacement

– Finite Element Modeling of machine components

– Lumped Parameters Modeling of mechanisms

– Flexible Multibody Systems– Experimental measurements of

vibrations– Experimental Modal Analysis

(EMA)– Operational Modal Analysis (OMA)– Signal Processing– Model Validation

VIBRATIONS of MACHINES

THANK YOU VERY MUCH!