Design and Analysis of a Fibre-Shaped Micro-Actuator for Robotic Gripping

A prototype of an automatic micropositioning system was developed. This prototype uses a shape memory alloy (SMA) actuator, a dedicated PI controller and a piece of software to command a desired motion profile for the actuator. The proposed micropositioning system is characterized by a 4 mm stroke, a 1 μm resolution and a 70 g nominal force and can be commanded directly from a personal computer and without human retroaction. The closed loop positioning resolution (1 μm) is obtained in spite of inaccurate system behaviour during its movement

EEG-Based Empathic Safe Cobot

An empathic collaborative robot (cobot) was realized through the transmission of fear from a human agent to a robot agent. Such empathy was induced through an electroencephalographic (EEG) sensor worn by the human agent, thus realizing an empathic safe brain-computer interface (BCI). The empathic safe cobot reacts to the fear and in turn transmits it to the human agent, forming a social circle of empathy and safety. A first randomized, controlled experiment involved two groups of 50 healthy subjects (100 total subjects) to measure the EEG signal in the presence or absence of a frightening event. The second randomized, controlled experiment on two groups of 50 different healthy subjects (100 total subjects) exposed the subjects to comfortable and uncomfortable movements of a collaborative robot (cobot) while the subjects’ EEG signal was acquired. The result was that a spike in the subject’s EEG signal was observed in the presence of uncomfortable movement. The questionnaires were distributed to the subjects, and confirmed the results of the EEG signal measurement. In a controlled laboratory setting, all experiments were found to be statistically significant. In the first experiment, the peak EEG signal measured just after the activating event was greater than the resting EEG signal (p < 10−3). In the second experiment, the peak EEG signal measured just after the uncomfortable movement of the cobot was greater than the EEG signal measured under conditions of comfortable movement of the cobot (p < 10−3). In conclusion, within the isolated and constrained experimental environment, the results were satisfactory

Experimental analysis of an innovative NiTi Wires Activated Pneumatic Valve to study and improve performances

The paper deals with the design and the experimental analysis of an innovative pneumatic valve activated by NiTi wires, materials which belong to the so called Shape Memory Alloys (SMA). The novelty of the hereby illustrated valve concerns with the activation device, the shape and the body in polymeric material. As a consequence, the proposed device shows the following advantages: the easier assembly, the compactness, the silently functioning, the bio-compatibility, the low power activation and the production cheapness. The static and dynamic characterization of the valve has been performed through a dedicated test bench and a wide range of tests on the valve

A Differential Mechatronic Device: Design, Simulation and Experimental Results

Differential mechanisms are widely studied in literature, from a theoretical viewpoint and for applicative reasons. A differential mechanism is a mechanical system with one or more output motions resulting from the combination of different input motions acting on the same degree of freedom. In this work, we point the attention on planar differential systems (a monoaxis and a Cartesian device) composed by belts and pulleys. Particularly the Vernier effect is used to realize high-speed and highaccuracy devices with low-cost components. Simplified models of these two systems are presented to show the main kinematic and dynamic features. An advanced model is then realized for the Cartesian device with the aid of the Dymola software and simulation results are compared with the expected ones from the simplified model. The control of the system is realized with three PI systems (proportionalintegrative) optimized via an adaptive logic. Finally early experimental results are presented only for the monoaxis system

Additive manufacturing of PLA to mimic the thrust force of mandibular bone during drilling

Edentulism is a condition that results in the partial or total loss of teeth. It may lead to problems during chewing and be a cause of self-isolation and low self-esteem. Edentulism can be resolved both with removable prostheses (dentures) and fixed implants, with the latter being more efficient. The installation of a fixed implant involves a real surgical operation in which the jaw/mandibular bone is drilled through a special drill. One of the main cautions the surgeon must have during the operation is not to sever the nerves during the drilling. Given the composition of the bone is different in each person, the drilling thrust force is variable and controlling its movement can sometimes be complicated. Therefore, being able to test the operation on a dummy may reduce the number of errors. Additive manufacturing with its high degree of customization and ability to produce objects with almost no geometrical limitations could provide the required features to realize the dummy. In this work, the drilling properties of samples made in PLA through Fused Filament Fabrication (FFF) were studied. The samples were designed to mimic the composition of the bone. Specifically, a thin, hard, and denser outer layer and a 25% internal filling were adopted. The samples were drilled with a dental drill properly connected to a collaborative robot

Machine tools thermostabilization using passive control strategies

The aim of this study is to investigate passive control strategies using Phase Change Materials in Machine Tools (MTs) thermostabilization. By considering the main issues related to the thermal stability, authors presented the application of novel multifunctional materials to Machine Tools structures. A set of advanced materials are considered: aluminium foams, corrugate-core sandwich panels and polymeric concrete beds. The adopted solutions have been infiltrated by phase change materials (PCMs) in order to maintain the thermal stability of MTs when the environmental temperature is perturbed. The paper shows the results of simulative and experimental tests

A Novel Logic and Approach to Speed up Simulation and Analysis of Production Systems

The paper describes a novel logic to model, simulate and analyze production systems using Discrete Event Simulation tools. An adaptable and flexible DES model has been developed to represent different manufacturing environments. The goal of the proposed DES-based parametric model is to offer to industrial analysts a compact, fast and easy way to configure and use decision support tools. The logic is based on elementary structures with a vertical multilayer architecture that permits entities to access and loop in multiple times. Since it has been assumed manufacturing systems are combination of elementary parts, the architecture of the model becomes quite simple since representing few structures only, and the simulation of heterogeneous systems is the result of as many iterations as needed by a user. This approach is adaptable both to SMEs and large companies, permitting to avoid the use of dedicated SW and allocated skilled person

Embedded Payload Solutions in UAVs for Medium and Small Package Delivery

Investigations about the feasibility of delivery systems with unmanned aerial vehicles (UAVs) or drones have been recently expanded, owing to the exponential demand for goods to be delivered in the recent years, which has been further increased by the COVID-19 pandemic. UAV delivery can provide new contactless delivery strategies, in addition to applications for medical items, such as blood, medicines, or vaccines. The safe delivery of goods is paramount for such applications, which is facilitated if the payload is embedded in the main drone body. In this paper, we investigate payload solutions for medium and small package delivery (up to 5 kg) with a medium-sized UAV (maximum takeoff of less than 25 kg), focusing on (i) embedded solutions (packaging hosted in the drone fuselage), (ii) compatibility with transportation of medical items, and (iii) user-oriented design (usability and safety). We evaluate the design process for possible payload solutions, from an analysis of the package design (material selection, shape definition, and product industrialization) to package integration with the drone fuselage (possible solutions and comparison of quick-release systems). We present a prototype for an industrialized package, a right prism with an octagonal section made of high-performance double-wall cardboard, and introduce a set of concepts for a quick-release system, which are compared with a set of six functional parameters (mass, realization, accessibility, locking, protection, and resistance). Further analyses are already ongoing, with the aim of integrating monitoring and control capabilities into the package design to assess the condition of the delivered goods during transportation

Trunk motion analysis: a systematic review from a clinical and methodological perspective

INTRODUCTION: This systematic literature review aims to check the current state of affairs of non-gait-related optoelectronic trunk movement analysis; results have been analyzed from a clinical and a methodological perspective. EVIDENCE ACQUISITION: Extensive research was performed on all papers published until December 31st, 2015, dealing with trunk movement analysis assessed by optoelectronic systems, excluding those related to gait. The research was performed on the 14th of January 2016 on three databases: Scopus, Science Direct and Pubmed. A reference search and expert consultation were also performed. EVIDENCE SYNTHESIS: Out of a total number of 8431 papers, 45 were deemed relevant: they included 1334 participants, 57.9% healthy, with age range 8-85. Few studies considered the whole trunk, and none focused on each vertebra independently: the trunk was almost always divided into three segments. Thirteen studies included 20 or more markers. Most of the papers focused mainly on the biomechanics of various movements; the lumbar area and low back pain were the most studied region and pathology respectively. CONCLUSIONS: This study has shown the relative scarcity of current literature focusing on trunk motion analysis. In clinical terms, results were sparse. The only quite well represented group of papers focused on the lumbar spine and pathologies, but the scarcity of individuals evaluated make the results questionable. The use of optoelectronic systems in the evaluation of spine movement is a growing research area. Nevertheless, no standard protocols have been developed so far. Future research is needed to define a precise protocol in terms of number and position of markers along the spine and movements and tasks to be evaluated