A Narrative Review on Wearable Inertial Sensors for Human Motion Tracking in Industrial Scenarios

Industry 4.0 has promoted the concept of automation, supporting workers with robots while maintaining their central role in the factory. To guarantee the safety of operators and improve the effectiveness of the human-robot interaction, it is important to detect the movements of the workers. Wearable inertial sensors represent a suitable technology to pursue this goal because of their portability, low cost, and minimal invasiveness. The aim of this narrative review was to analyze the state-of-the-art literature exploiting inertial sensors to track the human motion in different industrial scenarios. The Scopus database was queried, and 54 articles were selected. Some important aspects were identified: (i) number of publications per year; (ii) aim of the studies; (iii) body district involved in the motion tracking; (iv) number of adopted inertial sensors; (v) presence/absence of a technology combined to the inertial sensors; (vi) a real-time analysis; (vii) the inclusion/exclusion of the magnetometer in the sensor fusion process. Moreover, an analysis and a discussion of these aspects was also developed

Sharing the Personal Income Tax among levels of government: some open issue

This paper considers some open issues concerning the role of the personal income tax in regional and local finance. It compares different technical instruments to share the personal income tax among levels of government, analyzing particularly the differential effects of the two main forms of overlapping taxation, the surtax and the surcharge. It is proved that both instruments increase the redistributional impact of personal income taxation, the surcharge to a larger extent than the surtax. The second part of the paper describes the present framework of the sharing of income tax in Italy, based upon regional and local surtaxes, and the new perspectives opened by the reform of intergovernmental fiscal relations recently approved by Parliament

Gait parameters of elderly subjects in single-task and dual-task with three different MIMU set-ups

The increasing average age of the population emphasizes the strong correlation between cognitive decline and gait disorders of elderly people. Wearable technologies such as magnetic inertial measurement units (MIMUs) have been ascertained as a suitable solution for gait analysis. However, the relationship between human motion and cognitive impairments should still be investigated, considering outcomes of different MIMU set-ups. Accordingly, the aim of the present study was to compare single-task and dual-task walking of an elderly population by using three different MIMU set-ups and correlated algorithms (trunk, shanks, and ankles). Gait sessions of sixteen healthy elderly subjects were registered and spatio-temporal parameters were selected as outcomes of interest. The analysis focused both on the comparison of walking conditions and on the evaluation of differences among MIMU set-ups. Results pointed out the significant effect of cognition on walking speed (p = 0.03) and temporal parameters (p ≤ 0.05), but not on the symmetry of gait. In addition, the comparison among MIMU configurations highlighted a significant difference in the detection of gait stance and swing phases (for shanks-ankles comparison p < 0.001 in both single and dual tasks, for trunk-ankles comparison p < 0.001 in single task and p < 0.01 in dual task). Overall, cognitive impact and MIMU set-ups revealed to be fundamental aspects in the analysis of gait spatio-temporal parameters in a healthy elderly population

Measurements of vacuum magnetic birefringence using permanent dipole magnets: the PVLAS experiment

The PVLAS collaboration is presently assembling a new apparatus (at the INFN section of Ferrara, Italy) to detect vacuum magnetic birefringence (VMB). VMB is related to the structure of the QED vacuum and is predicted by the Euler-Heisenberg-Weisskopf effective Lagrangian. It can be detected by measuring the ellipticity acquired by a linearly polarised light beam propagating through a strong magnetic field. Using the very same optical technique it is also possible to search for hypothetical low-mass particles interacting with two photons, such as axion-like (ALP) or millicharged particles (MCP). Here we report results of a scaled-down test setup and describe the new PVLAS apparatus. This latter one is in construction and is based on a high-sensitivity ellipsometer with a high-finesse Fabry-Perot cavity ($>4\times 10^5$) and two 0.8 m long 2.5 T rotating permanent dipole magnets. Measurements with the test setup have improved by a factor 2 the previous upper bound on the parameter $A_e$, which determines the strength of the nonlinear terms in the QED Lagrangian: $A_e^{\rm (PVLAS)} < 3.3 \times 10^{-21}$ T$^{-2}$ 95% c.l. Furthermore, new laboratory limits have been put on the inverse coupling constant of ALPs to two photons and confirmation of previous limits on the fractional charge of millicharged particles is given

The PVLAS experiment: measuring vacuum magnetic birefringence and dichroism with a birefringent Fabry-Perot cavity

Vacuum magnetic birefringence was predicted long time ago and is still lacking a direct experimental confirmation. Several experimental efforts are striving to reach this goal, and the sequence of results promises a success in the next few years. This measurement generally is accompanied by the search for hypothetical light particles that couple to two photons. The PVLAS experiment employs a sensitive polarimeter based on a high finesse Fabry-Perot cavity. In this paper we report on the latest experimental results of this experiment. The data are analysed taking into account the intrinsic birefringence of the dielectric mirrors of the cavity. Besides the limit on the vacuum magnetic birefringence, the measurements also allow the model-independent exclusion of new regions in the parameter space of axion-like and milli-charged particles. In particular, these last limits hold also for all types of neutrinos, resulting in a laboratory limit on their charge

First results from the new PVLAS apparatus: a new limit on vacuum magnetic birefringence

Several groups are carrying out experiments to observe and measure vacuum magnetic birefringence, predicted by Quantum Electrodynamics (QED). We have started running the new PVLAS apparatus installed in Ferrara, Italy, and have measured a noise floor value for the unitary field magnetic birefringence of vacuum $\Delta n_u^{\rm (vac)}= (4\pm 20) \times 10^{-23}$ T$^{-2}$ (the error represents a 1$\sigma$ deviation). This measurement is compatible with zero and hence represents a new limit on vacuum magnetic birefringence deriving from non linear electrodynamics. This result reduces to a factor 50 the gap to be overcome to measure for the first time the value of $\Delta n_u^{\rm (vac,QED)}$ predicted by QED: $\Delta n_u^{\rm (vac,QED)}= 4\times 10^{-24}$ ~T$^{-2}$. These birefringence measurements also yield improved model-independent bounds on the coupling constant of axion-like particles to two photons, for masses greater than 1 meV, along with a factor two improvement of the fractional charge limit on millicharged particles (fermions and scalars), including neutrinos

Kinematic and dynamic assessment of trunk exoskeleton

In Industry 4.0, wearable exoskeletons have been proposed as collaborative robotic devices to partially assist workers in heavy and dangerous tasks. Despite the recent researches, proposed prototypes and commercial products, some open issues concerning development, improvements and testing still exist. The current pilot study proposed the assessment of a proper biomechanical investigation of passive trunk exoskeleton effects on the human body. One healthy subject performed walking, stoop and semisquat tasks without, with exoskeleton no support and with exoskeleton with support. 3D Kinematic (angles, translations) and dynamic (interface forces) parameters of both human and exoskeleton were estimated. Some differences were pointed out comparing task motions and exoskeleton conditions. The presented preliminary test revealed interesting results in terms of different human joints coordination, interface forces exchanged at contact points and possible misalignment between human and device. The present study could be considered as a starting point for the investigation of exoskeleton effectiveness and interaction with the user

New PVLAS model independent limit for the axion coupling to γγ\gamma\gamma for axion masses above 1meV

During 2014 the PVLAS experiment has started data taking with a new apparatus installed at the INFN Section of Ferrara, Italy. The main target of the experiment is the observation of magnetic birefringence of vacuum. According to QED, the ellipticity generated by the magnetic birefringence of vacuum in the experimental apparatus is expected to be $\psi^{\rm(QED)} \approx 5\times10^{-11}$. No ellipticity signal is present so far with a noise floor $\psi^{\rm(noise)} \approx 2.5\times10^{-9}$ after 210 hours of data taking. The resulting ellipticity limit provides the best model independent upper limit on the coupling of axions to $\gamma\gamma$ for axion masses above $10^{-3}$eV

Multi-segments kinematic model of the human spine during gait

The complex biomechanical structure of the human spine requires a deep investigation to properly describe its physiological function and its kinematic contribution during motion. The computational approach allows the segmentation of the human spine into several rigid bodies connected by 3D joints. Despite the numerous solutions proposed by previous literature studies based on both inertial and stereophotogrammetric systems, the modelling of the human spine is characterized by some limitations such as the lack of standardization. Accordingly, the present preliminary study focused on the development of a multi-segments kinematic model of the human spine and its validation during gait trials. Three-dimensional spinal angular patterns and ranges of motion of one healthy young subject were considered as outcomes of interest. They were obtained by applying the YXZ Euler angles convention to the custom model. First, results were compared with those of the standard Plug-in-Gait full-body model, which segments the human spine into pelvis and trunk segments. Then, outcomes of the multi-segments model were compared with those obtained using the Tilt-Twist method. Overall, results stressed the importance of the spine segmentation, the major angular contributions of spinal regions during gait (Medium-Lumbar segments for lateral bending and flexion-extension, Thoracic-Medium segments for axial rotation), and the reliability of the proposed custom model (differences between Euler angles method and Tilt-Twist method lower than 0.5° in most cases). Future analysis on a larger healthy population and in the clinical context might be implemented to optimize, standardize and validate the proposed human spine model