8 research outputs found
A non-invasive anatomical study and biomechanical measurements of the Octopus vulgaris arms for biomimetic robotics design
A Method for the calculation of the effective Center of Mass of Humanoid robots
In this paper we present a general strategy for the calculation of the effective Center of Mass (CoM) of humanoid robots, allowing the reduction of the error between the virtual robot model and the real platform. The method is based on an algorithm that calculates the real position of the CoM of a biped humanoid robot using only 2 force/torque sensors located on the feet of the robot. By means of this algorithm, it is possible to reduce the gap between the real and the virtual posture of the robot and consequently the errors between the ZMP trajectory calculated by the offline pattern generator and the ZMP trajectory calculated by the real-time pattern generator of the humanoid robot. Thus, the influence of the real-time control in the static and dynamic balance of a humanoid platform is minimized. Experimental results using SABIAN platform are provided to validate the proposed method. The results support the applicability of the method to more complex systems
A drug delivery system based on alginate microspheres: Mass-transport test and in vitro validation
This paper presents a drug delivery system based on alginate microspheres. The biocompatibility, the flexibility in size and shape, the ability to entrap biomolecules as well as cells make alginate based systems ideal for in vivo drug delivery. Specifically, considering the target application of neural regeneration and the issue of neuroprotection for the development of innovative neuroprostheses, the authors describe a system for controlled release of Netrin-1, an axonal guidance protein. Microspheres dimensioning (based on specifications of drug release time and release modality), microspheres realization, and mass transport tests are described. The release efficiency is finally assessed by in vitro experiments of axonal guidance performed on embryonic neuronal cells. Preliminary results show that neuronal axons grow approaching the Netrin-1 source, thus indicating an efficient entrapment and release of the protein in the microspheres, in agreement with the microsphere modelling described befor