The Research on Soft Pneumatic Actuators in Italy: Design Solutions and Applications

Interest in soft actuators has increased enormously in the last 10 years. Thanks to their compliance and flexibility, they are suitable to be employed to actuate devices that must safely interact with humans or delicate objects or to actuate bio-inspired robots able to move in hostile environments. This paper reviews the research on soft pneumatic actuators conducted in Italy, focusing on mechanical design, analytical modeling, and possible application. A classification based on the geometry is proposed, since a wide set of architectures and manufacturing solutions are available. This aspect is confirmed by the extent of scenarios in which researchers take advantage of such systems’ improved flexibility and functionality. Several applications regarding bio-robotics, bioengineering, wearable devices, and more are presented and discussed

Automatic Electromechanical Perturbator for Postural Control Analysis Based on Model Predictive Control

Objective clinical analyses are required to evaluate balance control performance. To this outcome, it is relevant to study experimental protocols and to develop devices that can provide reliable information about the ability of a subject to maintain balance. Whereas most of the applications available in the literature and on the market involve shifting and tilting of the base of support, the system presented in this paper is based on the direct application of an impulsive (short-lasting) force by means of an electromechanical device (named automatic perturbator). The control of such stimulation is rather complex since it requires high dynamics and accuracy. Moreover, the occurrence of several non-linearities, mainly related to the human–machine interaction, signals the necessity for robust control in order to achieve the essential repeatability and reliability. A linear electric motor, in combination with Model Predictive Control, was used to develop an automatic perturbator prototype. A test bench, supported by model simulations, was developed to test the architecture of the perturbation device. The performance of the control logic has been optimized by iterative tuning of the controller parameters, and the resulting behavior of the automatic perturbator is presented

Parametric Identification of Postural Control Models in Humans Challenged by Impulse-Controlled Perturbations

The study of postural control system is relevant by academic and clinical points of view, and it can be improved by considering model-based approaches. In this framework, to improve the understanding of the underlying mechanism of balance control, it is often necessary to apply external perturbations to the body of a patient. This work deals with the parametric identification of postural control models by fitting with experimental data collected with a custom-made automated perturbation device. The results of model optimization are discussed and provide a preliminary validation of the methodology

La iniciativa legislativa popular. Especial referència a la pràctica de la VI legislatura del Parlament de Catalunya

1. NATURALESA JURÍDICA DE LA INICIATIVA LEGISLATIVA POPULAR. 2. LA INICIATIVA LEGISLATIVA EN L’ORDENAMENT CATALÀ. 2.1. La competència autonòmica per regular la iniciativa legislativa popular. 2.2. Trets principals de la regulació de la Llei 2/1995, de 23 de març, de la iniciativa legislativa popular. 2.2.1. L’admissió de les proposicions d’iniciativa legislativa popular. 2.2.2. Recollida de signatures i tramitació parlamentària de les proposicions d’iniciativa popular. 3. LES INICIATIVES LEGISLATIVES POPULARS PRESENTADES DURANT LA VI LEGISLATURA

Feasibility Study of a Passive Pneumatic Exoskeleton for Upper Limbs Based on a McKibben Artificial Muscle

Exoskeletons are wearable structures or systems designed to enhance human movement and to improve the wearer’s strength or agility, providing auxiliary support aimed at reducing efforts on muscles and joints of the human body. The aim of this work is to discuss on the feasibility of a new passive upper limb exoskeleton, based on the use of pneumatic artificial muscles, and characterized by extreme lightness, cheapness, and ease of use. A broad overview of the state of the art on current exoskeletons is introduced. Then the concept of the new device is presented, and different transmission architectures between pneumatic muscle and limb are discussed. The study demonstrates the potential effectiveness of such a device for supporting an operator in heavy work condition

A passive upper-limb exoskeleton for industrial application based on pneumatic artificial muscles

In recent years, exoskeletons are increasingly spreading into the industrial manufacturing sector to improve productivity and to reduce the incidence of work-related musculoskeletal diseases. The aim of this paper is to present a 2 degrees of freedom (DoF) passive upper-limb exoskeleton, consisting of two McKibben pneumatic artificial muscles (PAMs), and used for assisting workers during activities that require them to keep their hands in a sustained position over the head for a long time. Simulations are performed to test two different commercial PAMs and two different designs of the transmission system used to convey the traction force exerted by the pneumatic muscles to the limb; then the results are discussed. A preliminary assembly of the exoskeleton is also presented. The study confirms that PAMs can be used to realize a passive upper-limb exoskeleton for industrial application and that appropriate working space can be obtained with an accurate design of the transmission system

Contact force regulation in physical human-machine interaction based on model predictive control

With increasing attention to physical human-machine interaction (pHMI), new control methods involving contact force regulation in collaborative and coexistence scenarios have spread in recent years. Thanks to its internal robustness, high dynamic performance, and capabilities to avoid constraint violations, a Model Predictive Control (MPC) action can pose a viable solution to manage the uncertainties involved in those applications. This paper uses an MPC-driven control method that aims to apply a well-defined and tunable force impulse on a human subject. After describing a general control design suitable to achieve this goal, a practical implementation of such a logic, based on an MPC controller, is shown. In particular, the physical interaction considered is the one occurring between the body of a patient and an external perturbation device in a dynamic posturography trial. The device prototype is presented in both its hardware architecture and software design. The MPC-based main control parameters are thus tuned inside hardware-in-the-loop and human-in-the-loop environments to get optimal behaviors. Finally, the device performance is analyzed to assess the MPC algorithm’s accuracy, repeatability, flexibility, and robustness concerning the several uncertainties due to the specific pHMI environment considered

Postharvest Technologies of Fresh Citrus Fruit: Advances and Recent Developments for the Loss Reduction during Handling and Storage

Citrus spp. are spread mainly in the Mediterranean basin and represent the largest fruit source for human consumption. Postharvest losses, mainly due to diseases and metabolic disorders of fruits, can cause severe wastage, reaching 30 to 50% of the total production. Preserving quality and extending shelf life are essential objectives for postharvest technological innovation, determined by the proper handling, treatment, storage and transport of harvested produce. Moreover, the application of novel sustainable strategies is critical for the reduction of synthetic fungicide residues on fruit surfaces and the impact on the environment caused by waste disposal of fungicides. In this article, the current knowledge about the safest and more sustainable strategies, as well as advanced postharvest handling and storage technologies, will be critically reviewed

A bluetooth low energy indoor positioning system with channel diversity, weighted trilateration and Kalman filtering

Indoor Positioning Systems (IPS) using Bluetooth Low Energy (BLE) technology are currently becoming real and available, which has made them grow in popularity and use. However, there are still plenty of challenges related to this technology, especially in terms of Received Signal Strength Indicator (RSSI) fluctuations due to the behaviour of the channels and the multipath effect, that lead to poor precision. In order to mitigate these effects, in this paper we propose and implement a real Indoor Positioning System based on Bluetooth Low Energy, that improves accuracy while reducing power consumption and costs. The three main proposals are: frequency diversity, Kalman filtering and a trilateration method what we have denominated “weighted trilateration”. The analysis of the results proves that all the proposals improve the precision of the system, which goes up to 1.82 m 90% of the time for a device moving in a middle-size room and 0.7 m for static devices. Furthermore, we have proved that the system is scalable and efficient in terms of cost and power consumption. The implemented approach allows using a very simple device (like a SensorTag) on the items to locate. The system enables a very low density of anchor points or references and with a precision better than existing solutionsPeer ReviewedPostprint (published version