DIEM  Dept. of Mechanical Eng.
Group of Robotics and
Articular Biomechanics
Dir: Prof. V. Parenti Castelli
Speaker: Dr. Marco Carricato
Collaborations
GRAB has collaborations and agreements with :
• Universities :
• Research Centers:
 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)
…
 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
Patented parallel
Synthesis
of parallel
robots
robots
for:
for
improved performances:
• translational
motion
•• simpler
control;
orientational
motion
• better real-time performances;
• greater dexterity;
• enhanced actuator operation;
• limited singularity problems.
CABLE ROBOTS
Collaboration: INRIA Sophia Antipolis, Équipe COPRIN (Dr: Jean-Pierre Merlet)
Service Robotics for Assistance and Rehabilitation :
• cost  mechanical simplicity;
• high degree of modularity;
• adaptability to users needs and
environment.
Cable-Driven Parallel Robots:
• reduced manufacturing and
assembling costs;
• ample workspace;
• mechanical modularity.
Activity in Bologna:
• Mechanical problems
(kinetostatic analysis, stability analysis, etc.)
HUMAN-MACHINE
PHYSICAL INTERFACES (HMPI)
Collaboration: SCUOLA SUPERIORE SANT’ANNA (Pisa, Italy)
Design of novel HMPI kinematic architectures.
Design of novel actuation systems for HMPI:
• Based on Dielectric Elastomers
• Large deformations
V = 0kV
• 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
0kV
6kV
COMPLIANT MECHANISMS
and SOFT MATERIALS
Collaboration: Group of Mechatronic Design, UNIBO (Prof. G. Vassura)
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
Finger prototype
ROBOTIC HANDS
Collaboration: Group of Mechatronic Design, DIEM/DEIS
Mechanical design of robotic hands
UBH-IV: DIEM/DEIS
• 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."
REHABILITATION AND
ASSISTIVE ROBOTICS
– Design methodology focused on the patient
– Design of upper limb Prostheses and Exoskeletons
– Definition of control strategies
– Bench tests
– Clinical tests
HUMAN JOINT MODELLING
Experimental analysis of human joints:
• Articular surfaces
• Passive articular structures
• Natural motion
Ab/Adduction
0.04
0
0.03
-5
0.02
 (rad)
x (mm)
Position components
5
-10
-15
0
0.2
0.4
0.6
0.8
1
Flexion (rad)
1.2
1.4
1.6
1.8
0.01
2
0
-0.01
y (mm)
24
-0.02
0
0.2
0.4
0.6
0.8
1
Flexion (rad)
1.2
1.4
1.6
1.8
2
1.4
1.6
1.8
2
22
20
0
Intra/Extra Rotation
0.2
0.4
0.6
0.8
1
Flexion (rad)
1.2
1.4
1.6
1.8
0.4
2
0.3
 (rad)
0
z (mm)
-2
-4
0.1
0
-6
-8
0
0.2
0.2
0.4
0.6
0.8
1
Flexion (rad)
1.2
1.4
1.6
1.8
2
-0.1
0
0.2
0.4
0.6
0.8
1
Flexion (rad)
1.2
Knee and ankle models:
• Kinematic models based on parallel mechanisms
• Static models
• Different models for different applications
• High accuracy
PROSTHESES
Collaborations: Rizzoli Orthopaedic Institute, Smith & Nephew, Hit Medica
Design of innovative medical devices:
• Internal prostheses
• External prostheses
• Orthoses and Exoskeletons
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
VIBRATIONS of MACHINES
–
–
–
–
–
–
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
THANK YOU VERY MUCH!