A Robot-Assisted Framework for Rehabilitation Practices: Implementation and Experimental Results.

One of the most interesting characteristics of collaborative robots is their ability to be used in close cooperation scenarios. In industry, this facilitates the implementation of human-in-loop workflows. However, this feature can also be exploited in different fields, such as healthcare. In this paper, a rehabilitation framework for the upper limbs of neurological patients is presented, consisting of a collaborative robot that helps users perform three-dimensional trajectories. Such a practice is aimed at improving the coordination of patients by guiding their motions in a preferred direction. We present the mechatronic setup, along with a preliminary experimental set of results from 19 volunteers (patients and control subjects) who provided positive feedback on the training experience (52% of the subjects would return and 44% enjoyed performing the exercise). Patients were able to execute the exercise, with a maximum deviation from the trajectory of 16 mm. The muscular effort required was limited, with average maximum forces recorded at around 50 N.

Design of a Carangiform Swimming Robot through a Multiphysics Simulation Environment.

Bio-inspired solutions devised for autonomous underwater robots are currently being investigated by researchers worldwide as a way to improve propulsion. Despite efforts to harness the substantial potential payoffs of marine animal locomotion, biological system performance still has far to go. In order to address this very ambitious objective, the authors of this study designed and manufactured a series of ostraciiform swimming robots over the past three years. However, the pursuit of the maximum propulsive efficiency by which to maximize robot autonomy while maintaining acceptable maneuverability ultimately drove us to improve our design and move from ostraciiform to carangiform locomotion. In order to comply with the tail motion required by the aforementioned swimmers, the authors designed a transmission system capable of converting the continuous rotation of a single motor in the travelling wave-shaped undulations of a multijoint serial mechanism. The propulsive performance of the resulting thruster (i.e., the caudal fin), which constitutes the mechanism end effector, was investigated by means of computational fluid dynamics techniques. Finally, in order to compute the resulting motion of the robot, numerical predictions were integrated into a multibody model that also accounted for the mass distribution inside the robotic swimmer and the hydrodynamic forces resulting from the relative motion between its body and the surrounding fluid. Dynamic analysis allowed the performance of the robotic propulsion to be computed while in the cruising condition.

Superimposed fringe projection for three-dimensional shape acquisition by image analysis.

The aim in this work is the development of an image analysis technique for 3D shape acquisition, based on luminous fringe projections. In more detail, the method is based on the simultaneous use of several projectors, which is desirable whenever the surface under inspection has a complex geometry, with undercuts or shadow areas. In these cases, the usual fringe projection technique needs to perform several acquisitions, each time moving the projector or using several projectors alternately. Besides the procedure of fringe projection and phase calculation, an unwrap algorithm has been developed in order to obtain continuous phase maps needed in following calculations for shape extraction. With the technique of simultaneous projections, oriented in such a way to cover all of the surface, it is possible to increase the speed of the acquisition process and avoid the postprocessing problems related to the matching of different point clouds.