Applied Mechanics and Materials Vol. 783

Abstract: The robotic rehabilitation therapy is being used more and more together with conventional rehabilitation because it allows a rapid improvement of the functional abilities of patients. This fact is due, especially in CPM (Continuous Passive Motion), both at a more constant repeatability of the movements performed and to the possibility of using machines for many hours, thanks to their "tireless". The study presented in this article shows the development of elbow rehabilitation device, from design and prototype realization until preliminary tests on patients.

Abstract: The work described involves the implementation of a testing bench prototype, used to control the behavior of heart valves, taking into account the characteristics of the blood.

Abstract: Sensors have always represented a fundamental component in most systems which have to guarantee a high reliability and huge performances. Industrial world provides a perfect example. During the last years, such instruments have increased their capabilities, thanks to the integration of functionalities which only certain devices had in the past, reaching a level of smartness which has allowed them to enlarge the range of their applications. One of the most interesting field, that has a great potential of development in the future, regards human healthcare (and rehabilitation in particular), which technology is giving a great contribution for. This paper aims to provide a general view of the exploitation of smart sensors in such domain. After having introduced the conceptual schemes which are the basis for the realization of a smart sensor, different typologies are described, which are utilized in implantable devices, wearable instruments and rehabilitation systems, trying to explain why they are the most suitable for certain applications.

Abstract: In this paper we propose an Hardware-In-the-Loop (HIL) system for industrial drives. The system allows the user to optimize the design of control strategies by emulating complex mechanical applications. In fact, with this approach it is possible to simulate the behavior of the real mechanical system, and therefore to verify a priori the effectiveness of a control strategy and to achieve a rapid prototyping of the mechatronic system. The structure of the system consists of a couple of brushless motor which are connected by a mechanical joint. In one drive the control functions related to a specific application are implemented while the other one is used to replicate the mechanical system model of the application. A modular approach has been selected in order to allow a rapid development of a given application. In particular, a library of components has been implemented both in Simulink and in an IEC61131-3 language.

Abstract: This paper presents an overview of the state of art of mobile robots presenting aspects of their current level of sophistication, fields mobile robots are being presently used, the future application and scope of mobile robots. Classifying the primary research topics of multi-robot systems into seven major categories (Biological inspirations, architecture, localization/mapping/exploration, object transport and manipulation, motion co-ordination, reconfigurable and learning robot systems, vision), we discuss the current state of research in these areas. An attempt to cover the points for which a general agreement has emerged within the scientific domain, are then presented, followed by a discussion of alternative approaches and currently unsolved problems. This paper also reviews the most relevant literature and previous research activity regarding mobile robotics. We conclude by identifying more topics of scientific consensus, open research issues and a discussion of some application areas where mobile robots could be used with existing technology.

Abstract: This paper presents an innovative mechanical actuator using a shape memory alloy (SMA) with a cooling system based on combined thermoelectric effect and forced air cooling systems. The main advantages of using SMAs include the reduction of the system weight, the ease and reliability in application, and a simple control strategy. This study focuses on the development of the system highlighting the mathematical model of the actuator, and an experimental prototype was implemented. Several experiments are used to validate the model and to identify best SMA actuator configuration parameters. Experiments were used to evaluate the actuator closed-loop performance, stability, and robustness properties.

Abstract: This paper presents a fuzzy logic to solve the inverse kinematics problem. As the complexity of robot increases, obtaining the inverse kinematics solution requires the solution of non linear equations having transcendental functions are difficult and computationally expensive. This study focuses on a serial manipulator modelled as a serial chain of rigid bodies connected by joints. A new fuzzy interactive algorithm is developed and the effectiveness is compared with other methods on a SCARA robot. It converge in all the developed simulations showing a robust performance.

Abstract: In this work, the optimization problem is studied for a planar cam which rotates around its axis and moves a centered translating roller follower. The proposed optimization method is a genetic algorithm. The paper deals with different design problems: the minimization of the pressure angle, the maximization of the radius of curvature and the minimization of the contact pressure. Different types of motion laws are tested to found the most suitable for the computational optimization process.

Abstract: The paper presents compare methods of approximation results of studies using regression analysis and neural networks. As a research facility used theoretical values of surface roughness based on theoretical values of surface roughness calculated as kinematics-geometric projection of the cutting edge on finish surface. Pointed to the limitations of the presented methods of research results approximation.