By Giovanni Boschetti, Alessandro Gasparetto

ISBN-10: 3319483749

ISBN-13: 9783319483740

ISBN-10: 3319483757

ISBN-13: 9783319483757

This quantity comprises the complaints of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The e-book includes contributions at the most modern advances on Mechanism and desktop technological know-how. The fifty-nine papers take care of such issues as biomechanical engineering, background of mechanism and laptop technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.

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M. Russo (✉) ⋅ M. it M. it © Springer International Publishing AG 2017 G. Boschetti and A. 1007/978-3-319-48375-7_5 41 42 M. Russo and M. Ceccarelli 2 Kinematic Design The proposed mechanism is a 4 DoF parallel mechanism. Its kinematic chains are based on the kinematic inversion of the ones in the linear Delta robot [6] that is characterized by the three kinematic chains 3PR(2RR)R in Fig. 1a. However, the workspace of this structure is too small when compared to the robot size, since the human gait is a motion on the sagittal plane (y-z plane in Fig.

Bogin B, Varela-Silva MI (2010) Leg length, body proportion, and health: a review with a note on beauty. Int J Environ Res Public Health 7(3):1047–1075 2. Colizzi L, Lidonnici A, Pignolo L (2009) The ARAMIS project: a concept robot and technical design. J Rehabil Med 41:1011–1015 3. Danieli G (2015) Self balanced rehabilitation robot able to work both in active and passive modes on upper and lower limbs, left and rights. Italian patent application CS2015A000001, 18 Jan 2015 4. Danieli G (2016) Robot riabilitativo auto-bilanciato in gradi di lavorare sia in modo attivo che passive sia su arti superiori che inferiori, sia destri che sinistri.

Figure 9 shows a 3D view of the process showing both the robot (thicker lines) and arm positions. Next the robot angles (in radians) were computed during the process, as a function of the angle of horizontal arm rotation and are shown in Fig. 10, noticing that in this case only the first, third and fourth angles are subject to variations. This is only an example, but is possible to simulate practically all types of exercises. As well as it will be possible on the robot to execute them. DARTAGNAN a Self-balanced Rehabilitation Robot … 29 Fig.

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Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto


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