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Project Name and Acronym |
METAFORE- Method and Tool design Applied to Families of Robots for medical Environment RIME - Robot In Medical Environment |
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Duration |
Dec 1999-Dec 2001 (METAFORE) Dec 2001-dec 2003 (RIME) |
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Web site |
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Sponsoring promoter |
Ministry of Scientific Researches and Technology MURST |
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Funding programme |
Cofin 1999 (METAFORE) Cofin 2001 (RIME). |
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Keywords |
Rehabilitation, Robotics, Hybrid manipulators, kinematic analysis, |
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Co-ordinating group |
Vincenzo Parenti-Castelli
(local Coordinator) - Rossi Aldo (national Coordinator). |
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Partners (group name, category*) |
DIEM-Mechanical Engineering University of Bologna, Italy Dept. of Mechanical Engineering - University of Modena, Italy Dept. of Engineering - University of Ferrara, Italy |
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Objectives |
To develop a robotic systems for surgical operation support operating in a master slave fashion |
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Relevant activities |
Design of mechanical robotic systems featuring serial and/or parallel architectures Study of advanced methods for kinematic and dynamic analysis of complex mechanisms Design and analysis of redundant mechanical systems Development of algorithms for real time kinematic analysis Influence of kinematic pair clearance on mechanism performances Geometric calibration of parallel mechanisms |
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Achieved biomedical robotic prototypes/ products |
Design of a serial-parallel (and parallel-serial) redundant robotic system for surgical operation. Development of kinematic and dynamic algoritms for real time control (by means of extra sensors). Design of new 3-dof parallel mechanisms for pure translation. Code for evaluating the influence of clearance in the mechanism kinematic pairs on the positioning precision of any mechanism link of interest. |
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User/clinical trials |
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objectives |
To design and evaluate the capability of the robotic system to satisfy the required surgical performances. |
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robotic systems |
6-dof (and 7-dof) Hybrid parallel mechanism. |
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methodologies |
Computer simulations and (when the prototype will be ready) experimental tests in a test surgical room. |
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involved users (number and category) |
Surgeons in the surgical room. |
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main results |
Study on the feasibility of the entire robotic system. Development of new advanced kinematic analysis techniques. Design of new architectures of 3-dof parallel mechanisms for pure translation. Development of a code for mechanism performance evaluation due to clearance in kinematic pairs. |
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clinical partners |
Medical doctors, surgeons. |
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other relevant information |
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Name |
Short description° |
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3-UPU-RRR |
A frame connected parallel 3-UPU mechanism having its moving platform that serves as the base of a serial RRR mechanism. At the moment, only a passive (manually actuated) prototype of the parallel module 3-UPU has been manufactured. |
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Group name |
Category* |
Contacts |
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EURON network |
Technological Research |
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Electronic laboratory |
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Mechanical laboratory |
Workshop traditional Machine Tools, Numeric Control Machine Tools. |
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Software laboratory |
Autocad, Solid Edge, Visual Nastran |
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Robotic equipment |
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Other |
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PARENTI CASTELLI V., DI GREGORIO R.,
"Determination of the Actual Configuration of the General Stewart Platform
Using Only One Additional Displacement Sensor", ASME Transactions, Journal of Mechanical Design, March 1999, Vol.
121, pp. 21-25.
PARENTI CASTELLI V., DI GREGORIO R.,
"A new algorithm based on two extra-sensors for real-time computation of
the actual configuration of the generalized Stewart-Gough manipulator”, ASME Transactions, Journal of Mechanical
Design,Vol. 122, September 2000, pp. 294-298.
PARENTI CASTELLI V., DI GREGORIO R.,
"Real-time actual pose determination of the general fully-parallel
spherical wrist using only one extra sensor", Journal of Robotic Systems, Special Issue, Eds. B. Siciliano and J.
Lenarcic (Sept. 2001).
DI GREGORIO R., and PARENTI CASTELLI V.,
“Position analysis in analytical form of the 3-PSP mechanisms”, ASME Transaction Journal of Mechanical
Design, March 2001, Vol. 123, pp.51-55.
DI GREGORIO R., and PARENTI CASTELLI V.,
“Mobility analysis of the 3-UPU parallel mechanism assembled for a pure
translational motion”, IEEE-ASME International Conference on Advanced
Intelligent Mechatronics (AIM’99), Sept. 19-22, 1999, Atlanta, GA. Also accepted ASME Transactions, Journal of Mechanical Design.
PARENTI-CASTELLI, V., DI GREGORIO, R. and
BUBANI F., “Workspace and optimal design of a pure translation
parallel manipulator”, XIV Congresso
AIMETA, 3-9 ottobre, 1999, Como. Also
Meccanica,35, 2000, pp. 203-214.
PARENTI-CASTELLI
V., and BUBANI F., “Singularity loci and dimensional design of a translational
3-dof fully-parallel manipulator,”Advances
in Multibody Systems and Mechatronics, ISBN 3-9501108-0-1, Sept. 25, 1999,
Duisburg, Germany, pp. 319-331.
DI GREGORIO R., and PARENTI CASTELLI V.,
“Influence of the geometric parameters of the 3-UPU parallel manipulator on the
singularity loci,” PKM99, Parallel
Kinematic Machines, International Workshop on parallel machines, Nov. 30,
1999, Milano.
DI GREGORIO R., and PARENTI-CASTELLI V.,
“Benefits of twisting the legs in the 3-UPU Tsai mechanism,” 2000 PKM-IT, Year 2000 Parallel Kinematic
Machines International Conference, Sept. 13-15, 2000, Ann Arbor, Michigan,
USA, pp. 201-211.
PARENTI-CASTELLI V., and DI GREGORIO R.,
“Influence of manufacturing errors on the kinematic performances of the 3-UPU
parallel mechanism,” The 2nd Chemnitz
Parallel Kinematics Seminar - Working Accuracy of Parallel Kinematics,
April 12-13, 2000, Chemnitz, Germany, ISBN 3-928921-54-1, pp. 85-100.
DI GREGORIO R., and PARENTI-CASTELLI V.,
“Mobility analysis of the 3-PSP mechanism,”Romansy
2000, CISM-IFToMM Symposium on Theory
and Practice of Robots and Manipulators, July 3-6, 2000, Zakopane, Poland.
CARRICATO M., and PARENTI-CASTELLI V., “A
family of 3-dof translational parallel manipulators,” ASME 27th DAC (Design Automation Conference), Sept.
9-12, 2001, Pittsburgh, Pennsylvania, USA (Feb 2001). Also submitted to ASME JMD, (April 27, 2001).
CARRICATO M., and PARENTI-CASTELLI V.,
“Position analysis of a new family of 3-dof translational parallel
manipulators,” ASME 27th DAC
(Design Automation Conference), Sept. 9-12, 2001, Pittsburgh, Pennsylvania,
USA (Feb 2001). Also submitted to
ASME JMD, (April 27, 2001).
PARENTI-CASTELLI V., VENANZI S.,
“Kinetostatic behaviour of the prismatic pair with clearance,” Advances in Robot Dynamics and Control
(ARDC) IMECE 2001, ASME International Mechanical Engineering Congress and
Exposition, November 11-16, 2001, New York, NY.
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Project Name and Acronym |
External fixation devices for human long bone fracture reduction |
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Duration |
June 1999-June
2001 |
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Web site |
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Sponsoring promoter |
Ministry of Scientific Researches and Technology MURST University of Bologna |
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Funding programme |
Funds MUST 60%. |
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Keywords |
Bone fracture reduction, Robotics, Parallel mechanisms, Kinematic analysis. |
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Co-ordinating group |
Vincenzo Parenti-Castelli
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Partners (group name, category*) |
DIEM-Mechanical Engineering University of Bologna, Italy Dept. of Engineering - University of Ferrara, Italy |
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Objectives |
To develop automated and/or manual parallel mechanisms for long bone fracture reduction |
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Relevant activities |
Design of 6-dof parallel mechanisms. Methods for kinematic and dynamic analysis of complex mechanisms Design and analysis of parallel mechanisms |
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Achieved biomedical robotic prototypes/ products |
Design of new parallel mechanisms for long bone fracture reduction. Development of kinematic algoritms for position control. |
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User/clinical trials |
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objectives |
To design and evaluate the capability of new mechanisms to satisfy the required performances. |
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robotic systems |
6-dof parallel mechanisms. |
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methodologies |
Computer
simulations. |
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involved users (number and category) |
Injured patients and medical surgeons in the surgical room. |
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main results |
Study on the feasibility of the proposed mechanisms. Development of new mechanisms. |
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clinical partners |
Medical doctors, surgeons. |
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other relevant information |
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Name |
Short description° |
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Design of new fixation devices. |
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Group name |
Category* |
Contacts |
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EURON network |
Technological Research |
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Electronic laboratory |
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Mechanical laboratory |
Workshop traditional Machine Tools, Numeric Control Machine Tools. |
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Software laboratory |
Autocad, Solid Edge, Visual Nastran |
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Robotic equipment |
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Other |
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DI GREGORIO R., and PARENTI CASTELLI V.,
“Kinematics of a 6-dof fixation device for long bone fracture reduction”, Journal of Robotic Systems, Special
Issue, Eds. B. Siciliano and J. Lenarcic (Sept. 2001).
DI GREGORIO R., and PARENTI CASTELLI V.,
“Optimal solution for an automated 3-dof bone fixation mechanism”, RAAD’99, International Workshop on Robotics
in Alpe-Adria-Danube Region, ISBN 3-00-004482-5, Eds F. Freyberger and G.
Schmidt, June 17-19, 1999, Munchen, Germany, pp. 329-333.
DI GREGORIO R., and PARENTI-CASTELLI V.,
“Fixation devices for long bone fracture reduction: an overview and some
suggestions,” submitted to Special Issue
on Medical and Rehabilitation Robotics for the IMACS Journal “Mathematics and
Computers in Simulation”, Eds. S. Tzafestas, (16 Jan 2001).
DI GREGORIO R., and PARENTI-CASTELLI V., “A
new decoupled 6-DOF parallel mechanism for long bone fracture reduction,” SERVICEROB’01, European Workshop on Service and Humanoid Robots,, June 24-28,
2001, Santorini Island, Greece. Also Special Issue of the Journal of Systems Science on
Virtual Reality and Mobile /Service Robots, Guest Editors : Spyros G. Tzafestas
and Costas S. Tzafestas (to appear).
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Project Name and Acronym |
Modelling of human passive knee and ankle motion |
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Duration |
June 1999-June
2001 |
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Web site |
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Sponsoring promoter |
Ministry of Scientific Researches and Technology MURST University of Bologna |
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Funding programme |
Funds MUST 60%. |
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Keywords |
Human Knee passive motion, ankle knee passive motion, equivalent parallel mechanism, Kinematic model, |
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Co-ordinating group |
Vincenzo Parenti-Castelli
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Partners (group name, category*) |
DIEM-Mechanical Engineering University of Bologna, Italy Dept. of Engineering - University of Ferrara, Italy IOR Rizzoli Orthopaedic
Institutes - Bologna University
of Oxford - Oxford orthopaedic Engineering Centre Nuffield
Orthopaedic Centre, Oxford, UK |
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Objectives |
To develop mechanical models of the human passive motion in order to improve the knowledge of the knee and ankle motion nature and to design more efficient internal prostheses. |
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Relevant activities |
Definition and validation of a 1-dof spatial parallel mechanism to simulate the knee passive motion. The mechanisms feature two contacts of higher type and three binary links emulating three isometric ligaments. Definition and validation of a 1-dof spatial parallel mechanism to simulate the ankle passive motion. The mechanisms feature tthree contacts of higher type and two binary links emulating two isometric ligaments. Methods for kinematic and dynamic analysis of complex mechanisms |
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Achieved biomedical robotic prototypes/ products |
Design of new parallel mechanisms for simulation of the passive knee and ankle motion. Development of kinematic algoritms for position control. |
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User/clinical trials |
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objectives |
To devise and evaluate the capability that equivalent spatial mechanisms may have to simulate and hence to give a better explanation of the knee and ankle passive motion. |
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robotic systems |
Parallel mechanisms with higher kinematic pairs. |
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methodologies |
Advanced Kinematic analysis techniques, Computer simulations. |
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involved users (number and category) |
Injured patients and medical surgeons in the surgical room. |
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main results |
Study on the feasibility of the proposed equivalent mechanisms. Development of new internal prostheses of the human knee and ankle. |
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clinical partners |
Medical doctors, surgeons. |
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other relevant information |
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Name |
Short description° |
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Kinematic models of the passive motion of the human knee and ankle. |
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Group name |
Category* |
Contacts |
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EURON network |
Technological Research |
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Electronic laboratory |
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Mechanical laboratory |
Workshop traditional Machine Tools, Numeric Control Machine Tools. |
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Software laboratory |
Autocad, Solid Edge, Visual Nastran |
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Robotic equipment |
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Other |
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PARENTI-CASTELLI V., and DI GREGORIO R.,
“Parallel mechanisms applied to the human knee passive motion simulation,” ARK
2000, 7th ARK International Symposium on
Advances in Robot Kinematics, June 26-30, 2000, Pirano-Portoroz, Slovenia. Also
in J. Lenarcic, and M. Stanisic, Eds., Advances
in Robot Kinematics, Kluwer Academic Publishers, ISBN 0-7923-6426-0, 2000,
pp. 333-344.
DI GREGORIO R., and PARENTI-CASTELLI V., “A
spatial mechanism with higher pairs for modelling the human knee joint,” ASME DETC, 26th Biennial Mechanisms and
Robotics Conference, ASME paper
DETC2000/MECH-14156, ASME
special session: Design of Medical
Devices, Sept. 10-13, 2000, Baltimore, Maryland.
DI GREGORIO R., and PARENTI-CASTELLI V.,
“Three equation kinematic models for the human knee passive motion
suimulation,”ASME 27th DAC
(Design Automation Conference), Special Session Symposium on Mechanisms and
Devices for Medical Applications, Sept. 9-12, 2001, Pittsburgh,
Pennsylvania, USA.
CORAZZA F., O’CONNOR J:J., LEARDINI A., and
PARENTI-CASTELLI V., “Ligament fibre recruitment and forces for the anterior
drawer test at the human ankle joint,” XVIII
Congress of the International Society of Biomechanics,. July 8-13, 2001, Zurich,
Switzerland. Also sumbitted (extended
version) to Journal of Biomechanics,
Sept 2001.
CORAZZA F., O’CONNOR J:J.,
LEARDINI A., and PARENTI-CASTELLI V., “Anterior drawer test at the human ankle
joint: ligament fibre recruitment and load shearing,” ISMHMB 2001, Int. Symposium on
Mechanics of Human Movement and Biomaterials, August 5-7, 2001,
Ottawa, Canada.
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Project Name and Acronym |
Design of Humanoids |
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Duration |
1999- 2001 |
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Web site |
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Sponsoring promoter |
Ministry of Scientific Researches and Technology MURST |
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Funding programme |
Cofin 1999 (METAFORE) Cofin 2001 (RIME). |
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Keywords |
Humanoids, Robotics, kinematic analysis, clearance |
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Co-ordinating group |
Vincenzo Parenti-Castelli |
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Partners (group name, category*) |
DIEM-Mechanical Engineering University of Bologna, Italy Dept. of Mechanical Engineering - University of Modena, Italy Institute Jozef Stefan,
Lubiana, Slovenia |
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Objectives |
To develop a robotic system for shoulder of humanoids |
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Relevant activities |
Design of parallel mechanisms Study of advanced methods for kinematic and dynamic analysis of complex mechanisms Development of algorithms for real time kinematic analysis |
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Achieved biomedical robotic prototypes/ products |
Design of a 4-dof parallel mechanism for the shoulder of a humanoid. Design of a 2-dof parallel mechanism for human joints. Development of kinematic algoritms for position analysis. |
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User/clinical trials |
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objectives |
To design and evaluate the capability of the robotic system to satisfy the required performances. |
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robotic systems |
2-dof and 4-dof parallel mechanisms. |
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methodologies |
Computer simulations and (when the prototype will be ready) experimental tests in a test surgical room. |
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involved users (number and category) |
Technicians, injured patiences. |
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main results |
Study on the feasibility of the entire robotic system. Design of new architectures of 4-dof and 2-dof parallel mechanisms. |
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clinical partners |
Medical doctors. |
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other relevant information |
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Name |
Short description° |
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A passive (manually actuated) prototype of a 4-dof parallel mechanism has been manufactured. A 2-dof parallel spherical wrist with decoupled motion has been proposed. |
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Group name |
Category* |
Contacts |
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EURON network |
Technological Research |
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Electronic laboratory |
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Mechanical laboratory |
Workshop traditional Machine Tools, Numeric Control Machine Tools. |
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Software laboratory |
Autocad, Solid Edge, Visual Nastran |
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Robotic equipment |
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Other |
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LENARCIC J, STANISIC M., and PARENTI-CASTELLI
V., “Kinematic design of a humanoid robotic shoulder complex,” IEEE ICRA 2000, April 24-28, 2000, San
Francisco, CA, pp. 27-32.
LENARCIC J, STANISIC M., and
PARENTI-CASTELLI V., “A four-dof parallel mechanism simulating the movement of
the human sternum-clavicle-scapula complex”, ARK 2000, 7th ARK International Symposium on Advances in Robot Kinematics,
June 26-30, 2000, Pirano-Portoroz, Slovenia, also in J. Lenarcic, and M.
Stanisic, Eds., Advances in Robot Kinematics, Kluwer Academic Publishers, ISBN
0-7923-6426-0, pp. 325-332.
PARENTI-CASTELLI V., VENANZI S., and
LENARCIC J., “Influence of geometry on the kinematic performances of a
human-girdle mechanism with clearance in the joints,”, 2001 IEEE/ASME International Conference on Advanced Intelligent
Mechatronics (AIM’01), 8-11 July, 2001, Como, Italy. Also submitted to ICAE Journal (Ed. Karim Malek) Sept 13, 2001.
CARRICATO M., and PARENTI-CASTELLI V., “A
2-DOF parallel mechanism for a human shoulder prosthesis,” RAAD’01, May 16-18, 2001, Vienna.
CARRICATO M., and PARENTI-CASTELLI V., “A
two-decoupled-DOF spherical parallel mechanism for replication of human
joints,” SERVICEROB’01, European Workshop on Service and Humanoid
Robots, June 24-28, 2001, Santorini Island, Greece.