1. Group of Robotics and Articular Biomechanics
DIEM  Dept. of Mechanical Eng.
Group of Robotics and Articular Biomechanics
Dir: Prof. V. Parenti Castelli
Speaker: Dr. Marco Carricato

2. Collaborations GRAB has collaborations and agreements with :
Universities :
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) …
Research Centers:
CNR-ITIA (Italy)
Fraunhofer Institute (Germany)
INAIL Prosthetic Centre (Italy)
INRIA – Sophia Antipolis (France)
Jozef Stefan Institute (Slovenia)
Rizzoli Orthopaedic Institute ( Italy) …

3. Collaborations GRAB has collaborations and agreements with : Industry:
DUCATI
LAMBORGHINI
EMMEGI GROUP
DVP
CALZONI
VARVEL
HERA
VARIAN
RAINER …

4. PARALLEL ROBOTS Analysis of parallel robots: geometry kinematics
dynamics
Patented parallel robots for:
translational motion
orientational motion
Synthesis of parallel robots for improved performances:
simpler control;
better real-time performances;
greater dexterity;
enhanced actuator operation;
limited singularity problems.

5. 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.)

6. 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
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
V = 0kV
0kV
6kV

7. 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

8. ROBOTIC HANDS Collaboration: Group of Mechatronic Design, DIEM/DEIS
Mechanical design of robotic hands
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."
UBH-IV: DIEM/DEIS

9. 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

10. HUMAN JOINT MODELLING Experimental analysis of human joints:
Articular surfaces
Passive articular structures
Natural motion
Knee and ankle models:
Kinematic models based on parallel mechanisms
Static models
Different models for different applications
High accuracy

11. 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

12. 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

13. THANK YOU VERY MUCH!