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Dr. Daniele Cafolla
IRCCS Neuromed

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0 Mechanics
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Robotics
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Journal article
Published: 21 June 2021 in Actuators
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The increasing use of robots in the industry, the growing energy prices, and higher environmental awareness have driven research to find new solutions for reducing energy consumption. In additional, in most robotic tasks, energy is used to overcome the forces of gravity, but in a few industrial applications, the force of gravity is used as a source of energy. For this reason, the use of magnetic springs with actuators may reduce the energy consumption of robots performing trajectories due their high-hardness magnetic properties of energy storage. Accordingly, this paper proposes a magnetic spring configuration as an energy-storing system for a two DoF humanoid arm. Thus, an integration of the magnetic spring system in the robot is described. A control strategy is proposed to enable autonomous use. In this paper, the proposed device is modeled and analyzed with simulations as: mechanical energy consumption and kinetic energy rotational and multibody dynamics. Furthermore, a prototype was manufactured and validated experimentally. A preliminary test to check the interaction between the magnetic spring system with the mechanism and the trajectory performance was carried out. Finally, an energy consumption comparison with and without the magnetic spring is also presented.

ACS Style

Jhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators 2021, 10, 136 .

AMA Style

Jhon Rodríguez-León, Ilse Cervantes, Eduardo Castillo-Castañeda, Giuseppe Carbone, Daniele Cafolla. Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm. Actuators. 2021; 10 (6):136.

Chicago/Turabian Style

Jhon Rodríguez-León; Ilse Cervantes; Eduardo Castillo-Castañeda; Giuseppe Carbone; Daniele Cafolla. 2021. "Design and Preliminary Testing of a Magnetic Spring as an Energy-Storing System for Reduced Power Consumption of a Humanoid Arm." Actuators 10, no. 6: 136.

Communication
Published: 18 May 2021 in Crystals
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This paper proposes a methodology for user-tailored orthosis design for 3D printing that aims to give a non-expert, user-oriented tool that easily generates a customized orthosis. Additionally, this work aims to verify the biocompatibility of the PLACTIVE™ (PLACTIVE AN1™, nano-additive concentration 1%, Copper 3D, Santiago, Chile) filament after extrusion to check its feasibility for 3D printed orthoses. A forefinger and a thumb orthosis were successfully designed applying the proposed methodology. The results showed that the proposed methodology is able to generate simple and practical orthoses through a fairly easy and intuitive procedure. Furthermore, experimental tests showed that the biocompatibility of the PLACTIVE™ filament is not affected after extrusion process, suggesting that it is a feasible material for 3D-printed orthoses.

ACS Style

Betsy Chaparro-Rico; Katiuscia Martinello; Sergio Fucile; Daniele Cafolla. User-Tailored Orthosis Design for 3D Printing with PLACTIVE: A Quick Methodology. Crystals 2021, 11, 561 .

AMA Style

Betsy Chaparro-Rico, Katiuscia Martinello, Sergio Fucile, Daniele Cafolla. User-Tailored Orthosis Design for 3D Printing with PLACTIVE: A Quick Methodology. Crystals. 2021; 11 (5):561.

Chicago/Turabian Style

Betsy Chaparro-Rico; Katiuscia Martinello; Sergio Fucile; Daniele Cafolla. 2021. "User-Tailored Orthosis Design for 3D Printing with PLACTIVE: A Quick Methodology." Crystals 11, no. 5: 561.

Journal article
Published: 15 March 2021 in Applied Sciences
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This paper introduces a novel kinematic model for a tendon-driven compliant torso mechanism for humanoid robots, which describes the complex behaviour of a system characterised by the interaction of a complex compliant element with rigid bodies and actuation tendons. Inspired by a human spine, the proposed mechanism is based on a flexible backbone whose shape is controlled by two pairs of antagonistic tendons. First, the structure is analysed to identify the main modes of motion. Then, a constant curvature kinematic model is extended to describe the behaviour of the torso mechanism under examination, which includes axial elongation/compression and torsion in addition to the main bending motion. A linearised stiffness model is also formulated to estimate the static response of the backbone. The novel model is used to evaluate the workspace of an example mechanical design, and then it is mapped onto a controller to validate the results with an experimental test on a prototype. By replacing a previous approximated model calibrated on experimental data, this kinematic model improves the accuracy and efficiency of the torso mechanism and enables the performance evaluation of the robot over the reachable workspace, to ensure that the tendon-driven architecture operates within its wrench-closure workspace.

ACS Style

Matteo Russo; Marco Ceccarelli; Daniele Cafolla. Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism. Applied Sciences 2021, 11, 2607 .

AMA Style

Matteo Russo, Marco Ceccarelli, Daniele Cafolla. Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism. Applied Sciences. 2021; 11 (6):2607.

Chicago/Turabian Style

Matteo Russo; Marco Ceccarelli; Daniele Cafolla. 2021. "Kinematic Modelling and Motion Analysis of a Humanoid Torso Mechanism." Applied Sciences 11, no. 6: 2607.

Journal article
Published: 13 February 2021 in Applied Sciences
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This paper introduces an innovative robotic foot design inspired by the functionality and the anatomy of the human foot. Most humanoid robots are characterized by flat, rigid feet with limited mobility, which cannot emulate the physical behavior of the foot–ground interaction. The proposed foot mechanism consists of three main bodies, to represent the heel, plant, and toes, connected by compliant joints for improved balancing and impact absorption. The functional requirements were extracted from medical literature, and were acquired through a motion capture system, and the proposed design was validated with a numerical simulation.

ACS Style

Matteo Russo; Betsy D. M. Chaparro-Rico; Luigi Pavone; Gabriele Pasqua; Daniele Cafolla. A Bioinspired Humanoid Foot Mechanism. Applied Sciences 2021, 11, 1686 .

AMA Style

Matteo Russo, Betsy D. M. Chaparro-Rico, Luigi Pavone, Gabriele Pasqua, Daniele Cafolla. A Bioinspired Humanoid Foot Mechanism. Applied Sciences. 2021; 11 (4):1686.

Chicago/Turabian Style

Matteo Russo; Betsy D. M. Chaparro-Rico; Luigi Pavone; Gabriele Pasqua; Daniele Cafolla. 2021. "A Bioinspired Humanoid Foot Mechanism." Applied Sciences 11, no. 4: 1686.

Research article
Published: 11 February 2021 in Journal of Healthcare Engineering
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Out of all the changes to our daily life brought by the COVID-19 pandemic, one of the most significant ones has been the limited access to health services that we used to take for granted. Thus, in order to prevent temporary injuries from having lingering or permanent effects, the need for home rehabilitation device is urgent. For this reason, this paper proposes a cable-driven device for limb rehabilitation, CUBE2, with a novel end-effector (EE) design and autotuning capabilities to enable autonomous use. The proposed design is presented as an evolution of the previous CUBE design. In this paper, the proposed device is modelled and analyzed with finite element analysis. Then, a novel vision-based control strategy is described. Furthermore, a prototype has been manufactured and validated experimentally. Preliminary test to estimate home position repeatability has been carried out.

ACS Style

Jhon F. Rodríguez-León; Betsy D. M. Chaparro-Rico; Matteo Russo; Daniele Cafolla. An Autotuning Cable-Driven Device for Home Rehabilitation. Journal of Healthcare Engineering 2021, 2021, 1 -15.

AMA Style

Jhon F. Rodríguez-León, Betsy D. M. Chaparro-Rico, Matteo Russo, Daniele Cafolla. An Autotuning Cable-Driven Device for Home Rehabilitation. Journal of Healthcare Engineering. 2021; 2021 ():1-15.

Chicago/Turabian Style

Jhon F. Rodríguez-León; Betsy D. M. Chaparro-Rico; Matteo Russo; Daniele Cafolla. 2021. "An Autotuning Cable-Driven Device for Home Rehabilitation." Journal of Healthcare Engineering 2021, no. : 1-15.

Journal article
Published: 24 November 2020 in Machines
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Even though scientific studies of smart stents are extensive, current smart stents focus on pressure sensors. This paper presents a novel implantable biocompatible smart stent for monitoring eventual restenosis. The device is comprised of a metal mesh structure, a biocompatible and adaptable envelope, and pair-operated ultrasonic sensors for restenosis monitoring through flow velocity. Aside from continuous monitoring of restenosis post-implantation, it is also important to evaluate whether the stent design itself causes complications such as restenosis or thrombosis. Therefore, computational fluid dynamic (CFD) analysis before and after stent implantation were carried out as well as finite element analysis (FEA). The proposed smart stent was put in the descending thoracic section of a virtually reconstructed aorta that comes from a computed tomography (CT) scan. Blood flow velocity showed that after stent implantation, there is not liquid retention or vortex generation. In addition, blood pressures after stent implantation were within the normal blood pressure values. The stress and the factor of safety (FOS) analysis showed that the stress values reached by the stent are very far from the yield strength limit of the materials and that the stent is stiff enough to support the applied loads exported from the CFD results.

ACS Style

Betsy D. M. Chaparro-Rico; Fabio Sebastiano; Daniele Cafolla. A Smart Stent for Monitoring Eventual Restenosis: Computational Fluid Dynamic and Finite Element Analysis in Descending Thoracic Aorta. Machines 2020, 8, 81 .

AMA Style

Betsy D. M. Chaparro-Rico, Fabio Sebastiano, Daniele Cafolla. A Smart Stent for Monitoring Eventual Restenosis: Computational Fluid Dynamic and Finite Element Analysis in Descending Thoracic Aorta. Machines. 2020; 8 (4):81.

Chicago/Turabian Style

Betsy D. M. Chaparro-Rico; Fabio Sebastiano; Daniele Cafolla. 2020. "A Smart Stent for Monitoring Eventual Restenosis: Computational Fluid Dynamic and Finite Element Analysis in Descending Thoracic Aorta." Machines 8, no. 4: 81.

Journal article
Published: 04 September 2020 in Applied Sciences
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The efficacy of Lokomat on motor recovery in stroke patients is well known. However, few studies have examined Lokomat tools to assess stiffness, joint torque and range of motion (ROM) during the subacute phase of stroke. The purpose of this retrospective observational study is to assess the changes of joint torque, ROM and stiffness that were estimated with Lokomat tools, namely L-FORCE (lower limb-force), L-ROM (lower limb-range of motion)and L-STIFF (lower limb-stiff), for paretic and non-paretic lower limbs in the subacute phase of stroke, assuming that the tools were able to measure these changes. The data come from 10 subjects in the subacute phase who had their first ever-stroke and followed a treatment that included Lokomat. The measurements came from basal assessments (T0) and one-month follow-up (T1). The measures were compared between paretic and non-paretic legs, and between T0 and T1. Significant differences in stiffness, joint torque and ROM were obtained between the paretic and non-paretic limbs at both T0 and T1. A non-significant trend was obtained for reduced stiffness and increased torque and ROM between T0 and T1 of the paretic limbs. The Lokomat tools were able to measure the changes between paretic and non-paretic legs and the small changes between T0 and T1 measurements.

ACS Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Paolo Tortola; Giuseppe Galardi. Assessing Stiffness, Joint Torque and ROM for Paretic and Non-Paretic Lower Limbs during the Subacute Phase of Stroke Using Lokomat Tools. Applied Sciences 2020, 10, 6168 .

AMA Style

Betsy D. M. Chaparro-Rico, Daniele Cafolla, Paolo Tortola, Giuseppe Galardi. Assessing Stiffness, Joint Torque and ROM for Paretic and Non-Paretic Lower Limbs during the Subacute Phase of Stroke Using Lokomat Tools. Applied Sciences. 2020; 10 (18):6168.

Chicago/Turabian Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Paolo Tortola; Giuseppe Galardi. 2020. "Assessing Stiffness, Joint Torque and ROM for Paretic and Non-Paretic Lower Limbs during the Subacute Phase of Stroke Using Lokomat Tools." Applied Sciences 10, no. 18: 6168.

Conference paper
Published: 20 August 2020 in Mechanical Engineering and Materials
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An implantable device such as a stent is discussed in this article. The device has a tubular structure with a longitudinal cavity that extends from the first to the second end, with two or more ultrasonic transductors positioned properly, so that an ultrasonic signal is produced and received which spreads through a transducer in the cross cavity of the device. The transducer works in pairs by sending a signal one to another. The transducers function with one signal to the other. Using various methodologies based on requirements, the ultrasounds signal can measure blood flow rate. The system proposed can detect even a partial block of the cavity, which can also predict the initiation of restenosis phenomena.

ACS Style

Daniele Cafolla; Fabio Sebastiano. An Implantable Biocompatible Smart Stent for Monitoring Eventual Restenosis. Mechanical Engineering and Materials 2020, 861 -867.

AMA Style

Daniele Cafolla, Fabio Sebastiano. An Implantable Biocompatible Smart Stent for Monitoring Eventual Restenosis. Mechanical Engineering and Materials. 2020; ():861-867.

Chicago/Turabian Style

Daniele Cafolla; Fabio Sebastiano. 2020. "An Implantable Biocompatible Smart Stent for Monitoring Eventual Restenosis." Mechanical Engineering and Materials , no. : 861-867.

Journal article
Published: 20 August 2020 in Applied Sciences
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Studies have demonstrated the validity of Kinect-based systems to measure spatiotemporal parameters of gait. However, few studies have addressed test-retest, inter-rater and intra-rater reliability for spatiotemporal gait parameters. This study aims to assess test-retest, inter-rater and intra-rater reliability of SANE (eaSy gAit aNalysis system) as a measuring instrument for spatiotemporal gait parameters. SANE comprises a depth sensor and a software that automatically estimates spatiotemporal gait parameters using distances between ankles without the need to manually indicate where each gait cycle begins and ends. Gait analysis was conducted by 2 evaluators for 12 healthy subjects during 4 sessions. The reliability was evaluated using Intraclass Correlation Coefficients (ICC). In addition, the Standard Error of the Measurement (SEM), and Smallest Detectable Change (SDC) was calculated. SANE showed from an acceptable to an excellent test-retest, inter-rater and intra-rater reliability; test-retest reliability ranged from 0.62 to 0.81, inter-rater reliability ranged from 0.70 to 0.95 and intra-rater ranged from 0.74 to 0.92. The subject behavior had a greater effect on the reliability of SANE than the evaluator performance. The reliability values of SANE were comparable with other similar studies. SANE, as a feasible and markerless system, has large potential for assessing spatiotemporal gait parameters.

ACS Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla. Test-Retest, Inter-Rater and Intra-Rater Reliability for Spatiotemporal Gait Parameters Using SANE (an eaSy gAit aNalysis systEm) as Measuring Instrument. Applied Sciences 2020, 10, 5781 .

AMA Style

Betsy D. M. Chaparro-Rico, Daniele Cafolla. Test-Retest, Inter-Rater and Intra-Rater Reliability for Spatiotemporal Gait Parameters Using SANE (an eaSy gAit aNalysis systEm) as Measuring Instrument. Applied Sciences. 2020; 10 (17):5781.

Chicago/Turabian Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla. 2020. "Test-Retest, Inter-Rater and Intra-Rater Reliability for Spatiotemporal Gait Parameters Using SANE (an eaSy gAit aNalysis systEm) as Measuring Instrument." Applied Sciences 10, no. 17: 5781.

Journal article
Published: 10 April 2020 in Applied Sciences
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This paper presents a novel exoskeleton mechanism for finger motion assistance. The exoskeleton is designed as a serial 2-degrees-of-freedom wearable mechanism that is able to guide human finger motion. The design process starts by analyzing the motion of healthy human fingers by video motion tracking. The experimental data are used to obtain the kinematics of a human finger. Then, a graphic/geometric synthesis procedure is implemented for achieving the dimensional synthesis of the proposed novel 2 degrees of freedom linkage mechanism for the finger exoskeleton. The proposed linkage mechanism can drive the three finger phalanxes by using two independent actuators that are both installed on the back of the hand palm. A prototype is designed based on the proposed design by using additive manufacturing. Results of numerical simulations and experimental tests are reported and discussed to prove the feasibility and the operational effectiveness of the proposed design solution that can assist a wide range of finger motions with proper adaptability to a variety of human fingers.

ACS Style

Giuseppe Carbone; Eike Christian Gerding; Burkard Corves; Daniele Cafolla; Matteo Russo; Marco Ceccarelli. Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton. Applied Sciences 2020, 10, 2619 .

AMA Style

Giuseppe Carbone, Eike Christian Gerding, Burkard Corves, Daniele Cafolla, Matteo Russo, Marco Ceccarelli. Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton. Applied Sciences. 2020; 10 (7):2619.

Chicago/Turabian Style

Giuseppe Carbone; Eike Christian Gerding; Burkard Corves; Daniele Cafolla; Matteo Russo; Marco Ceccarelli. 2020. "Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton." Applied Sciences 10, no. 7: 2619.

Journal article
Published: 07 April 2020 in Robotics
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Locomotion over different terrain types, whether flat or uneven, is very important for a wide range of service operations in robotics. Potential applications range from surveillance, rescue, or hospital assistance. Wheeled-legged hexapod robots have been designed to solve these locomotion tasks. Given the wide range of feasible operations, one of the key operation planning issues is related to the robot balancing during motion tasks. Usually this problem is related with the pose of the robot’s center of mass, which can be addressed using different mathematical techniques. This paper proposes a new practical technique for balancing wheeled-legged hexapod robots, where a Biodex Balance System model SD (for static & dynamic) is used to obtain the effective position of the center of mass, thus it can be recalculated to its optimal position. Experimental tests are carried out to evaluate the effectiveness of this technique and modify and improve the position of hexapod robots’ center of mass.

ACS Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castaneda; Giuseppe Carbone. Static Balancing of Wheeled-legged Hexapod Robots. Robotics 2020, 9, 23 .

AMA Style

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castaneda, Giuseppe Carbone. Static Balancing of Wheeled-legged Hexapod Robots. Robotics. 2020; 9 (2):23.

Chicago/Turabian Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castaneda; Giuseppe Carbone. 2020. "Static Balancing of Wheeled-legged Hexapod Robots." Robotics 9, no. 2: 23.

Journal article
Published: 21 March 2020 in Applied Sciences
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Patients with neurological or orthopedic lesions require assistance during therapies with repetitive movements. NURSE (cassiNo-qUeretaro uppeR-limb aSsistive dEvice) is an arm movement aid device for both right- and left-upper limb. The device has a big workspace to conduct physical therapy or training on individuals including kids and elderly individuals, of any age and size. This paper describes the mechanism design of NURSE and presents a numerical procedure for testing the mechanism feasibility that includes a kinematic, dynamic, and FEM (Finite Element Method) analysis. The kinematic demonstrated that a big workspace is available in the device to reproduce therapeutic movements. The dynamic analysis shows that commercial motors for low power consumption can achieve the needed displacement, acceleration, speed, and torque. Finite Element Method showed that the mechanism can afford the upper limb weight with light-bars for a tiny design. This work has led to the construction of a NURSE prototype with a light structure of 2.6 kg fitting into a box of 35 × 45 × 30 cm. The latter facilitates portability as well as rehabilitation at home with a proper follow-up. The prototype presented a repeatability of ±1.3 cm that has been considered satisfactory for a device having components manufactured with 3D rapid prototyping technology.

ACS Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis. Applied Sciences 2020, 10, 2139 .

AMA Style

Betsy D. M. Chaparro-Rico, Daniele Cafolla, Marco Ceccarelli, Eduardo Castillo-Castaneda. NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis. Applied Sciences. 2020; 10 (6):2139.

Chicago/Turabian Style

Betsy D. M. Chaparro-Rico; Daniele Cafolla; Marco Ceccarelli; Eduardo Castillo-Castaneda. 2020. "NURSE-2 DoF Device for Arm Motion Guidance: Kinematic, Dynamic, and FEM Analysis." Applied Sciences 10, no. 6: 2139.

Article
Published: 10 March 2020 in Journal of Intelligent & Robotic Systems
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Activity in Cultural Heritage frames aims to have a good monitoring of unknown cultural heritage also in an inaccessible site decreasing the cost of interventions. There are several robotics systems available both as rovers and drones. They are suited for inspection tasks in risky environments or for surveillance purposes provided of several sensors able to detect and monitor the area under examination, sometimes they can be also equipped with an end-effector for manipulation tasks or to collect objects. This paper introduces HeritageBot III (HBIII), a service robot for Cultural Heritage frames, which consists in a robotic platform with a modular design for both ground locomotion and flight capability. The proposed design is able to merge the advantages of drone and legged mobile robots in an innovative platform, able to navigate in most unknown environment.

ACS Style

Daniele Cafolla; Matteo Russo; Marco Ceccarelli. Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage. Journal of Intelligent & Robotic Systems 2020, 100, 223 -237.

AMA Style

Daniele Cafolla, Matteo Russo, Marco Ceccarelli. Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage. Journal of Intelligent & Robotic Systems. 2020; 100 (1):223-237.

Chicago/Turabian Style

Daniele Cafolla; Matteo Russo; Marco Ceccarelli. 2020. "Experimental Validation of HeritageBot III, a Robotic Platform for Cultural Heritage." Journal of Intelligent & Robotic Systems 100, no. 1: 223-237.

Research article
Published: 03 February 2020 in SN Applied Sciences
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Hybrid legged-wheeled robots are gaining interest in various service applications, like surveillance or inspection in hospitals. The autonomy of these robots is not only related to their power consumption, it mostly refers to their capability to safely move in complex partially structured environments. This paper proposes to investigate the combination of different moving strategies and sensors to enhance the adaptability and autonomy of a hybrid hexapod robot in specific environments shared with humans. Namely, this paper proposes a locomotion strategy that combines leg motions and Mecanum omniwheels with multiple sensory feedbacks to achieve safe obstacle avoidance during a service operation. Several experimental tests are carried out by using Cassino Hexapod III in combination with sonar, IMU and Lidar sensors at IRCCS Neuromed site in Pozzilli. Experimental results show the effectiveness of the proposed operation strategy with Cassino Hexapod III to avoid multiple obstacles.

ACS Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castañeda; Giuseppe Carbone. A hybrid legged-wheeled obstacle avoidance strategy for service operations. SN Applied Sciences 2020, 2, 329 .

AMA Style

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castañeda, Giuseppe Carbone. A hybrid legged-wheeled obstacle avoidance strategy for service operations. SN Applied Sciences. 2020; 2 (3):329.

Chicago/Turabian Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castañeda; Giuseppe Carbone. 2020. "A hybrid legged-wheeled obstacle avoidance strategy for service operations." SN Applied Sciences 2, no. 3: 329.

Conference paper
Published: 14 June 2019 in Mechanical Engineering and Materials
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Several robotic rehabilitation systems have already been developed for the hand requiring the biological joints to be aligned with those of the exoskeleton making the standardization of this devices for different anthropomorphic sizes almost impossible. This problem together with the usage of rigid components can affect the natural movement of the hand and injure the user. Moreover, these systems are also typically expensive and are designed for in-clinic use as they are generally not portable. Biomimetic and bioinspired inspiration using soft robotics can solve these issues. This paper aims to introduce the conceptual design of a personalized flexible exoskeleton for finger rehabilitation modelled around one specific user’s finger with the help of a 3D scanning procedure presenting a dynamic FEM analysis and a preliminary prototype obtaining a low-cost and easy to use and wear device.

ACS Style

Daniele Cafolla. A personalized flexible exoskeleton for finger rehabilitation: a conceptual design. Mechanical Engineering and Materials 2019, 73 -82.

AMA Style

Daniele Cafolla. A personalized flexible exoskeleton for finger rehabilitation: a conceptual design. Mechanical Engineering and Materials. 2019; ():73-82.

Chicago/Turabian Style

Daniele Cafolla. 2019. "A personalized flexible exoskeleton for finger rehabilitation: a conceptual design." Mechanical Engineering and Materials , no. : 73-82.

Conference paper
Published: 14 June 2019 in Mechanical Engineering and Materials
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3D tracking of mechanisms in a non-structured environment is a very challenging task. It is important for the development of robotic applications, since key points can be tracked and used to control or to validate the system. In this paper, a 3D object-tracking method is presented. The proposed method allows to track a marker or a specific point also in poorly-lighted environments through images captured by a camera in combination with a depth sensor, thus obtaining the 3D Point Cloud of the entity as result. In addition, the velocity and the trajectory of the marker can be obtained. Two different acquisitions are reported as example, one for a cable-driven rehabilitation device and one for a lower-mobility parallel mechanism.

ACS Style

Daniele Cafolla; Matteo Russo; Betsy D. M. Chaparro-Rico. A 3D Vision Tracking Method for Mechanism Validation. Mechanical Engineering and Materials 2019, 2067 -2076.

AMA Style

Daniele Cafolla, Matteo Russo, Betsy D. M. Chaparro-Rico. A 3D Vision Tracking Method for Mechanism Validation. Mechanical Engineering and Materials. 2019; ():2067-2076.

Chicago/Turabian Style

Daniele Cafolla; Matteo Russo; Betsy D. M. Chaparro-Rico. 2019. "A 3D Vision Tracking Method for Mechanism Validation." Mechanical Engineering and Materials , no. : 2067-2076.

Conference paper
Published: 14 June 2019 in Mechanical Engineering and Materials
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In the last years the autonomy in service robots became an important feature to develop different kinds of indoor and outdoor service tasks, like sur-veillance or inspection in hospitals. This autonomy is not only related to power consumption, it is also related with the capability to avoid obstacles without crashing. The aim of this paper is to present the experimental validation of a gait planning for obstacle avoidance with Cassino Hexapod III, a wheeled-legged hy-brid hexapod robot, with an omni-wheeled locomotion. Experimental test is car-ried out to demonstrate the motion capability of Cassino Hexapod III to dodge an obstacle in front of it.

ACS Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castañeda; Giuseppe Carbone. Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels. Mechanical Engineering and Materials 2019, 2391 -2400.

AMA Style

Ernesto Christian Orozco-Magdaleno, Daniele Cafolla, Eduardo Castillo-Castañeda, Giuseppe Carbone. Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels. Mechanical Engineering and Materials. 2019; ():2391-2400.

Chicago/Turabian Style

Ernesto Christian Orozco-Magdaleno; Daniele Cafolla; Eduardo Castillo-Castañeda; Giuseppe Carbone. 2019. "Experimental Validation of a Gait Planning for Obstacle Avoidance Using Mecanum Wheels." Mechanical Engineering and Materials , no. : 2391-2400.

Article
Published: 22 May 2019 in Journal of Bionic Engineering
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In this paper, a novel cable-driven parallel robot, CUBE, is introduced for the assistance of patients in rehabilitation exercising of both upper and lower limbs. The system is characterized by a lightweight structure that is easy to set-up and operate, for both clinical and home usage for both pre-determined and customized exercises, with control over the position of the end-effector while locking its rotation around the horizontal axes. Its cable-driven design makes it inherently safe in human/robot interactions also due to the extremely low inertia. While a novel end-effector design makes the device wearable both on the upper and lower limbs without having to disassemble any part of the structure. The design is presented with its kinematic analysis. Then, the manufacturing through 3D-printing and commercial components of a first prototype is reported. Finally, the system is validated through motion tests along simple trajectories and two different spatial exercises.

ACS Style

Daniele Cafolla; Matteo Russo; Giuseppe Carbone. CUBE, a Cable-driven Device for Limb Rehabilitation. Journal of Bionic Engineering 2019, 16, 492 -502.

AMA Style

Daniele Cafolla, Matteo Russo, Giuseppe Carbone. CUBE, a Cable-driven Device for Limb Rehabilitation. Journal of Bionic Engineering. 2019; 16 (3):492-502.

Chicago/Turabian Style

Daniele Cafolla; Matteo Russo; Giuseppe Carbone. 2019. "CUBE, a Cable-driven Device for Limb Rehabilitation." Journal of Bionic Engineering 16, no. 3: 492-502.

Correspondence
Published: 18 May 2019 in Clinical Neurophysiology
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ACS Style

Mario Stampanoni Bassi; Sara Casciato; Luana Gilio; Luigi Pavone; Daniele Cafolla; Elisabetta Sforza; Enrico Alfonsi; Ilaria Simonelli; Giancarlo Di Gennaro; Diego Centonze; Ennio Iezzi. Subclinical dysphagia in task-specific mouth tremor triggered by drinking. Clinical Neurophysiology 2019, 130, 1289 -1291.

AMA Style

Mario Stampanoni Bassi, Sara Casciato, Luana Gilio, Luigi Pavone, Daniele Cafolla, Elisabetta Sforza, Enrico Alfonsi, Ilaria Simonelli, Giancarlo Di Gennaro, Diego Centonze, Ennio Iezzi. Subclinical dysphagia in task-specific mouth tremor triggered by drinking. Clinical Neurophysiology. 2019; 130 (8):1289-1291.

Chicago/Turabian Style

Mario Stampanoni Bassi; Sara Casciato; Luana Gilio; Luigi Pavone; Daniele Cafolla; Elisabetta Sforza; Enrico Alfonsi; Ilaria Simonelli; Giancarlo Di Gennaro; Diego Centonze; Ennio Iezzi. 2019. "Subclinical dysphagia in task-specific mouth tremor triggered by drinking." Clinical Neurophysiology 130, no. 8: 1289-1291.

Journal article
Published: 04 December 2018 in Robotics
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In this paper, the mechanical design of the LARMbot 2, a low-cost user-oriented humanoid robot was presented. LARMbot 2 is characterized by parallel architectures for both the torso and legs. The proposed design was presented with the kinematics of its main parts—legs, torso, arms—and then compared to its previous version, which was characterized by a different leg mechanism, to highlight the advantages of the latest design. A prototype was then presented, with constructive details of its subsystems and its technical specifications. To characterize the performance of the proposed robot, experimental results were presented for both the walking and weight-lifting operations.

ACS Style

Matteo Russo; Daniele Cafolla; Marco Ceccarelli. Design and Experiments of a Novel Humanoid Robot with Parallel Architectures. Robotics 2018, 7, 79 .

AMA Style

Matteo Russo, Daniele Cafolla, Marco Ceccarelli. Design and Experiments of a Novel Humanoid Robot with Parallel Architectures. Robotics. 2018; 7 (4):79.

Chicago/Turabian Style

Matteo Russo; Daniele Cafolla; Marco Ceccarelli. 2018. "Design and Experiments of a Novel Humanoid Robot with Parallel Architectures." Robotics 7, no. 4: 79.