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Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations (2022)
Journal Article
Camacho-Arreguin, J. I., Wang, M., Russo, M., Dong, X., & Axinte, D. (2022). Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations. IEEE/ASME Transactions on Mechatronics, https://doi.org/10.1109/TMECH.2022.3183689

Current research on walking robots strives to achieve a higher efficiency, a better load capacity, and an increased adaptability. Parallel kinematic manipulators (PKMs) are characterized by high payload and accuracy, but conventional PKMs with fixed... Read More about Novel Reconfigurable Walking Machine Tool Enables Symmetric and Nonsymmetric Walking Configurations.

A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches (2022)
Journal Article
Bishop, C., Russo, M., Dong, X., & Axinte, D. (2022). A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches. IEEE/ASME Transactions on Mechatronics, 27(6), 5339-5350. https://doi.org/10.1109/TMECH.2022.3179812

The many degrees of freedom of continuum robots (CRs) enable unique applications in the search and rescue, medical and aerospace industries. However, the many motors required result in unwieldy external actuation packs and additional weight. Underact... Read More about A Novel Underactuated Continuum Robot With Shape Memory Alloy Clutches.

Requirements and Solutions for Motion Limb Assistance of COVID-19 Patients (2022)
Journal Article
Ceccarelli, M., Bottin, M., Russo, M., Rosati, G., Laribi, M. A., & Petuya, V. (2022). Requirements and Solutions for Motion Limb Assistance of COVID-19 Patients. Robotics, 11(2), Article 45. https://doi.org/10.3390/robotics11020045

COVID-19 patients are strongly affected in terms of limb motion when imbedded during the acute phase of the infection, but also during the course of recovery therapies. Peculiarities are investigated for design requirements for medical devices in lim... Read More about Requirements and Solutions for Motion Limb Assistance of COVID-19 Patients.

Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance (2022)
Journal Article
Venkata Sai Prathyush, I., Ceccarelli, M., & Russo, M. (2022). Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance. Actuators, 11(2), Article 63. https://doi.org/10.3390/act11020063

A control design is presented for a cable driven parallel manipulator for performing a controlled motion assistance of a human ankle. Requirements are discussed for a portable, comfortable, and light-weight solution of a wearable device with an overa... Read More about Control Design for CABLEankle, a Cable Driven Manipulator for Ankle Motion Assistance.

Design and Performance of L-CaPaMan2 (2022)
Journal Article
Titov, A., Russo, M., & Ceccarelli, M. (2022). Design and Performance of L-CaPaMan2. Applied Sciences, 12(3), Article 1380. https://doi.org/10.3390/app12031380

The improved solution of L‐CaPaMan design is elaborated with solutions for low‐cost lightweight features. A new prototype is presented as a result of design improvements by using market components and 3D printing manufacturing. The new prototype as L... Read More about Design and Performance of L-CaPaMan2.

Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments (2022)
Journal Article
Dong, X., Wang, M., Mohammad, A. E. K., Ba, W., Russo, M., Norton, A., …Axinte, D. (2022). Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments. IEEE/ASME Transactions on Mechatronics, 27(5), 4217-4220. https://doi.org/10.1109/TMECH.2021.3138222

This letter presents two long continuum robots, inserted through small holes, and working collaboratively in a crammed space to manipulate an extreme-temperature (>2000 °C) flame for coating repair on aeroengines without the need of their disassembly... Read More about Continuum Robots Collaborate for Safe Manipulation of High-Temperature Flame to Enable Repairs in Challenging Environments.

Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator (2021)
Journal Article
Russo, M., Sriratanasak, N., Ba, W., Dong, X., Mohammad, A., & Axinte, D. (2022). Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator. IEEE Robotics and Automation Letters, 7(2), 1558-1565. https://doi.org/10.1109/LRA.2021.3139371

Continuum robots are able of in-situ inspection tasks in cluttered environments and narrow passages, where conventional robots and human operators cannot intervene. However, such intervention often requires the robot to interact with the environment,... Read More about Cooperative continuum robots: Enhancing individual continuum arms by reconfiguring into a parallel manipulator.

Performance Analysis of a Cable-Driven Ankle Assisting Device (2021)
Conference Proceeding
Ceccarelli, M., Russo, M., & Lapteva, M. (2022). Performance Analysis of a Cable-Driven Ankle Assisting Device. In Advances in Asian Mechanism and Machine Science: Proceedings of IFToMM Asian MMS 2021 (619-627). https://doi.org/10.1007/978-3-030-91892-7_59

The paper presents a cable-driven parallel manipulator as a device for the motion assistance of the human ankle. The proposed design solution is discussed with design and operation requirements as from consideration of biomechanics and human-machine... Read More about Performance Analysis of a Cable-Driven Ankle Assisting Device.

A geometrical formulation for the workspace of parallel manipulators (2021)
Journal Article
Russo, M., & Ceccarelli, M. (2022). A geometrical formulation for the workspace of parallel manipulators. Robotica, 40(8), 2581-2591. https://doi.org/10.1017/S0263574721001806

In study this paper, a geometric formulation is proposed to describe the workspace of parallel manipulators by using a recursive approach as an extension of volume generation for solids of revolution. In this approach, the workspace volume and bounda... Read More about A geometrical formulation for the workspace of parallel manipulators.

Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation (2021)
Journal Article
Ceccarelli, M., Russo, M., Cafolla, D., & Chaparro-Rico, B. D. (2021). Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation. Inventions, 6(4), Article 85. https://doi.org/10.3390/inventions6040085

The operation safety of rehabilitation devices must be addressed early in the development process and before being tested on people. In this paper, the operation safety of a 2-DoF (degrees of freedom) planar mechanism for arm rehabilitation is addres... Read More about Operation Safety of a 2-DoF Planar Mechanism for Arm Rehabilitation.

Historical and Technical Analysis of Harmonic Drive Gear Design (2021)
Conference Proceeding
Irakoze, V., Ceccarelli, M., & Russo, M. (2022). Historical and Technical Analysis of Harmonic Drive Gear Design. In M. Pucheta, A. Cardona, S. Preidikman, & R. Hecker (Eds.), Multibody Mechatronic Systems: MuSMe 2021 (46-55). https://doi.org/10.1007/978-3-030-88751-3_5

This paper presents a historical and technical analysis of the Harmonic Drive Gear Design by taking into consideration the original patent by Clarence Walton Musser, the inventor of “Strain Wave Gear” and by studying a performance evaluation of it. T... Read More about Historical and Technical Analysis of Harmonic Drive Gear Design.

Design and experimental characterization of l-CADEL v2, an assistive device for elbow motion (2021)
Journal Article
Ceccarelli, M., Riabtsev, M., Fort, A., Russo, M., Laribi, M. A., & Urizar, M. (2021). Design and experimental characterization of l-CADEL v2, an assistive device for elbow motion. Sensors, 21(15), Article 5149. https://doi.org/10.3390/s21155149

An experimental characterization is presented for an improved version of a wearable assistive device for elbow motion. The design is revised with respect to requirements for elbow motion assistance, looking at applications both in rehabilitation ther... Read More about Design and experimental characterization of l-CADEL v2, an assistive device for elbow motion.

An efficient follow-the-leader strategy for continuum robot navigation and coiling (2021)
Journal Article
Mohammad, A., Russo, M., Fang, Y., Dong, X., Axinte, D., & Kell, J. (2021). An efficient follow-the-leader strategy for continuum robot navigation and coiling. IEEE Robotics and Automation Letters, 6(4), 7493 - 7500. https://doi.org/10.1109/LRA.2021.3097265

Efficient path planning for hyper-redundant continuum and snake-like robots is a challenging task due to limited sensing capabilities, high computational loads, multiple possible solutions, and non-linear models. This paper presents a new approach to... Read More about An efficient follow-the-leader strategy for continuum robot navigation and coiling.

A kinematic coupling mechanism with binary electromagnetic actuators for high-precision positioning (2021)
Journal Article
Russo, M., Barrientos-Diez, J., & Axinte, D. (2022). A kinematic coupling mechanism with binary electromagnetic actuators for high-precision positioning. IEEE/ASME Transactions on Mechatronics, 27(2), 892-903. https://doi.org/10.1109/TMECH.2021.3074286

Rather than working in a continuous range of motion, binary actuators can only maintain two positions. This lack of flexibility is compensated by high accuracy, repeatability, and reliability. These features make binary-actuated mechanisms appealing... Read More about A kinematic coupling mechanism with binary electromagnetic actuators for high-precision positioning.

Kinematic modelling and motion analysis of a humanoid torso mechanism (2021)
Journal Article
Russo, M., Ceccarelli, M., & Cafolla, D. (2021). Kinematic modelling and motion analysis of a humanoid torso mechanism. Applied Sciences, 11(6), Article 2607. https://doi.org/10.3390/app11062607

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 a... Read More about Kinematic modelling and motion analysis of a humanoid torso mechanism.

An Autotuning Cable-Driven Device for Home Rehabilitation (2021)
Journal Article
Rodríguez-León, J. F., Chaparro-Rico, B. D. M., Russo, M., & Cafolla, D. (2021). An Autotuning Cable-Driven Device for Home Rehabilitation. Journal of Healthcare Engineering, 2021, 1-15. https://doi.org/10.1155/2021/6680762

© 2021 Jhon F. Rodríguez-León et al. 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 preven... Read More about An Autotuning Cable-Driven Device for Home Rehabilitation.

A bioinspired humanoid foot mechanism (2021)
Journal Article
Russo, M., Chaparro-Rico, B. D. M., Pavone, L., Pasqua, G., & Cafolla, D. (2021). A bioinspired humanoid foot mechanism. Applied Sciences, 11(4), https://doi.org/10.3390/app11041686

© 2021 by the authors. Licensee MDPI, Basel, Switzerland. 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... Read More about A bioinspired humanoid foot mechanism.

A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots (2021)
Conference Proceeding
Russo, M., & Ceccarelli, M. (2021). A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots. In S. Zeghloul, M. A. Laribi, & M. Arsicault (Eds.), Mechanism Design for Robotics : MEDER 2021 (53-61). https://doi.org/10.1007/978-3-030-75271-2_6

Computing the workspace of parallel manipulators is critical to characterize their behavior. Usually, workspace is obtained by iterating the robot’s forward kinematics for a discrete range of poses, resulting in a cloud of reachable points. Here we p... Read More about A Comparison of Algebraic and Iterative Procedures for the Generation of the Workspace of Parallel Robots.

Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility (2020)
Journal Article
Russo, M., Raimondi, L., Dong, X., Axinte, D., & Kell, J. (2021). Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility. Robotics and Computer-Integrated Manufacturing, 69, Article 102096. https://doi.org/10.1016/j.rcim.2020.102096

© 2020 In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. with less than 6 degrees-of-freedom (“DoF”), with a prescribed set of tasks in a constrained environment. Sin... Read More about Task-oriented optimal dimensional synthesis of robotic manipulators with limited mobility.