A parallel compliant meso-manipulator for finger rehabilitation treatments: Kinematic and dynamic analysis.
ABSTRACT A parallel and flexible meso-manipulator for finger rehabilitation treatments is presented in this paper. The work deals with the study of a meso-robotpsilas kinematic and dynamic peculiar behavior, aimed at allowing its application to muscular activity and tendon tension, in those patients with even a partial lack of the fingers functionality, for instance due to a stroke. As a result of its structural compliance, the meso-manipulator results particularly suitable for a rehabilitative application: after having coupled the manipulator to a common cloth-glove joined to the mobile platform of the robot, the patientpsilas finger can be driven to the required movement. As external loads can also be imposed to the involved tendons, the realized motion parts performed by the robot and by the patient can be quantified. In this way, the surgeon can constantly monitor the therapy trend, but also the patient has an objective quantification of his/her improvement.
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Article: Innovative modular SMA actuator[Show abstract] [Hide abstract]
ABSTRACT: A modular design for a shape memory actuator is proposed. The actuator is able to perform linear movements, while the modularity allows force and/or stroke improvements. Experimental results show how the behavior of the proposed implementation is sufficient for a wide class of problems and can be improved with proper developments. © (2012) Trans Tech Publications, Switzerland.Advanced Materials Research. 01/2012; 590:405-410.
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ABSTRACT: Piezoelectric bimorph benders are a particular class of piezoelectric devices, which are characterized by the ability to produce flexural deformation greatly larger than the length or thickness deformation of a single piezoelectric layer. Due to extensive dimensional reduction of devices and to the high accuracy and repeatability requested, the effect of erroneous parameter estimation and the fluctuation of parameters due to external reasons, sometimes, cannot be omitted. As such, we consider mechanical, electrical and piezoelectric parameters as uniformly distributed around a nominal value and we calculate the distribution of natural frequencies of the device. We consider an analytical model for the piezoelectric bimorph proposed in literature. The results show how the parameters errors are reflected on the natural frequencies and how an increment of the error is able to change the shape of the frequencies distribution.Journal of Applied Mechanics 01/2013; 80(2). · 1.40 Impact Factor