Alberto Borboni

Alberto Borboni
Università degli Studi di Brescia | UNIBS · Department of Mechanical and Industrial Engineering

PhD Applied Mechanics

About

119
Publications
20,095
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1,326
Citations
Additional affiliations
January 2001 - December 2013
Università degli Studi di Brescia
September 1998 - September 2001
Università degli Studi di Brescia
Position
  • PhD Student

Publications

Publications (119)
Article
Full-text available
Investigations about the feasibility of delivery systems with unmanned aerial vehicles (UAVs) or drones have been recently expanded, owing to the exponential demand for goods to be delivered in the recent years, which has been further increased by the COVID-19 pandemic. UAV delivery can provide new contactless delivery strategies, in addition to ap...
Article
Full-text available
Exoskeletons are robots that closely interact with humans and that are increasingly used for different purposes, such as rehabilitation, assistance in the activities of daily living (ADLs), performance augmentation or as haptic devices. In the last few decades, the research activity on these robots has grown exponentially, and sensors and actuation...
Chapter
The design process of innovative medical devices, and especially robotic systems for rehabilitation purposes, entails the collaboration among different stakeholders. Moreover, regulations strongly affect the products development, e.g. providing unexpected technical requirements and design constraints. In this paper, an innovative open innovation-in...
Conference Paper
In contrast to other brain imaging methods, electroencephalography (EEG) has become a feasible method for investigating brain activity and is an interesting modality for brain-machine interfaces (BMIs) due to its portability and high temporal resolution. In this work, sensorimotor rhythms (SMR) signal was utilized to classify ankle joint movements....
Conference Paper
The increasing attention to the critical environmental situation leads towards the greater diffusion of vehicles based on affordable and clean energy, like electric energy. The electrification of traction thus favours the development of sustainable cities. This also applies to the Unmanned Aerial Vehicles (UAVs), for which the electric solution in...
Article
In this study, the fusion of cortical and muscular activities based on discriminant correlation analysis (DCA) is developed to recognize bilateral lower limb movements. Electromyography (EMG) and electroencephalography (EEG) signals were concurrently recorded from 28 healthy subjects while performing various ankle joint movements. The two types of...
Conference Paper
A healthy mobility of the trunk plays a fundamental role in the activities of daily living. The flexion-extension movement is one of the main tasks evaluated in clinical practice to assess the functionality of the spine. Nevertheless, no fully shared methods are currently available for the clinician to perform quantitative evaluations on the moveme...
Article
Full-text available
Background and Objectives: Gait disorders represent one of the most disabling aspects in multiple sclerosis (MS) that strongly influence patient quality of life. The improvement of walking ability is a primary goal for rehabilitation treatment. The aim of this study is to evaluate the effectiveness of robot-assisted gait training (RAGT) in associat...
Chapter
Smart manufacturing is the integration of information technology infrastructure and intelligent computational algorithms in manufacturing process. Smart manufacturing provides intelligent and interoperable environments, effectively targeting the mass production requirements and quality. In this work, the interdependence between the current smart ma...
Article
Full-text available
Since cobots are designed to be flexible, they are frequently repositioned to change the production line according to the needs; hence, their working area (user frame) needs to be often calibrated. Therefore, it is important to adopt a fast and intuitive user frame calibration method that allows even non-expert users to perform the procedure effect...
Chapter
The reference frame definition is a significant postulate for the robot motion planning process. Reference frame selection can be classified as allocentric, egocentric and route-centric. The identification of a reference frame affects the complexity of measuring and implementing the controlling variables. The work reports this topic by referring sp...
Article
Realization of cam profiles passes through a discretization, truncation and interpolation of ideal designed motion profiles. This process affects the kinematics and the dynamics of a cam mechanism. This work aims to study and quantify this process and suggest a correct choice of the number of points that describes the profile, the number of digits...
Chapter
This paper presents a novel methodology to evaluate robotic system reliability and Remaining Useful Life (RUL) integrating FMECA (Failure Modes, Effects and Criticality Analysis), life data analysis and data-driven & model-based methods. Starting from the FMECA analysis, the methodology proposes to identify the main critical components of new parts...
Article
Full-text available
This paper presents the concept of a novel telemanipulator for minimally invasive surgery, along with numerical analysis to validate the main system performance. The proposed kinematic structure consists of a passive and an active module. The passive module is similar to the Selective Compliance Assembly Robot Arm - SCARA robot. The active module i...
Chapter
This work proposes a new device for lower and upper limb rehabilitation. The device is portable and modular and can be adopted to realize different system configurations and to perform different exercises. A design description and an analysis are shown, a working prototype is under construction and tests on humans are planned.
Chapter
The design of innovative robotic devices reflects the behavior of the modern competitive markets, where the customer’s expectations dramatically increased. Many researches aim to apply innovative solutions to obtain high machining performances and quality of products. This paper deals to present a 3-DOFs parallel robotic device for miniaturized obj...
Conference Paper
The demand of ultra-high precision (UHP) machining is growing word-wide, driving the study and development of new solutions to increase the machine tool (MT) functionalities and performance. This trend has generated a request of smart, flexible and faster MTs that are able to reduce machining time and improve the final accuracy. The material select...
Article
Low-cost robotics, fully integrated in the corporate IT infrastructure, is a requirement in the era of modern industrial automation derived from the Industry 4.0 model. This paper presents a multidisciplinary robotics-based learning (R-BL) project consisting of the development of a modular control architecture and a gripper for small manipulators....
Article
Background: The use of an exoskeleton elbow is considered an effective treatment in several pathologies, including post-stroke complications, traumatic brain injury (TBI) and spinal cord injury (SCI), as well as in patients with neurodegenerative disorders. The effectiveness of rehabilitation is closely linked to a suitably chosen therapy. The tre...
Article
Full-text available
Electroencephalography (EEG) signals have great impact on the development of assistive rehabilitation devices. These signals are used as a popular tool to investigate the functions and the behavior of the human motion in recent research. The study of EEG-based control of assistive devices is still in early stages. Although the EEG-based control of...
Conference Paper
The assisted limb rehabilitation process is commonly associated with advanced control of the affected limb through robotic assistance and human interference. The robotic element is only expected to be able to reproduce the motion suitable for large variations of patient’s condition within a reasonable accuracy and stiffness. Therapist’s interventio...
Conference Paper
This work is devoted to monitor and trace a preliminary representation of the set of devices designed to take part to resuscitation process for patients subjected to a cardiac arrest. The resuscitation procedure is well defined and reviewed by the scientific community and different devices are present in literature and are adopted on patients. A st...
Conference Paper
Stroke patients are often affected by hemiparesis. In the rehabilitation of these patients the function of the hand is often neglected. Thus in this work we propose a robotic approach to the rehabilitation of the hand of a stroke patient in hospital and also at home. Some experimental results can be presented here especially for inpatients. Further...
Article
Full-text available
This work proposes a new shape memory actuator based on a slider and slot mechanism. The device is composed by two couples of opposed SMA coil elements. The SMA elements are heated by means of Joule effect connecting their ends to an electric power supply through special terminal clips. The cooling is realized with an axial air fan. The movement of...
Article
Full-text available
Physical rehabilitation based on robotic systems has the potential to cover the patient’s need of improvement of upper extremity functionalities. In this article, the state of the art of resistant and assistive upper limb exoskeleton robots and their control are thoroughly investigated. Afterward, a single-degree-of-freedom exoskeleton matching the...
Article
Full-text available
Stiffness is one of the important parameters for estimating the performance of hybrid parallel robots as it is not constant throughout its workspace. The aim of this study is to provide an optimum path based on maximum stiffness within the workspace of a 9-degree-of-freedom hybrid parallel mechanism configuration, which includes nine linear actuato...
Chapter
The paper presents a sensitivity study on the first five vibration modes of a bimorph piezoelectric beam. More in detail, the analysis focuses on the kinematic response of these kind of strips to uncertainties in the identification of electric, piezoelectric and mechanical parameters. The study defines these uncertainties as input errors in the ide...
Conference Paper
The “Timed Up and Go” (TUG) test is widely used in various disorders to evaluate subject’s mobility, usually evaluating only time execution. TUG test specificity could be improved by using instrumented assessment based on inertial sensors. Position of the sensor is critical. This study aimed to assess the reliability and validity of an inertial sen...
Article
Full-text available
[Purpose] The aim of the present study is to detail the protocol for a randomised controlled trial (RCT) of neural manual vs. robotic assisted on pain in sensitivity as well as analyse the quantitative and qualitative movement of hand in subjects with hand osteoarthritis. [Subjects and Methods] Seventy-two patients, aged 50 to 90 years old of both...
Article
Full-text available
The dynamic behaviour of a machine tool (MT) directly influences the machining performance. The adoption of lightweight structures may reduce the effects of undesired vibrations and increase the workpiece quality. This paper aims to present and compare a set of hybrid materials that may be excellent candidates to fabricate the MT moving parts. The...
Article
This paper proposes a robot gripper in polymeric material for solid micro-meso parts. The gripper is developed using a light-weight, highly deformable and low cost material, that allows elastic deformations. The proposed solution consists of a simple geometry, incorporating the complexity of the mechanical transmission in the non-linear high deform...
Article
Background: We evaluated the effectiveness of robot-assisted motion and activity in additional to physiotherapy (PT) and occupational therapy (OT) on stroke patients with hand paralysis. Methods: A randomized controlled trial was conducted. Thirty-two patients, 34.4% female (mean ± SD age: 68.9 ± 11.6 years), with hand paralysis after stroke par...
Article
Full-text available
Structural deformations are one of the most significant factors that affects machine tool (MT) positioning accuracy. These induced errors are complex for accurate representation by a model, nevertheless they need to be evaluated and predicted in order to increase the machining performance. This paper presents a novel approach to calibrate a machine...
Preprint
Full-text available
The dynamic behaviour of a machine tool (MT) directly influences the machining performances. The adoption of lightweight structures may reduce the effects of undesired vibrations and increasing the workpiece quality. This paper aims to present and compare a set of hybrid materials that may be excellent candidate to fabricate the MT moving parts. Th...
Preprint
Full-text available
Structural deformations are one of the most significant factor that affects machine tool (MT) positioning accuracy. These induced errors are complex to be represented by a model, nevertheless they need to be evaluated and predicted in order to increase the machining performance. This paper presents a novel approach to calibrate a machine tool in re...
Conference Paper
Robotic rehabilitation would be able to reduce the clinical labor costs significantly and it can be a proper replacement for the physical training effort of a therapist. Robotic therapy allows patients to have more indepth repetitive movements while therapists evaluate the progress of the recovery remotely. In this paper a 6 DoF parallel robot has...
Article
This paper presents an effective application of Jerk to plan trajectory and control undesirable effects (e.g. patient’s hesitations and tremors) in active rehabilitation training using some mechatronic devices. Jerk is the time derivative of acceleration, and it is associated to the rapidly changing of forces. It is more sensible than other paramet...
Conference Paper
The objective of this work is the calibration analysis of a 2-DOF orientation manipulator, conceived for micro-orientation tasks inside a microassembly workcell. The proposed device is an overconstrained spherical five-bar mechanism, already widely studied in the scientific literature and known for being a simple but robust solution for the realiza...
Article
Objective: The purpose of this study was to determine whether passive robotic-assisted hand motion, in addition to standard rehabilitation, would reduce hand pain, edema, or spasticity in all patients following acute stroke, in patients with and without hand paralysis. Methods: Thirty-five participants, aged 45 to 80 years, with functional impai...
Article
Full-text available
State estimation in hydraulic actuators is a fundamental technique for fault detection and it is also a valid tool useful to reduce the installation of sensors. The performance of the linear/linearization based techniques for the state estimation is strongly limited due to hard nonlinearities that characterize hydraulic actuator. One of the most co...
Article
Full-text available
As widely experimented in research and in real world application, the biomedical field is experimenting different innovations, which are associated with the contamination with the knowledge of other research branches, such as material science, engineering, biological systems, and informatics. Different technical journals proposed special issues in...
Article
Full-text available
This paper proposes an innovative mechatronic piezo-actuated module to control vibrations in modern machine tools. Vibrations represent one of the main issues that seriously compromise the quality of the workpiece. The active vibration control (AVC) device is composed of a host part integrated with sensors and actuators synchronized by a regulator;...
Article
This paper proposes an innovative mechatronic piezo-actuated module to control vibrations in modern machine tools. Vibrations represent one of the main issues that compromise seriously the quality of the workpiece. The active vibration control (AVC) device is composed by a host part integrated with sensors and actuators synchronized by a regulator,...
Article
Full-text available
Aim: This systematic literature review aims to check the current state of the art of non-gaitrelated optoelectronic trunk movement analysis; results have been analysed from a clinical and a methodological perspective. Methods: Extensive research was performed on all papers published until December 31st, 2015, dealing with trunk movement analysis...
Article
Background: We evaluated the effectiveness of robotic-assisted motion and activity in additional to Physical and Rehabilitation Medicine (PRM), of the upper limb in post stroke inpatients. Methods: A randomized controlled trial. Fifty-four patients, 57% female (mean ± SD age: 71 ±12 years), with upper limb function defecit post stroke. The exper...
Article
Stroke patients are often affected by hand impairment. Literature shows different experiences of robotic rehabilitation that is able to prove an intensive and effective therapy. A preliminary analysis of the state of the art evidenced lacks in hand robotic rehabilitation devices. Thus, this work proposes a new rehabilitation device for hand rehabil...
Conference Paper
Wheelchair-Mounted Robotic Arms have been used to help impaired people to reach objects and perform essential activities in an autonomous way. Different available models are presented in this paper and a simple design is proposed to improve the kinematic performances of the integrated system in order to allow the user to increase its capability of...
Article
Full-text available
The investigated cantilever beam is characterized by a constant rectangular cross-section and is subjected to a concentrated constant vertical load, to a concentrated constant horizontal load and to a concentrated constant bending torque at the free end. The same beam is made by an elastic non-linear asym-metric Ludwick type material with different...
Article
Full-text available
The aim of this paper is to calculate the horizontal and vertical displacements of a cantilever beam in large deflections. The proposed structure is composed with Ludwick material exhibiting a different behavior to tensile and compressive actions. The geometry of the cross-section is constant and rectangular, while the external action is a vertical...
Article
Full-text available
The aim of this study is to investigate the capability of a 6-DoF parallel robot to perform various rehabilitation exercises. The foot trajectories of twenty healthy participants have been measured by a Vicon system during the performing of four different exercises. Based on the kinematics and dynamics of a parallel robot, a MATLAB program was deve...
Article
Full-text available
Scoliosis is a complex three dimensional (3D) deformity: the current lack of a 3D classification could hide something fundamental for scoliosis prognosis and treatment. A clear picture of the actually existing 3D classifications lacks. The aim of this systematic review was to identify all the 3D classification systems proposed until now in the lite...
Article
Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the...
Article
Full-text available
The purpose of this paper is not to elaborate the bionic pattern of walking robot, but to elaborate our own simple idea of a 4 degree of freedom (DOF) walking robot with the ability to walk on flat surfaces, rotate and climbing upstairs, which is composed of vertical moved legs with a rotary foot and a controlled mass for stabilizing. In this paper...
Article
Full-text available
The paper presents the model of a numerical milling module, expanding its capabilities with two controlled axes. Device through the use of adjustable-tilt construction of two mutually perpendicular rotary axes has free access to any part of the hemisphere. In design used special rotary curvilinear guides with controlled carriage equipped with drive...