Giuseppe Carbone

Giuseppe Carbone
Università della Calabria | Università della Calabria · Department of Mechanical, Energy and Management Engineering

PHD Chair IFToMM TC on Robotics and Mechatronics
Editor in Chief of Robotica Journal (Cambridge University Press) Vice President of National Institute forRobotics I-RIM

Publications

Publications (418)
Research Proposal
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Human-robot Interaction (HRI) research concerns the understanding, design, and evaluation of robotic systems for use by or with humans, and could improve the efficiency of both human and robot systems. The focus of this Research Topic is on applying machine learning algorithms, such as supervised learning, unsupervised learning, and reinforcement l...
Article
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Robot rehabilitation devices are attracting significant research interest, aiming at developing viable solutions for increasing the patient’s quality of life and enhancing clinician’s therapies. This paper outlines the design and implementation of a low-cost robotic system that can assist finger motion rehabilitation by controlling and adapting bot...
Article
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Cable-driven robots can be an ideal fit for performing post-stroke rehabilitation due to their specific features. For example, they have small and lightweight moving parts and a relatively large workspace. They also allow safe human-robot interactions and can be easily adapted to different patients and training protocols. However, the existing cabl...
Article
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This article presents the concept of a robotic system for aliquoting of biomaterial, consisting of a serial manipulator in combination with a parallel Delta-like robot. The paper describes a mathematical formulation for approximating the geometric constraints of the parallel robot as a set of solutions to a system of nonlinear inequalities. The ana...
Article
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The design of a teleoperated 8-DoF redundant robot for Doppler sonography is detailed in this paper. The proposed robot is composed of a 7-DoF robotic arm mounted on a 1-DoF linear axis. This solution has been conceived to allow Doppler ultrasound examination of the entire pa-tient's body. This paper details the design of the platform and proposes...
Chapter
Digital Twin (DT) offers us to acquire actual system’s critical information and hence, it may be possible to develop and produce more suitable systems in terms of low energy consumption and effectiveness. In this way, responsible consumption and production systems can be designed and the system’s parameters can be tuned via DT. In this study, the m...
Chapter
This paper addresses the balancing of a haptic device by using a set of springs. The proposed haptic device is based on a purely translational parallel manipulator. Given the specific application as haptic device, it is necessary to eliminate or minimize the effect of gravity for achieving a suitable positioning and force feedback. Given the peculi...
Chapter
Fiber-optic sensors have several advantages, more important of which include the immunity to electromagnetic disturbances, little weight and possibility to be included into the structure being measured. The most perspective are the sensors based on the Bragg fiber gratings. Bragg fiber gratings have several advantages, for instance, they allow crea...
Book
This volume contains the papers of the 1st Workshop IFToMM for Sustainable Development Goals (I4SDG), held online on November 25-26, 2021. The main topics of the workshop include the aspects of theory, design and practice of mechanism and machine science which are instrumental in reaching a sustainable development, such as: biomechanical engineerin...
Article
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This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this pape...
Article
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The leap motion controller is a commercial low-cost marker-less optical sensor that can track the motion of a human hand by recording various parameters. Upper limb rehabilitation therapy is the treatment of people having upper limb impairments, whose recovery is achieved through continuous motion exercises. However, the repetitive nature of these...
Article
Rehabilitation is the most effective way to reduce motor impairments in post-stroke patients. This process demands several hours with a specialized therapist. Given resources and personnel shortages, the literature reports a high interest in robotic assisted rehabilitation solutions. Recently, cable-driven robotic architectures are attracting signi...
Article
This paper presents a numerical and experimental validation of ExoFing, a two-degrees-of-freedom finger mechanism exoskeleton. The main functionalities of this device are investigated by focusing on its kinematic model and by computing its main operation characteristics via numerical simulations. Experimental tests are designed and carried out for...
Cover Page
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Interview in a local newspaper
Article
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Robots for rehabilitation tasks require a high degree of safety for the interaction with both the patients and for the operators. In particular, high safety is a stable and intuitive control of the moving elements of the system combined with an external system of sensors able to monitor the position of every aspect of the rehabilitation system (ope...
Article
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This paper addresses the structural-parametric synthesis and kinematic analysis of the RoboMech class of parallel mechanisms (PM) having two sliders. The proposed methods allow the synthesis of a PM with its structure and geometric parameters of the links to obtain the given laws of motions of the input and output links (sliders). The paper outline...
Article
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This paper is focused on the development of a control system, implemented on a parallel robot designed for the lower limb rehabilitation of bedridden stroke survivors. The paper presents the RECOVER robotic system kinematics, further implemented into the control system, which is described in terms of architecture and functionality. Through a batter...
Chapter
The presence of dirt or dust causes losses of solar panels efficiency up to 40%. To ensure the maximum absorption rate of solar radiation, careful periodic cleaning of the panels surface is necessary. This paper proposes a mechatronic system for a safe and cost-effective cleaning of solar panels. The proposed mechatronic device Cleanator is an auto...
Chapter
This paper describes the control architecture developed for the hybrid hexapod robot R3HC, created at the University of Huelva in collaboration with the University of Calabria. This architecture supports the communication processes that allow the robot controller to acquire data from a Lidar sensor and, at the same time, to coordinate legs and whee...
Article
Full-text available
The use of robotic systems in physical rehabilitation protocols has become increasingly attractive and has been given more focus in the last decade as a result of the high prevalence of motor deficits in the population, which is linked to an overburdened healthcare system. In accordance with current trends, three robotic devices have been designed,...
Article
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Nowadays, Underactuated Mechanical Systems (UMS) remain an interesting research field for control laws development. This work deals with the design of an adaptive controller on the basis of Sliding Mode Control (SMC) and the universal approximation property of Fuzzy Systems (FS) for a classe of second order UMS two Degrees of Freedom (DOF). We firs...
Article
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This paper addresses the design of a novel bionic robotic device for upper limb rehabilitation tasks at home. The main goal of the design process has been to obtain a rehabilitation device, which can be easily portable and can be managed remotely by a professional therapist. This allows to treat people also in regions that are not easily reachable...
Article
Full-text available
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...
Article
Full-text available
The study provides a solution to a dimensional synthesis problem for a hexapod-type reconfigurable parallel mechanism, which can change its configuration to realize different trajectories of its output link while having a single drive. The work presents an original procedure to find the dimensions of some mechanism’s links and their initial configu...
Article
Full-text available
This paper outlines the design of a novel mechatronic system for semi-automatic inspection and white-water in-pipe obstruction removals without the need for destructive methods or specialized manpower. The device is characterized by a lightweight structure and high transportability. It is composed by a front, a rear and a central module that realiz...
Chapter
The article discusses a robotic system based on a 6-DOF relative manipulation device consisting of two modules. The lower module is based on a parallel planar 3-RPR mechanism, and the upper module is based on a parallel 3-RPS tripod module. Such robotic system can be used in mechanical engineering as a robot-machine for the mechanical processing of...
Chapter
This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and then solved using the multi-objective genetic algorithm method. In more details, the LAWEX robot is optimised to perform a specific rehabilitati...
Article
Full-text available
This paper addresses the design of a novel mechatronic device for saffron harvesting. The main proposed challenge consists of proposing a new paradigm for semi-automatic harvesting of saffron flowers. The proposed novel solution is designed for being easily portable with user-friendly and cost-oriented features and with a fully electric battery-pow...
Cover Page
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Dear Colleagues, At present, the implementation and role of robots are rapidly changing while attracting increasing interest in innovative solutions within a fast-growing potential market in novel fields such as service robotics, surgical and rehabilitation robotics, and assistive robotics. A valuable example is given by cable-driven parallel robot...
Chapter
Full-text available
This paper addresses the procedure for designing a novel mechatronic device for a semi-automatic saffron harvesting. The design process includes the kinematic analysis and synthesis of the proposed mechanism to fulfill a grasping and harvesting of saffron flower with a specific two-finger gripper design. Then, a cam mechanism and elastic spring ele...
Chapter
Full-text available
This paper discusses the use of optimization algorithms to solve the problem of determining the workspace for a new robot for biological material aliquoting. The proposed robot is based on a parallel Delta-like kinematic architecture. A method for approximating the set of solutions to a system of nonlinear inequalities describing constraints on the...
Chapter
Full-text available
This paper presents a novel concept for a cable-driven device for upper-limb exercising. The proposed device is based on a specific innovative architecture, which is driven by cables . Additionally, magnets are considered as a technical solution for partially compensating gravity and reducing energy consumption. The paper content includes a detaile...
Article
Full-text available
The paper presents the design optimization of the ASPIRE spherical parallel robot for shoulder rehabilitation following clinical evaluation and clinicians’ feedback. After the development of the robotic structure and the implementation of the control system, ASPIRE was prepared for clinical evaluation. A set of clinical trials was performed on 24 p...
Article
This paper deals with haptic devices for master–slave telesurgical applications. Namely, a stiffness model fitting methodology and its fine-tuning are proposed based on experimental results. In particular, the proposed procedure is based on virtual joint structural stiffness modeling to be applied in time-efficient compliance compensation strategie...
Article
Full-text available
The proposed study provides a solution of the inverse and forward kinematic problems and workspace analysis for a five-degree-of-freedom parallel–serial manipulator, in which the parallel kinematic chain is made in the form of a tripod and the serial kinematic chain is made in the form of two carriages displaced in perpendicular directions. The pro...
Article
Full-text available
Assessing passenger cars’ dynamic performance is a critical aspect for car industries, due to its impact on the overall vehicle safety evaluation and the subjective nature of the involved handling and comfort metrics. Accordingly, ISO standards, such as ISO 4138 and ISO 3888, define several specific driving tests to assess vehicle dynamics performa...
Article
Full-text available
This paper addresses the topological and dimensional synthesis of cable-driven parallel robots. A combined methodology for type and size optimization is proposed and applied to a cable driven parallel robot, which is intended for upper-limb rehabilitation exercises. The proposed approach deals with a set of deterministic and non-deterministic param...
Research Proposal
Full-text available
Control systems are designed to satisfy certain objectives like safety regulations, reliable production, disturbance rejection, and so on and to operate under certain desired specifications and constraints for real-world problems. Advanced control techniques combine and extend methods established from several research fields such as control theory,...
Article
A Lagrange dynamic model is established based on small-angle approximation to improve the simulation model for shipborne helicopter landing collision. To describe fuselage motion effectively, the proposed model considers ship motion, the interaction of the tires with the deck, and tire slippage. A mechanism of sliding motion is built, and a real-ti...
Chapter
A recent trend in robotics is the development of lightweight manipulators. Safety, power consumption, and productivity can significantly benefit of weight reductions. However, a lightweight design can significantly affect stiffness and accuracy performance. Accordingly, this paper investigates the effect of joint and link flexibility for an in-dept...
Chapter
This paper is focused on the comparison between two robust control schemes applied to PUMA 560 robot arm. The inner control loop is designed basing on the so-called computed torque technique. Concerning the outer loop, we have first proposed a nonlinear controller; the robust stability and desired position tracking are guaranteed using Lyapunov for...
Chapter
In this paper, an experimental test setup for stiffness evaluation of a spatial parallel mechanism is introduced. The parallel mechanism used in this study is R-CUBE mechanism. In the test setup, a highly rigid gantry-type manipulator’s end-effector is coupled with the R-CUBE’s mobile platform. As the gantry manipulator is actuated the resultant re...
Chapter
In this paper, a spatial cable-driven parallel robot with four cables is simulated by using a technique of Model Predictive Control (MPC). The main contribution of this work is firstly: a graphical user interface has been developed and implemented so as to control the position and the end effector’s speed, takes into account the variation of mass o...
Chapter
This paper addresses the problem of balancing as applied to robotic manipulators. After briefly outlining the existing balancing techniques, this paper proposes to achieve the balancing by adding non-linear springs to compensate gravity. Numerical simulations are carried out to demonstrate the feasibility and effectiveness of the proposed approach...
Chapter
Active safety systems play a fundamental role in improving stability and safety performance of modern passenger cars. Within this context, Torque vectoring (TV) represents one of the most promising technologies for the improvement of vehicle dynamics performance. This paper proposes a TV-based Direct Yaw Moment Control (DYC) strategy aimed at desig...
Chapter
This paper describes the recent teaching experiences on mechanism and machine theory (MMT) at two universities in Italy. Namely, it is based on the teaching experiences of the authors at their home universities. The key addressed aspect is the needs of implementing novel teaching approaches to stimulate the learning process of fundamental concepts...
Chapter
Cardiovascular stroke (CVS) is one of the leading causes of motor disabilities worldwide, and unfortunately the number of cases keeps increasing, and will continue to increase until personnel shortages will make the motor rehabilitation procedure to be more challenging. The main solution for this is the automation of the rehabilitation process thro...
Chapter
The aim of this paper is to present design considerations regarding a parallel robotic system for gait rehabilitation of patients who have suffered a stroke. The paper focuses on how the design of the robot meets anthropometric and motion amplitude requirements. The robotic system is analyzed using commercially available software, thus proving the...
Chapter
This paper presents a low-cost mechatronic system for helping workers on powerline transmission management. The proposed architecture can perform remote analysis and measurements of magnetic field on powerline cables. Specific attention is addressed at the device design including kinematic and dynamic simulations. This paper also describes the 3D p...
Chapter
This paper addresses the design of control architecture for a robotic finger, achieved by a proper and specific kinematic and dynamic modeling. The proposed model permits force feedback prediction, based on the input motor torque, preventing the usage of force sensors for achieving a proper grasping force control. Hardware and software of the propo...
Chapter
Full-text available
The paper presents the clinical assessment of a spherical robotic system for shoulder rehabilitation. Following the initial development of the experimental model of ASPIRE robot as part of a modular robotic system for upper limb rehabilitation, the authors performed a set of clinical trials on 18 patients with different neuro-muscular disorders aim...
Chapter
This paper addresses the design of a novel robotic device for upper limb rehabilitation tasks. The main goals of the design process have been to achieve a design of a rehabilitation device, which can be easily portable also for home use. Specific attention has been devoted to design of the main mechatronic components by developing specific kinemati...
Chapter
Full-text available
The use of robotics in the field of rehabilitation became a modern request of the continuing developing society. The aim of this paper is to present an ankle rehabilitation solution by using a commercial off-the–shelf robotic system equipped with a special designed rehabilitation device, able to constrain the position of the leg of the patient and...
Article
Full-text available
In January this year, Robotica enters its 38th year as the first international journal on robotics. While the world today is disparate from that in the 1980s, robotics is thriving with its remit and scope across many disciplines. With a rampant pace, robotics is developing across the world in service robotics, surgical and rehabilitation robotics,...
Chapter
This chapter deals with robotics for assisting patients in their recovery after stroke. The first section outlines the key physiotherapist movements that are needed in post-stroke treatment. Sets of experimental data are discussed for defining the main specifications for post-stroke rehabilitation devices. Then, a detailed overview is provided on t...
Book
This book contains the papers of the 7th International Workshop on Medical and Service Robots (MESROB) that was planned to be held in Basel, Switzerland, in July 2020. Since the conference could not be held due to the worldwide Corona pandemic, the proceedings are published in this book and presentation of the accepted papers will be postponed to n...
Chapter
This chapter deals with cable-driven robots when applied in physical rehabilitation. In general, neurorehabilitation is limited to physical therapy that is delivered by clinicians and potentially augmented by robotic tools to facilitate neurorehabilitation and to reduce the consequences of central nervous system injury. Among the robotic tools for...
Article
Full-text available
This paper outlines the design process for achieving a novel four-legged robot for exploration and rescue tasks. This application is also intended as an educational mean for masters’ students aiming at gaining skills in designing and operating a complex mechatronic system. The design process starts with an analysis of the desired locomotion and def...
Cover Page
Full-text available
Robotica was established in 1983 by Cambridge University Press. Since then it has been listed in all main indexing frames, such as Clarivate, and Web of Science. With the contribution from Professor G.S. Chirikjian, who served as Editor-in-Chief of this Journal for over 15 years, Robotica has witnessed a steady and notable progression. We are deepl...
Article
Full-text available
This article proposes a novel device for wrist motion rehabilitation. The proposed mechatronic architecture is based on a simple user-friendly design, which includes a mobile platform for hand support, which is operated by a single actuator. A dedicated assist-as-needed control is designed to operate the device for the required movements. The propo...