Marco Ceccarelli

Università degli studi di Roma Tor Vergata · Industrial Engineering

This paper presents an analysis of the risk of neck injury in vehicle occupants as a consequence of an impact. A review of the formulation of indexes that are used in the assessment and investigation of neck injury risk is discussed with the aim of providing a new, more appropriate index using suitable sensorized equipment. An experimental analysis...

In order to realize the stable clamping of large cabin parts, this paper studied the clamping force optimization of the clamping mechanism for large-mass and large-size cabin parts. Firstly, three kinds of contact models are introduced. Then, a clamping matrix is constructed for a particular clamping configuration. The nonlinear friction cone const...

The ankle joint exoskeleton is a supplementary apparatus intended to enhance human independence. This study presents the concept and initial evaluation of a passive ankle exoskeleton specifically engineered for movements involving dorsal flexion and plantar flexion. The device incorporates a novel mechanism design featuring four electric linear act...

This paper presents a new low-cost device for monitoring the physiological status of a vehicle driver. This new device continuously monitors a number of critical driver-related parameters in real time to detect fatigue, possible inattention or aggressive behavior. The system consists of wearable units for the head, neck and torso in which multiple...

The paper proposes an analytical method for the synthesis of symmetrical five-bar linkages of type 5-PRRRP with singularity-free dexterous workspace. The conditions to avoid the singularities are given as inequations, which can be substituted with a system of equations by using a coefficient k. The solutions of the resulted system of equations are...

Humanoid torso mechanisms play an important role in assisting limb motion and the balance of the whole humanoid robot. In this paper, a cable-driven mechanism is proposed as a modular unit for developing a humanoid torso. A mechanism prototype, manufactured by 3D printing, is equipped with sensors to measure its motion for an experimental character...

A novel wearable end-effector type upper limb assistive robot for stroke hemiplegic patients is proposed, and a 3 DOF 4R-5R parallel mechanism for this type of robots is presented. Assistive functions of the robot are finalized to motion and force assistance to allow patients to have their paralyzed limb perform auxiliary roles in ADL. Kinematics o...

In order to better characterize the stress-strain conditions and prestretching ratio of dielectric elastomers (DEs), a mathematical model is proposed as based on Neo-Hookean and Yeoh hyperelastic strain energy models. Calculation and analysis were carried out by using MATLAB software. Experiments were conducted on a DE circular driving unit. By com...

This work outlines the design and testing of an astronaut robot TORVEASTRO. This paper presents the results of designing and testing the TORVEASTRO astronaut robot. In this demonstration, the prototype is held up by ropes and chains, so it does not contact any surface. Two sequences are programmed for the demonstration. In the first, the three limb...

The development of independent link type gait assistive device is explaining in this work. Independent link type gait assistive deviceis targeted the person with muscle weakness and restriction in ankle dorsiflexion range of motion (ROM). This device helps the user to walk within their ankle dorsiflexion ROM while maintaining other walking posture...

This paper aims to develop a device for the rehabilitation of the fingers of the human hand. With the daily use of hands, they can suffer different types of injuries in accidents or injuries caused by different diseases. The rehabilitation of the human hand is fundamental for the recovery of its motor capacity. Hand rehabilitation procedures are ge...

This paper addressed attention to the design of a new lower limb exoskeleton that can be used for human gait assistance as based on kinematic considerations. The designed leg exoskeleton had on its own structure a combination of three mechanism types, namely a Chebyshev mechanism, a pantograph, and a Stephenson six-bar mechanism. The design core fo...

This paper shows the kinematic analysis and the synthesis of the five-bar linkage with symmetrical structure and singularity-free dexterous workspace. The type synthesis of the five-bar linkage shows that the number of symmetrical structures of five-bar linkage is limited to eight structures. This study deals with the forward and inverse kinematic...

This paper aims to make an early diagnosis of respiratory disorders by measuring ribcage motion. A statistically significant numerical evaluation of the biomechanics of respiration is obtained through the acquisition of the kinematics of the sixth rib. We report the results of an experimental campaign that has been conducted using a RESPIRholter pr...

Stroke is a leading cause of death and disability worldwide, and the improvement of quality of life and rehabilitation outcomes is a topic of interest for many researchers. To help in the rehabilitation process, several robotic devices are being developed. Robot-assisted gait training is extensively studied as a rehabilitation source for improving...

On-orbit assembly has become a crucial aspect of space operations, where the manipulator frequently and directly interacts with objects in a complex assembly process. The traditional manipulator control has limitations in adapting to diverse assembly tasks and is vulnerable to vibration, leading to assembly failure. To address this issue, we propos...

The paper addresses the problem of a statistically significant numerical evaluation of the biomechanics of respiration using the motion of the ribcage through the identification of the kinematics of the sixth rib. We report the results of an experimental campaign conducted using a RESPIRholter device prototype for efficient, comfortable, and numeri...

Citation: Titov, A.; Russo, M.; Ceccarelli, M. Design and Operation of a Gripper for a Berthing Task. Inventions 2023, 8, 82. https:// Abstract: The idea of an extension of life for CubeSats is proposed to reduce space debris in a low-earth orbit. In this work, a gripper is designed for geometry-based grasping in berthing tasks. The grasping operat...

This chapter presents Carlo Filangieri (1784–1867), who with King Ferdinando II of Bourbons was promoter and founder of the Royal Bourbon Machinery Factory in Naples at the beginning of the nineteenth century. Although he was not an engineer, but being a political-military leader, his vision and support were decisive for the development of the Roya...

Many universities offer optional courses within the curricula of studies that students can choose based on their interests. Usually, they are short courses of 3 ECTS (credits) but in some cases they can be proposed up to 6 ECTS. Moreover, they are often common to several degree courses, so the topics covered should be more general and transversal w...

The idea of an extension of life for CubeSats is proposed to reduce space debris in a low-earth orbit. In this work, a gripper is designed for geometry-based grasping in berthing tasks. The grasping operation is outlined for square- and rectangle-profiled CubeSats. Equilibrium conditions are used to choose fingertips shape and parameters for graspi...

This paper presents the aspects to be taken into account when analyzing the risk of injury to the neck of vehicle occupants as a consequence of an impact. To carry out the analysis, a low-cost driver monitoring system is designed and prototyped, consisting of wearable head, neck and torso units in which acceleration sensors are installed. Two dista...

The results of an experimental validation campaign of RIBOLUTION, a new rib fixator, are presented with a functional characterization at the biomechanical level in terms of motion and force transmission using samples of pork ribs. The reported results show a satisfactory functionality of the implementation of the rib fixator during a breathing simu...

In this paper, an improved solution of a mechanism model used as a design solution for the legs of an exoskeleton intended to assist human walking is analysed from a kinematic and dynamic point of view. It is an improvement that is based on a previous developed solution. A kinematic model is presented, by which we have determined the variation of a...

Improvement of the conditions of bedridden patients is analyzed in terms of the effects of prolonged time or bed rest in order to define a design solution for a bed that can improve comfort and avoid worsening. The structure and functionality of a robotized bed solution is presented with characteristics which can be useful for bedridden patients an...

This paper presents the design and modeling of an ankle exoskeleton for a human rehabilitation system. The proposed, low-cost new exoskeleton is designed to perform the basic tasks of human motion with low-cost and easy-to-use functions. The correct kinematic and static model of the proposed exoskeleton is developed and deployed in the Solidworks e...

This paper provides insights for analysis of ribcage motions as a predictive diagnostic tool of complications after thoracic surgery. RESPIRholter, a novel Holter ventilatory device, is used to detect the biomechanics of a single rib as an indicator of respiration. The reported experimental campaign shows the ability of the RESPIRholter device to d...

This research addresses attention to a conceptual mechanism design for a leg exoskeleton used in human walking assistance. The proposed mechanism is designed as based on three classical mechanisms, namely Chebyshev, pantograph mechanism and Stephenson III six-bar mechanism. The research core was focused on the extended actuation for the human ankle...

The paper proposes an analytical synthesis of five-bar linkages of type 5-RPRPR with singularities free dexterous workspace. The conditions to avoid the singularities offer the synthesis equations used for the analytical computation of the link lengths of a symmetrical five-bare linkage 5-RPRPR. The study shows the direct and inverse kinematic prob...

In order to realize a stable clamping of the large cabin part, this paper studied the optimization of the clamping force for the clamping mechanism of the large-mass and large-size cabin part. Firstly, three kinds of contact models are introduced. Then a clamping matrix is constructed for a particular clamping configuration and the nonlinear fricti...

This paper presents a cable-driven mechanism that is designed with the aim of performing as a revolution joint. The proposed solution is analysed to characterize its operation referring to problems and requirements for its implementation in robot structures. The mechanical design is verified through a dynamic simulation.KeywordsMechanism designRobo...

In this paper the task of berthing is presented with a suitable end-effector design. A geometry-based gripper is designed to capture microsatellites CubeSat on their ribs. To minimize the volume, one d.o.f.-mechanism is designed with a foldable structure. The workability of the design is tested by dynamic simulation to find and check the limitation...

The monitoring of the human torso is presented using a system that is designed with a portable and easily wearable structure with inertial measurement unit (IMU) sensors suitable for acquiring movement in terms of angular configuration and acceleration. The design of the experimental device is reported with monitoring procedures for easy acquisitio...

Developing a robotic torso mechanism is critical to fully replicate human mobility in humanoid robots. The LARMbot humanoid's torso was presented as a solution in previous works, and it is now improved with the novel design here proposed. In this paper, a kinematic analysis is conducted on the new design of the LARMbot torso, which is developed by...

In this paper, a characterization of LARMbot torso V1 is presented by experiment result in one mode of functioning. Arduino nano is applied to control the whole system; PCA9685 board is used for connecting with the motors; sensors, including IMU sensor, force sensors, and current sensor, are applied for measuring the related parameters during the L...

In this paper a berthing task is introduced with a system which considers a station and a CubeSat-like satellite. In the presented task a manipulator is used to catch, to move the micro-satellite towards berthing port, and to dock it with interfaces activation. The requirements are discussed for the system in terms of issues for design, control, an...

In Robotics, a singular configuration could be dangerous due to instantaneously changing the number of degrees of freedom. This paper presents a general experimental procedure to identify singularities in Parallel Kinematic Mechanisms based on end-effector movements and the actuator's forces. Next, this work presents three experimental options for...

A mechanism with flexural joints is proposed as a prosthesis of a complex vertebra-rib-sternum. The flexible anatomic behavior is replicated by a mechanism structure concentrating the flexibility in suitable flexural joint designs. The feasibility of the proposed design is characterized by numeral performance values from quasi-static simulations.Ke...

Lab experiences are presented in characterizing human finger motion and grasping with comparison to the operation of ExoFinger, finger exoskeleton, with the aim of reformulating design and operation requirements for a new finger exoskeleton. Motion assistance of index finger is specifically addressed in order to look for exoskeleton features in wea...

A new robotic finger mechanism design based on a combination of rigid and compliant elements is presented. Aspects like anthropometric, anthropomorphic, underactuated, and easy operation were considered for a feasible solution. For finger mechanism, a problem optimization based on flexion–extension movements (F-E) is proposed. As a solution method,...

The LARMbot project intends to create a humanoid robot employing parallel mechanisms that are inspired by human anatomy. Solutions for humanoid arm are investigated combining the advantages of parallel and serial structures, as well as cable-driven architectures. A new solution has been designed for humanoid arm with a low-cost solution and user-or...

In this paper are described the forward and inverse kinematics of the arms of the TORVEastro project robot. TORVEastro is a research program dedicated to development of a new service robot that could assist astronauts in Extra-Vehicular-Activities (EVA) aboard orbiting space stations. After a short description of the arm mechanical structure, its f...

This paper presents a low-cost design of a device to assist in ankle rehabilitation. The article introduces the mechanical design of the proposed device, covering the ankle joint of the lower body. The size of the exoskeleton, referring to the segments of the limbs, is limited to a certain range of proportions of the object. Each joint is motorized...

In this paper, a novel cable-constrained parallel mechanism is presented as a lightweight, low-cost leg mechanism design for walking machines to be used on flat surfaces. The proposed leg mechanism has three translational degrees of freedom. It is based on two specific hybrid kinematic topologies being herewith proposed. The paper reports the kinem...

This article presents a model of a novel 4-DOF kinematically redundant planar parallel grasping manipulator. As distinct from the traditional 4-DOF manipulator, the proposed design includes an extensible platform, which provides kinematic redundancy. This constructive feature is used for grasping. The article discusses the inverse and forward kinem...

Internal prosthesis and grafts are currently made of Ti alloys, stainless steels and Co‐Cr alloys. In spite of excellent biocompatibility, they show some drawbacks that concern their mechanical properties (e.g. elastic modulus) and the need of secondary surgery for removing the implant. For this reason, a growing attention has been focused on biode...

Space robots are one of the most promising solutions for on-orbit servicing (OOS) duties like docking, berthing, refueling, repairing , upgrading, transporting, rescuing, and orbital trash disposal. Numerous enabling techniques and technological demonstration missions have been developed and completed over the past two decades. There have been seve...

Correction to: Chapter “Carlos López-Cajún (1948 -2020)” in: M. Ceccarelli and A. Gasparetto (eds.), Distinguished Figures in Mechanism and Machine Science, History of Mechanism and Machine Science 41, https://doi.org/10.1007/978-3-031-18288-4_4

This Special Issue is aimed to promote and circulate recent developments and achievements in the field of Mechanism and Machine Science coming from the Italian community with international collaborations and ranging from theoretical contributions to experimental and practical applications. [...]

Aiming at several key problems, such as motion discontinuity, getting stuck and body deformation, and appearing in the motion of wall-pressing pipeline robots (WPPRs) controlled by the differential drive principle, in this article, a smooth motion control policy (SMCP) is proposed. To improve the generality of the SMCP, the relationship between the...

This paper proposes an underactuated design for a robotic finger that uses compliant links to improve adaptability during cylindrical grasping. We analyze two grasping models by simulation in the Solidworks environment to verify the feasibility of the mechanisms. First, we test the proposed mechanism with rigid links (ABS) using three cylindrical o...

Prof. Carlos López-Cajún has been a prestigious figure, who has been admired worldwide also for his unique attitude to combine friendships and scientific activity in working the true spirit of IFToMM for collaboration, sharing, and improving the technology for the benefit of the society in the welfare of human beings. Prof. Carlos López-Cajún has b...

This paper presents a short account of the History of IFToMM, the International Federation for the Promotion of Mechanism and Machine Science, focusing on the foundation event and founding fathers. All the founding fathers are listed as signatories and attendees of the Second World Congress on the TMM in 1969 during which IFToMM was founded. In ord...

Aiming at the question that most of the existing pipeline robots can only move in parts of common pipeline environments, in this study, we introduce a novel pipeline robot configuration with excellent environmental adaptability and obstacle avoidance capability for inspecting a more complex pipeline system. To ensure adaptability and mobility, the...

Current robotic laser weeding systems mostly rely on serial mechanisms with one or two actuated axes, which can barely meet the requirements of high precision and dynamic performances. In this article, a novel laser weeding gimbal is proposed based on a two-degree-of-freedom 5-revolute rotational parallel manipulator to perform a dynamic intrarow l...

Professor Alberto Rovetta, born in Brescia in 1942, was a second generation IFTOMMist very active in the initiatives of the IFToMM Federation and in the issues referring to MMS in both traditional and innovative aspects. Graduated in Milan in 1966, he was immediately involved in international activities by his mentor Prof. Giovanni Bianchi and made...

Este trabajo propone un sistema de captación de datos con diferentes sensores que van instalados en un prototipo de andador infantil posterior y sobre la persona que requiere este tipo de ayuda a la marcha. De esta forma, el sistema de adquisición de datos ofrece medidas de las fuerzas que ejerce el usuario sobre el asiento y sobre el soporte para...

Resumen Este artículo presenta los problemas y necesidades que puede enfrentar un robot astronauta de servicio cuando se utiliza en una estación espacial. Los requisitos tienen en cuenta los límites de lanzamiento y operación en el espacio, así como todos sus problemas. Se ha construido un prototipo TORVEASTRO V2 de un brazo antropomórfico con cabl...

Alternatives to the current invasive rib implants are discussed as from the current solutions with their constraints and disadvantages mainly in surgery application and clinical consequences. A novel rib fixator is presented with an experimental validation and characterization for a potential implementation in facilitating osteosynthesis of multifr...

In this chapter an outline of History of Robotics is presented on how robot designs have been evolved with a special reference to mechanism designs. The chapter gives main information on main milestones in Robotics History with an illustrative approach focused on mechanism designs as a short account of the large number of solutions that contributed...

In this paper, laboratory experiments of LARMbot torso V1 are reported in the third mode, thereby providing a testing characterization. Sensors were used to measure parameters including the contact force between the shoulder and cables, linear acceleration, angles of the torso body, and power consumption. The results showed that the LARMbot torso V...

Background: Existing devices detect main breathing data and none is aimed to monitor biomechanics of ventilation motions with small wearable device. Methods: The used device has been designed for noninvasive wearing to detect main motion parameters of a rib during ventilation in an experimental campaign with 218 subjects. Experimental activity is c...

This paper describes a control strategy for a linkage finger exoskeleton mechanism with two degrees of freedom. To characterise the performance of the proposed finger motion assistance device, a replica of a human finger is prototyped to mimic human finger motion and to the testing effect of assistance provided by the novel exoskeleton with results...

Experience is reported from a laboratory experimental activity to characterize the feasibility and performance of a 2 DOF linkage exoskeleton for finger motion assistance. An artificial replica of a human finger is used to examine the motion-assistance effect provided by a prototype of the ExoFinger exoskeleton through laboratory grasp tests. Resul...

Identifying the model of a magneto-rheological (MR) fluid-based brake is extremely important for designing and controlling a haptic device with hybrid actuation. Therefore, in this study, an Elman Recurrent Neural Network (ERNN) is designed to understand and model a characterization of an MR fluid-based rotational brake. Three important factors tha...

This paper presents a survey of aspects to be considered for an analysis of risk of neck-head injury as a consequence of a car impact. The analysis is carried out by using data that can be acquired from experiments by means of driver sensorization and vehicle instrumentation. The index formulation used in the assessment and investigation of neck-he...

The task of docking objects in space is considered for small satellites. Among different mating schemes docking non-androgynous is investigated by looking at the problems on the existing solutions. The requirements for small satellites docking are discussed in terms of control, navigation, and capturing issues. Different types of adaptive systems f...

This work describes the experimental design that simulates peritoneal movements with a Stewart platform during automated peritoneal dialysis (APD). The simulated motion includes the involuntary movements made while sleeping. In addition, the work has proposed a mechanism to adapt the parameters inside the artificial peritoneum and validate a novel...

This paper presents design and testing of a novel device named RESPIRholter for the evaluation of the biomechanics of breathing. The identified requirements are discussed as related to non-invasiveness, fully wearability, and portability of the device, together with ability to measure the angle displacements and accelerations along the three refere...

The paper shows an analytical synthesis of five-bar linkages with singularities free dexterous workspace. The synthesis equations allows the analytical computation of the link lengths of a symmetrical five-bare linkage using revolute joints. The study shows also the forward and invers kinematic relationships, as well as the investigation of the imp...

The purpose of this paper is to bring up the problems and requirements that an astronaut service robot presents when it is to be used in a space station, considering the launch and the operation in space with all its inconveniences. As a preliminary development, a functional prototype has been built reproducing an arm with joints that simulate the...

Historical conditions and features of earliest stage of introducing locomotive technology in Italy and China in 19th Century are outlined and compared. The paper presents how a technological innovation realized its global transfer in the 19th century and the differences between the developments in the two countries in terms of technology transfer.K...

Figures and technical dissemination work of Italian Jesuits are revised it to highlight main aspects that have produced introduction of all machine design with western characters in China. Results are presented from an investigation using illustrations and literature documents with the aim to emphasize the technological transfer in terms of concept...

Rehabilitation therapy is the treatment of people with physical disabilities through continuous exercise, assisting them in their quality of life. However, the repetitive nature of these exercises can be interpreted as boring or discouraging, and patient motivation plays a key role in their recovery because it makes the process more tolerable. Virt...

A lab prototype of LARMbot hand is presented with a solution that is designed using market components and manufactured using a 3D printer. The proposed LARMbot hand is made up of a motor, fixed platforms, a moveable platform, a lead screw, three fingers, a soft palm, support parts, and a control system. The Arduino board and force sensors serve as...

This paper presents an historical analysis of developments for the creation and usage of models of mechanisms in academic teaching fields, with the aim of re-evaluating the interest and usefulness of models in teaching and research, and of promoting their merits as a cultural heritage worthy of being preserved. The historical analysis is focused on...

A new manipulate mechanism with automatic position reset function for helicopter driving simulator is proposed and developed. The motion platform of the driving simulator and the synchronous motion analysis are designed. The synchronous simulation research is carried out. By using the simulation method, the availability of the mechanism and the fea...

In this paper, the optimal position control of an underactuated robotic finger is presented. Two trajectories, one for the proximal and the other for the medial phalanx, are proposed in order to emulate the finger’s flexion/extension movements. A Mandani fuzzy control is proposed due to the lack of a precise dynamical model of the system. In order...

Respiration is a complex biomechanical act involving different organs such as lungs and ribcage which is a complex system of bones and muscles. Respiratory monitoring is aimed for diagnostic purposes to assess respiratory efficiency with coordinated organs and thoracic structure movements. This paper presents a new device and a procedure for monito...

This paper presents a numerical and experimental evaluation of a new osteosynthesis rib implant. The reported cases are studied using the Finite Element Method (FEM) to compute the implant’s surface strain. The implant was placed to a human morphological rib manufactured in polylactic acid (PLA) by 3D printing. Experimental studies are carried out...

The paper shows an appropriate unitary study of a novel geared planar parallel manipulator with the structure 3-R (PRRGR)RR which uses geared linkages with linear actuators and slider cranks as legs. The use of geared linkages with linear actuation although with more complex structure, allows a large rotation angle with proper transmission angle in...

The present paper considers workspace and performance analysis of a six degree-of-freedom hexapod-type parallel manipulator with a circular guide. Compared to other similar manipulators, the design of this one allows locating all the drives fixed on the base and avoiding collisions between the carriages. The first half of the paper focuses on a pro...

This paper presents design and performance of a prototype of new humanoid arm that has been developed at the LARM2 laboratory of the University of Rome “Tor Vergata”. This new arm, called LARMbot PK arm, is an upper limb that is designed for the LARMbot humanoid robot. LARMbot is a humanoid robot designed to move freely in open spaces, and able to...

Inspired by the underactuated robotic hand mechanism and its feature of shape adaptive and compliant envelop grasping, the paper presents an underactuated symmetric pinch mechanism to solve the problem of pinch rollers idle and slipped or pinched too tightly. Pinch roll machine is a key device in the high-speed wire rod product line. It is usually...

Dynamics of an aerodynamic double pendulum coupled with a linear generator is considered. A cubic nonlinear spiral spring is installed in the first joint of the pendulum. Numerical simulation of the behavior of the pendulum is performed. It is shown that it is possible to choose parameters in such a way as to ensure the instability of the equilibri...