Download PDF by Giovanni Boschetti, Alessandro Gasparetto: Advances in Italian Mechanism Science: Proceedings of the

By Giovanni Boschetti, Alessandro Gasparetto

ISBN-10: 3319483749

ISBN-13: 9783319483740

ISBN-10: 3319483757

ISBN-13: 9783319483757

This quantity includes the complaints of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the college of Padova, Vicenza, Italy, on December 1-2, 2016. The e-book includes contributions at the newest advances on Mechanism and computing device technological know-how. The fifty-nine papers take care of such subject matters as biomechanical engineering, historical past of mechanism and laptop technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.

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At this point it is possible to easily compute all six angles to be assumed by the robot in order to allow the particular arm’s motion desired. Naturally once this is programmed the computation described is practically instantaneous. In order to fix the lengths of the various links of the robot to allow rehabilitation of any individual, first the member dimensions of a tall individual (two meters of heights) were established. In order to do so, even if from literature [1] is not so certain that on the average member’s length is proportional to height, we just measured the length of the members of a few students to determine typical dimensions, multiplying then the lengths by the ratio between 2 and their height expressed in meters.

24)). In this case the subject arm is fixed to the handle by a bandage. The subject was requested to keep his muscles relaxed throughout the test, while his arm was moved by an operator passively. In order to assure the null activity of the muscles during this experiment, an EMG measurement of some extensions and flexions made by muscles were recorded. The outcomes demonstrated that there was no significant EMG activity in those muscles during the passive movements (Table 1). In addition, the xy components of the forces were estimated using Eq.

24) 38 G. Azizpour et al. As a verification, the estimated parameters can be inserted in Eq. 7 kg, Height: 186 cm). A vision system was used to determine 3D coordinates of the elbow and shoulder in the subject. In this case, the markers were placed on the right side of the subject on the following bony landmarks: one on acromion, one on elbow joint, one on hip, two on the handle, one on crank axis and two reference markers on the handbike frame. In order to verify performance of the model and evaluate the results, two separate types of experiment were requested to be performed by the subject, which are described in the following subsections: In the first experiment, passive tests were performed and vector P was estimated by assuming no voluntary muscle action is exerted (Eq.

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Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto


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