Table Of ContentMechanisms and Machine Science 47
Giovanni Boschetti
Alessandro Gasparetto E ditors
Advances
in Italian
Mechanism
Science
Proceedings of the First International
Conference of IFToMM Italy
Mechanisms and Machine Science
Volume 47
Series editor
Marco Ceccarelli
LARM: Laboratory of Robotics and Mechatronics
DICeM: University of Cassino and South Latium
Via Di Biasio 43, 03043 Cassino (Fr), Italy
e-mail: [email protected]
More information about this series at http://www.springer.com/series/8779
⋅
Giovanni Boschetti Alessandro Gasparetto
Editors
Advances in Italian
Mechanism Science
Proceedings of the First International
Conference of IFToMM Italy
123
Editors
GiovanniBoschetti Alessandro Gasparetto
Department ofManagement Dipartimento di IngegneriaElettrica,
andEngineering Gestionale eMeccanica
Università degli Studi diPadova Università degli Studi diUdine
Vicenza Udine
Italy Italy
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-48374-0 ISBN978-3-319-48375-7 (eBook)
DOI 10.1007/978-3-319-48375-7
LibraryofCongressControlNumber:2016954714
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Preface
This book contains the Proceedings of the First International Conference of
IFToMM ITALY (IFIT2016). IFToMM ITALY is the Italian branch of IFToMM,
the International Federation for the Promotion of Mechanism and Machine
Sciences.
The aim of this conference was to bring together researchers, industry profes-
sionals and students, from the Italian as well from the international community, in
an intimate, collegial and stimulating environment. The sixty papers presented at
theconferencedealtwiththetopicsbelongingtoabroadrangeofdisciplinesrelated
to theory, design, practice and application of mechanism science, in particular,
biomechanical engineering, history of mechanism and machine science, linkages
and mechanical controls, multi-body dynamics, reliability, robotics and mecha-
tronics,transportationmachinery,tribology,andvibrations.Withintheconference,
a special session was organized in honor of Prof. Aldo Rossi (past Chair of
IFToMM ITALY) in occasion of his 70th birthday celebration.
The First International Conference of IFToMM ITALY association was held at
the Department of Management and Engineering (DTG) of the University of
Padova, located in the town of Vicenza. The conference was organized under the
patronageofInternationalFederationforthePromotionofMechanismandMachine
Science (IFToMM), and was sponsored by the Department of Management and
Engineering(DTG)oftheUniversityofPadovaaswellasbytheFondazioneStudi
Universitari (FSU).
We want to thank the authors for their interesting scientific contributions, the
reviewersfortheirusefulfeedback,thescientificandtheorganizingcommitteesfor
their work, and the people at Springer for their efficient support and help. Alto-
gether, we made IFIT2016 a truly successful event.
Vicenza, Italy Giovanni Boschetti
Udine, Italy Alessandro Gasparetto
v
Committees
General Chair
Cesare Rossi, University of Napoli
Scientific Committee
Roberto Caracciolo, University of Padova
Giuseppe Carbone, University of Cassino
Enrico Ciulli, University of Pisa
Antonio Frisoli, Sant’Anna School
Alessandro Gasparetto, University of Udine
Domenico Mundo, University of Calabria
Paolo Pennacchi, Politecnico di Milano
Giuseppe Quaglia, Politecnico di Torino
Giulio Reina, University of Lecce
Cesare Rossi, University of Napoli
Alberto Trevisani, University of Padova
Organizing Committee
Paolo Boscariol, University of Padova
Giovanni Boschetti, University of Padova
Chiara Passarini, University of Padova
Dario Richiedei, University of Padova
Giulio Rosati, University of Padova
vii
viii Committees
General Secretary
Giovanni Boschetti, University of Padova
Contents
Part I Biomechanical Engineering
Design and Implementation of a Low-Cost Mechatronic Shoe for
Biomechanical Analysis of the Human Locomotion .... .... ..... .... 3
P. Boscariol, A. Gasparetto, N. Giovanelli, S. Lazzer and L. Scalera
A Study of Feasibility for a Limb Exercising Device ... .... ..... .... 11
G. Carbone, C. Aróstegui Cavero, M. Ceccarelli and O. Altuzarra
DARTAGNAN a Self-balanced Rehabilitation Robot Able
to Work in Active and Passive Modes on Both Sides of Upper
and Lower Limbs .. .... .... ..... .... .... .... .... .... ..... .... 23
M. Perrelli, P. Nudo, M. Iocco and G. Danieli
Dynamic Analysis of Handcycling: Mathematical Modelling and
Experimental Tests. .... .... ..... .... .... .... .... .... ..... .... 33
G. Azizpour, A. Ousdad, G. Legnani, G. Incerti, M. Lancini
and P. Gaffurini
A Kinematic Solution of a Novel Leg Mechanism with Parallel
Architecture... .... .... .... ..... .... .... .... .... .... ..... .... 41
Matteo Russo and Marco Ceccarelli
Multi-target Planar Needle Steering with a Bio-inspired
Needle Design . .... .... .... ..... .... .... .... .... .... ..... .... 51
Christopher Burrows, Fangde Liu, Alexander Leibinger, Riccardo Secoli
and Ferdinando Rodriguez y Baena
Development of an Active Force Plate for Testing Lower-Limb
Prostheses .... .... .... .... ..... .... .... .... .... .... ..... .... 61
Cristiano Marinelli, Hermes Giberti and Ferruccio Resta
Determination of the Human Arm Stiffness Efficiency
with a Two Antagonist Muscles Model .. .... .... .... .... ..... .... 71
Daniele Borzelli, Stefano Pastorelli and Laura Gastaldi
ix
x Contents
Design of a Miniaturized Safety Clamping Device
for Portable Kidney Replacement Systems ... .... .... .... ..... .... 79
P.Boscariol,G.Boschetti,R.Caracciolo,M.Neri,D.Richiedei,C.Ronco
and A. Trevisani
Conceptual Design of a Mechatronic Biomedical Wearable Device
for Blood Ultrafiltration. .... ..... .... .... .... .... .... ..... .... 89
G.Boschetti,A.DallaVia,N.DeRossi,F.Garzotto,M.Neri,L.Pamato,
C. Ronco and A. Trevisani
Design of an Underactuated Hand Exoskeleton
with Joint Estimation ... .... ..... .... .... .... .... .... ..... .... 97
Mine Sarac, Massimiliano Solazzi, Daniele Leonardis, Edoardo Sotgiu,
Massimo Bergamasco and Antonio Frisoli
Standard and Natural Motion Protocols for the Kinetic
Measurements of the Squat .. ..... .... .... .... .... .... ..... .... 107
Nicola Sancisi, Marco Cocconcelli, Riccardo Rubini
and Vincenzo Parenti-Castelli
Design and Simulation of an Assisting Mechanism
for Arm Exercises.. .... .... ..... .... .... .... .... .... ..... .... 115
B. Chaparro-Rico, D. Cafolla, M. Ceccarelli and E. Castillo-Castaneda
Part II History of Mechanism and Machine Science
Role of Scientific-Technical Museums in the Future of Mechanical .... 127
Alberto Rovetta and Edoardo Rovida
An Analysis of the Hydraulic Saw of Hierapolis... .... .... ..... .... 135
Cesare Rossi, Sergio Savino and Francesco Timpone
Part III Linkages and Mechanical Controls
RiccatiEquationBasedNonlinearFilter:ACaseStudyforHydraulic
Actuators in the Presence of Dead-Zone. .... .... .... .... ..... .... 145
Salvatore Strano and Mario Terzo
Trajectories Generation with Constant Extrusion Rate for
Experimentations on AM Techniques and Extrusion Based
Technologies .. .... .... .... ..... .... .... .... .... .... ..... .... 153
H. Giberti, L. Sbaglia and M. Parabiaghi
Preliminary Design of a Simplified Pneumatic Actuator .... ..... .... 161
G.A. Naselli, M. Zoppi and R. Molfino
