Table Of ContentMechanisms and Machine Science 59
Burkhard Corves · Philippe Wenger
Editors
Mathias Hüsing
EuCoMeS
2018
Proceedings of the 7th European
Conference on Mechanism Science
Mechanisms and Machine Science
Volume 59
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]
This book series establishes a well defined forum for monographs, edited Books,
and proceedings on mechanical engineering with particular emphasis on MMS
(MechanismandMachineScience).Thefinalgoalisthepublicationofresearchthat
shows the development of mechanical engineering and particularly MMS in all
technical aspects, even in very recent assessments. Published works share an
approach by which technical details and formulation are discussed, and discuss
modern formalisms with the aim to circulate research and technical achievements
for use in professional, research, academic, and teaching activities. This technical
approach is an essential characteristic of the series. By discussing technical details
andformulationsintermsofmodernformalisms,thepossibilityiscreatednotonly
to show technical developments but also to explain achievements for technical
teachingandresearchactivitytodayandforthefuture.Thebookseriesisintended
to collect technical views on developments of the broad field of MMS in a unique
frame that can be seen in its totality as an Encyclopaedia of MMS but with the
additional purpose of archiving and teaching MMS achievements. Therefore the
book series will be of use not only for researchers and teachers in Mechanical
Engineering but also for professionals and students for their formation and future
work. Indexed in SCOPUS, Ei Compendex, EBSCO Discovery Service, OCLC,
ProQuest Summon, Google Scholar and SpringerLink.
More information about this series at http://www.springer.com/series/8779
Burkhard Corves Philippe Wenger
(cid:129)
ü
Mathias H sing
Editors
EuCoMeS 2018
Proceedings of the 7th European Conference
on Mechanism Science
123
Editors
Burkhard Corves Mathias Hüsing
Institute of Mechanism Theory,Machine Institute of Mechanism Theory,Machine
DynamicsandRobotics DynamicsandRobotics
RWTH Aachen University RWTH Aachen University
Aachen, Nordrhein-Westfalen Aachen, Germany
Germany
Philippe Wenger
LS2N
EcoleCentrale deNantes
Nantes, France
ISSN 2211-0984 ISSN 2211-0992 (electronic)
Mechanisms andMachineScience
ISBN978-3-319-98019-5 ISBN978-3-319-98020-1 (eBook)
https://doi.org/10.1007/978-3-319-98020-1
LibraryofCongressControlNumber:2018950104
©SpringerNatureSwitzerlandAG2019
Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpart
of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations,
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Preface
The book on hand presents the most recent research results in the area of mecha-
nism science, which were presented at the seventh European Conference on
MechanismScience(EuCoMeS2018)inAachen,Germany.Thisconferenceseries
started in 2006 under the patronage of the International Federation for the
Promotion of Mechanism and Machine Science (IFToMM, www.iftomm.net). The
aim of the conference is to bring together European researchers, industry profes-
sionals,andstudentsfromthebroadrange ofdisciplinesrelatedtomechanismand
machine science, in order to stimulate the exchange of new and innovative ideas
both on the academic and industrial levels.
The first edition of EuCoMeS took place in February 2006 in Obergurgl
(Austria). After venues in Cassino (Italy) in September 2008, Cluj-Napoca
(Romania) in September 2010, Santander (Spain) in September 2012, Guimarães
(Portugal) in September 2014, and Nantes (France) in September 2016, the 2018
edition was held at RWTH Aachen University, Germany, during September 4–6,
2018.
This book is published under the Mechanisms and Machine Science series of
Springer and addresses issues related to: biomedical applications, control issues of
mechanical systems, dynamics of multi-body systems, experimental mechanics,
haptic systems, history of mechanism science, industrial and non-industrial appli-
cations, linkages and cams, mechanical transmissions and gears, mechanics of
robots and manipulators, and last but not least theoretical kinematics.
In total, we received a number of 57 papers, which were carefully reviewed by
threereviewersperpaper.Finally,49paperswereacceptedforpresentationduring
the conference and for publication in this book. Thus, we want to express our
gratitudetothereviewerswhocontributedtothisprocesswiththeirexperienceand
scientific background and to all the authors for their contributions to EuCoMeS
2018.
We are grateful to IFToMM, which supported the conference by Young
Delegates grants, and the German Research Foundation (DFG) for their support to
the conference EuCoMeS 2018. We also thank everyone at IGMR who helped in
v
vi Preface
theorganizationbefore,during,andaftertheconferenceandthestaffatSpringerfor
their support through all the stages of preparing this book.
We very much hope that this book contributes to the scientific progress, opens
up discussions, and also inspires those who could not attend the conference to
contribute and attend one of the next issues of EuCoMeS.
June 2018 Burkhard Corves
Philippe Wenger
Organization
Conference Chair
Burkhard Corves RWTH Aachen University, Germany
Conference Co-chair
Philippe Wenger CNRS–LS2N, France
Local Chair
Mathias Hüsing RWTH Aachen University, Germany
EuCoMeS Organizing Committee
Burkhard Corves RWTH Aachen University, Germany
Mathias Hüsing RWTH Aachen University, Germany
Claudia Cornely RWTH Aachen University, Germany
Jascha Paris RWTH Aachen University, Germany
International Scientific Committee
Marco Ceccarelli University of Cassino and South Latium, Italy
Paulo Flores University of Minho, Portugal
Manfred Husty University of Innsbruck, Austria
Doina Pisla Technical University of Cluj-Napoca, Romania
Fernando Viadero University of Cantabria, Spain
vii
viii Organization
Philippe Wenger CNRS–LS2N, France
Teresa Zielinska Warsaw University of Technology, Poland
Under the Patronage of IFToMM
Teresa Zielinska Secretary General of IFToMM
Victor Petuya Chair of Technical Committee for Linkages
and Mechanical Controls
Federico Thomas ChairofTechnicalCommitteeforComputational
Kinematics
Paulo Flores Chair of Technical Committee for Multibody
Dynamics
Daizhong Su Chair of Technical Committee for Gearing
and Transmissions
Lena Zentner Chair of Technical Committee for
Micromachines
With the Support of
Andres Kecskemethy Chair of IFToMM Member Organization,
Germany
DFG Germany German Research Foundation
Contents
Biomedical Applications
Contact Characteristics of Medical Forceps Indentation
to Soft Tissue . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
Anastasia Yakovenko, Irina Goryacheva, and Marat Dosaev
Design of a Finger Exoskeleton for Motion Guidance . . . . . . . . . . . . . . 11
Eike-CristianGerding,GiuseppeCarbone,DanieleCafolla,MatteoRusso,
Marco Ceccarelli, Sven Rink, and Burkhard Corves
Development of a Knee Joint Assistive-Mechanism Adapted
for Bilateral Roll-Back Motion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
Hidetsugu Terada, Koji Makino, Kazuyoshi Ishida, and Teppei Ogura
A Kinematic Characterization of a Parallel Robotic System
for Lower Limb Rehabilitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Bogdan Gherman, Iosif Birlescu, Ferenc Puskas, Adrian Pisla,
Giuseppe Carbone, Paul Tucan, Alexandru Banica, and Doina Pisla
Passive Walking Biped Model with Dissipative Contact
and Friction Forces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
Eduardo Corral, Filipe Marques, María Jesús Gómez García,
Paulo Flores, and Juan Carlos García-Prada
Control Issues of Mechanical Systems
Mechatronic Model Based Jerk Optimization in Servodrives
with Compliant Load . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Igor Ansoategui and Francisco J. Campa
Fuzzy Logic Controller and PID Controller Design for Aircraft
Pitch Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
Erdi Sayar and Hüseyin Metin Ertunç
ix
