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ROMANSY 24 - Robot Design, Dynamics and Control

Proceedings of the 24th CISM IFToMM Symposium

  • Conference proceedings
  • © 2022

Overview

Editors:
  1. Andrés Kecskeméthy

    1. Department of Mechanical Engineering, University of Duisburg-Essen, Duisburg, Germany

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    You can also search for this editor in PubMed   Google Scholar

  2. Vincenzo Parenti-Castelli

    1. Department of Industrial Engineering, University of Bologna, Bologna, Italy

    View editor publications

    You can also search for this editor in PubMed   Google Scholar

  • Proceedings of the 24th CISM IFToMM Symposium (ROMANSY), held in Udine, Italy, on July 4–7, 2022
  • Includes topics such as robot design, humanoid robots, bio-robotics, and sensor systems for robots and perception
  • Written by leading experts in the field

Part of the book series: CISM International Centre for Mechanical Sciences (CISM, volume 606)

Included in the following conference series:

Conference proceedings info: ROMANSY 2022.

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Table of contents (36 papers)

  1. Front Matter

    Pages i-xii
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  3. Part II: Wearable, Humanoid and Surgery Robotics

    1. Front Matter

      Pages 41-41
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    2. Development of Wearable Assist Robot for Twist and Leaning Motion

      • Koji Makino, Yuta Dobashi, Masato Karaki, Xiao Sun, Hidetsugu Terada
      Pages 43-52

    3. Preliminary Mechanical Design of a Wearable Parallel-Serial Hybrid Robot for Wrist and Forearm Rehabilitation with Consideration of Joint Misalignment Compensation

      • Ying-Chi Liu, Andrea Botta, Giuseppe Quaglia, Yukio Takeda
      Pages 53-61

    4. Simple Method for Humanoid Robot Posture Design

      • Teresa Zielinska, Oguz Kahraman
      Pages 62-69

    5. Wearable Exoskeletons for Hand Assistance: Concept and Design of a Thumb Module with Hybrid Architecture

      • Chiara Brogi, Nicola Secciani, Lorenzo Bartalucci, Marco Pagliai, Benedetto Allotta, Alessandro Ridolfi et al.
      Pages 70-78

    6. Dynamic Modeling of a Human-Inspired Robot Based on a Newton-Euler Approach

      • Fernando Gonçalves, Tiago Ribeiro, AntĂłnio Fernando Ribeiro, Gil Lopes, Paulo Flores
      Pages 79-90

    7. New Hand Exoskeletons for Four Long Finger Rehabilitation

      • Antonello Vuocolo, Lei Cao, Andrea Petinari, Nicola Sancisi, Yukio Takeda, Vincenzo Parenti-Castelli
      Pages 91-98

    8. Model-Based Control for Arm Support Exoskeleton

      • Mikhail Chumichev, Igor Orlov
      Pages 99-105

    9. Design and Characterization of Modular Soft Components for an Exoskeleton Glove with Improved Wearability

      • Tommaso Bagneschi, Daniele Leonardis, Domenico Chiaradia, Antonio Frisoli
      Pages 106-114

    10. Kinematic Modelling of a Parallel Robot Used in Single Incision Laparoscopic Surgery

      • Paul Tucan, Bogdan Gherman, Iulia Andras, Calin Vaida, Doina Pisla
      Pages 115-122

  4. Part III: Sensorics

    1. Front Matter

      Pages 123-123
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    2. An Optical Curvature Sensor for Soft Robots

      • Malte Grube, Robert Seifried
      Pages 125-132

    3. Methods Comparison and Proposition of New Quaternion-Based Approach for Extraction of In-plane Rotations Out of 3D Rotations

      • Mehdi Ghiassi, Joey Maibaum, AndrĂ©s KecskemĂ©thy
      Pages 133-141

    4. Low-Cost Gyroscope and Accelerometer Calibration with Free Fall Pendulum Motion: Results and Sensitivity

      • Giulia Avallone, Lorenzo Agostini, Michele Conconi, Vincenzo Parenti-Castelli, Rocco Vertechy, Nicola Sancisi
      Pages 142-150

    5. A COBOT-IMU Hand-Guiding System with Online Collision Avoidance in Null Space

      • Giulia Avallone, Eugenio Monari, Yi Chen, Lorenzo Agostini, Nicola Sancisi, Rocco Vertechy
      Pages 151-159
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  1. ROMANSY 24 - Robot Design, Dynamics and Control

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About this book

This book highlights the latest innovations and applications in robotics, as presented by leading international researchers and engineers at the ROMANSY 2022, the 24th CISM IFToMM Symposium on Theory and Practice of Robots and Manipulators, held in Udine, Italy, on July 4–7, 2022. The ROMANSY symposium is the first established conference that focuses on robotics theory and research, rather than industrial aspects. Bringing together researchers from a broad range of countries, the symposium is held bi-annually and plays a vital role in the development of the theory and practice of robotics, as well as the mechanical sciences. ROMANSY 2022 marks the 24th instalment in a series that began in 1973.

Editors and Affiliations

  • Department of Mechanical Engineering, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

  • Department of Industrial Engineering, University of Bologna, Bologna, Italy

    Vincenzo Parenti-Castelli

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