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The weathering of monumental stones is a complex process inserted in the more general 'matter transformation cycle' operated by physical, chemical and biological factors. The consequence of these combined actions is a loss of cohesion with dwindling and scaling of stone material and the induction of a progressive mineral matrix dissolution. In the case of(More)
The first part of this paper describes the development of a humanoid robot hand based on an endoskeleton made of rigid links connected with elastic hinges, actuated by sheath routed tendons and covered by continuous compliant pulps. The project is called UB Hand 3 (University of Bologna Hand, 3rd version) and aims to reduce the mechanical complexity of(More)
The paper describes work in progress at the University of Bologna concerning the design of a new anthropomorphic robot hand. The hand is based on the modular assembly of articulated fingers that adopt an original configuration of their structure, made with rigid links connected by elastic hinges that are coaxially crossed by flexible tendons. This(More)
— In this paper, a novel design approach for the development of robot hands is presented. This approach , that can be considered alternative to the " classical " one, takes into consideration compliant structures instead of rigid ones. Compliance effects, which were considered in the past as a " defect " to be mechanically eliminated, can be viceversa(More)
Much evidence in the literature demonstrates the effect of cyclic mechanical stretch in maintaining, or addressing, a muscle phenotype. Such results were obtained using several technical approaches, useful for the experimental collection of proofs of principle but probably unsuitable for application in clinical regenerative medicine. Here we aimed to design(More)
In this paper, some considerations about the state of the art and the current trends in the design and control of " robot hands " are reported and discussed. The authors, on the basis of a long research activity for the development of robotic end-effectors and related technologies, address what they consider key-points for the development of " dextrous(More)
— In this work, a cartesian impedance controller purposely designed for dexterous manipulation is described. Based on the main features of the DLR Hand II, concerning kinematic structure and sensory equipment of fingers, this control strategy allows to overcome the main problems encountered in fine manipulation, namely: effects of the friction (and(More)
In this work the static and dynamic characterization of viscoelastic pads for robotic hands is performed. A quasi-linear model, developed to describe the behavior of human hand pads and, more generally, of biological tissues, is adopted in order to overcome the problems tied to classical (linear) models, often used in the robotic field. Through experimental(More)
In this paper, the relation between B-splines and FIR (Finite Impulse Response) filters is demonstrated and exploited to design a digital filter for trajectory planning, combining the very simple structure and computational efficiency of FIR filters with the flexibility of splines. In particular, the trajectory generator consists of two main elements. The(More)
In space applications, it is conceivable that part of the robotic activities could involve the grasp and/or manipulation of free-floating objects in absence of gravity. In this case, synchronous application of contacts seems to represent a basic feature in order to efficiently grasp the floating items. In this sense, an additional difficulty is that objects(More)