Rocco Vertechy

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This paper deals with the development of a novel exoskeleton for the robotic rehabilitation of upper extremities. The system is based on modular custom-designed actuation groups implementing high reduction ratios and redundant position measurement for securing patient safety, and joint torque sensing for guaranteeing system performance and providing(More)
This paper presents the development of an interaction-torque control architecture for a rehabilitation exoskeleton (RehabExos) with flexible joints equipped with internal torque sensors. The architecture consists of an outer control loop, which is based on the kineto-statics of the RehabExos, and on four identical-independent inner full-state joint-torque(More)
This paper deals with a class of over-constrained parallel manipulators that can be obtained from architecturally singular parallel mechanisms with legs of type US (U and S stand for universal and spherical joints respectively) by the addition of legs of type UPS (P stands for actuated prismatic pair). These manipulators can be internally preloaded in order(More)
This article introduces and describes an electrically powered full-body (FB) exoskeleton, called the body extender (BE), intended as a research platform for the study of the transport and handling of heavy loads up to 50 kg, with one hand at worst-load conditions (WLCs). The machine features a 22-degrees-of-freedom (DoF) quasi-anthropomorphic kinematic(More)
This paper presents an optimization procedure conceived to design parallel mechanisms (PMs) with legs of constant and/or variable length connected, at their endpoints, to a fixed base and a movable platform through universal and spherical joints, respectively. In the proposed procedure, the first natural frequency of the mechanism is the objective function(More)
wearable robot (WR) is a machine placed in a close fit with the human body, thereby moving and working in synchrony with its limbs [1]–[4]. The large (and growing) family of WRs includes hard exoskeletons and soft exosuits, worn in parallel with the user’s body to augment its performance, and active limb prostheses, which, when worn in series to the user’s(More)
A great challenge for mechanical devices is environment interaction. Indeed, while machines excel in pick-and-place tasks, they are rather poor in operations such as running, flying and grasping. Current researches suggest " low impedance " as the key asset for environment interacting tasks. Compliance and lightness are different aspects of impedance.(More)
• Further increase flexibility and functionality of state-of-the-art electro-mechanical systems, while potentially simplifying design solutions [4]. For a number of important applications, conventional rigid machines are too heavy, energy-inefficient, expensive and relatively complex. • Explore unconventional manufacturing methods, with the aim of improving(More)
A conically shaped Dielectric Elastomer (DE) linear actuator is presented which is obtained by coupling a DE film with a compliant mechanism. The compliant mechanism is designed, by means of a pseudo-rigid-body model, to suitably modify the force generated by the elastomer film. The resulting actuator provides a nearly constant force along the entire(More)