By Giovanni Boschetti, Alessandro Gasparetto
This quantity comprises the court cases of the 1st overseas convention of IFToMM Italy (IFIT2016), held on the collage of Padova, Vicenza, Italy, on December 1-2, 2016. The ebook comprises contributions at the most recent advances on Mechanism and computing device technological know-how. The fifty-nine papers take care of such themes as biomechanical engineering, heritage of mechanism and computer technological know-how, linkages and mechanical controls, multi-body dynamics, reliability, robotics and mechatronics, transportation equipment, tribology, and vibrations.
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Extra info for Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy
9 NeRebot: a structure diagram; b overall view  Fig. 10 MariBot rehabilitation robot: a Structural diagram; b design of the prototype 20 G. Carbone et al. Elbow joint movements: Flexion-Extension; Pronation-Supination. Fig. 11 Shoulder joint movement: Flexion-Extension; Abduction-Adduction Acknowledgments The second Author has spent a period of study at LARM in 2015 with an Erasmus grant which is gratefully acknowledged. References 1. Potash RL, Potash RJ, Kollet KW, Dugas GE (2014) Exercise system for physical rehabilitation and ﬁtness.
The controller for the needle, a MPC-based approach , was implemented in C++ using Quadprog++ as the quadratic programming solver. 7) and the CVXOPT optimization library. 7 mm, was attached to the sensor groove of one of the segments to measure the position of the needle tip. 5 wt%, was used as the tissue phantom in the experiments, with a Young’s modulus, E = 7 kPa. The parameters used for the control system are shown in Table 1. 2 Segment Oﬀset Versus Curvature Calibration Before determining the performance of the system, the needle prototype’s steering performance was evaluated.
For example, concentric tube based needle systems operate well inside a cavity but suﬀer from important kinematic constraints when used percutaneously [4, 12]. Bevel and kinked tip needle steering systems are accurate and have a good range of possible curvatures, but the needle must be rotated as it is inserted, causing additional trauma to the surrounding tissue  although in some tissues and scenarios this eﬀect may be negligible . In light of these weaknesses, our group has developed a ﬂexible needle controlled using a biologically inspired multi-segment design .
Advances in Italian Mechanism Science: Proceedings of the First International Conference of IFToMM Italy by Giovanni Boschetti, Alessandro Gasparetto