Daniele Cafolla

Bio: Daniele Cafolla is an academic researcher from University of Cassino. The author has contributed to research in topics: Humanoid robot & Torso. The author has an hindex of 12, co-authored 65 publications receiving 431 citations. Previous affiliations of Daniele Cafolla include Technical University of Cluj-Napoca.

Design and test of a gripper prototype for horticulture products

Abstract: This paper describes the design of a gripper for horticulture product grasping. The design solution has been achieved by means of a systematic approach by evaluating all the possible architecture. The proposed structure is optimized and numerically simulated. Then, a prototype has been built and tested in laboratory. The design process and test results are discussed to show the efficiency of the built prototype with lab tests.

How to Use 3D Printing for Feasibility Check of Mechanism Design

Abstract: In this paper, 3D printing is presented as useful means for checking design feasibility of mechanism structures for robots. A procedure is outlined for rapid prototyping that can produce scaled prototypes for experimental validation since early stages of robot developments. An example from LARM activities shows the soundness and practical implementation of the proposed method.

Design of a Two-DOFs Driving Mechanism for a Motion-Assisted Finger Exoskeleton

Abstract: This paper presents a novel exoskeleton mechanism for finger motion assistance. The exoskeleton is designed as a serial 2-degrees-of-freedom wearable mechanism that is able to guide human finger motion. The design process starts by analyzing the motion of healthy human fingers by video motion tracking. The experimental data are used to obtain the kinematics of a human finger. Then, a graphic/geometric synthesis procedure is implemented for achieving the dimensional synthesis of the proposed novel 2 degrees of freedom linkage mechanism for the finger exoskeleton. The proposed linkage mechanism can drive the three finger phalanxes by using two independent actuators that are both installed on the back of the hand palm. A prototype is designed based on the proposed design by using additive manufacturing. Results of numerical simulations and experimental tests are reported and discussed to prove the feasibility and the operational effectiveness of the proposed design solution that can assist a wide range of finger motions with proper adaptability to a variety of human fingers.

An experimental characterization of human torso motion

Abstract: The torso plays an important role in the human-like operation of humanoids. In this paper, a method is proposed to analyze the behavior of the human torso by using inertial and magnetic sensing tools. Experiments are conducted to characterize the motion performance of the human torso during daily routine operations. Furthermore, the forces acting on the human body during these operations are evaluated to design and validate the performance of a humanoid robot.

Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications

Abstract: With the recent progress in personal care robots, interest in wearable exoskeletons has been increasing due to the demand for assistive technologies generally and specifically to meet the concerns ...

A soft wearable robot for the shoulder: Design, characterization, and preliminary testing

Abstract: In this paper, we present a soft wearable robot for the shoulder which has the potential to assist individuals suffering from a range of neuromuscular conditions affecting the shoulder to perform activities of daily living. This wearable robot combines two types of soft textile pneumatic actuators which were custom developed for this particular application to support the upper arm through shoulder abduction and horizontal flexion/extension. The advantage of a textile-based approach is that the robot can be lightweight, low-profile, comfortable and non-restrictive to the wearer, and easy to don like an item of clothing. The actuator's ability to fold flat when not in use allows the robot to be almost invisible under clothing, potentially allowing the user to avoid any stigma associated with using assistive devices in public. To abduct the arm, a textilebased pneumatic actuator was developed to fit within the axilla to push the arm upwards, while a pair of smaller actuators pivot the abduction actuator to allow for horizontal extension and flexion. The individual textile actuators were experimentally evaluated before being integrated into a wearable garment. Human subject testing was performed to evaluate the ability of the robot to assist the arm by monitoring changes in biological muscle activity when comparing the robot powered on and off. Preliminary results show large reductions in muscular effort in targeted muscles, demonstrating the feasibility and promise of such a soft wearable robot for the shoulder.

Geometric design optimization of an under-actuated tendon-driven robotic gripper

Abstract: We build the mathematical model between the actuated force and the contact force for an under-actuated tendon-driven robotic gripper based on the geometric analysis.A mathematical model is constructed to obtain the transmission efficiency of the tension force when a tendon wraps a joint mandrel by the geometric relations.The geometric model of transmission characteristics determined by the tendon routes for reducing the resistance is generated.Genetic Algorithm is applied to optimizing the dimensions of the gripper and the tendon routes.The geometrically optimal approach provided by us has the characteristics of the versatility and can also be referred to optimizing most of the under-actuated robotic gripper with tendon-driven mechanisms. The design optimization of a robotic gripper is of utmost importance for achieving a stable grasp behaviour. This work focuses on analysing the optimal design of an under-actuated tendon-driven robotic gripper with two 3-phalange fingers and a geometric design optimization method is proposed to achieve a stable grasp performance. The problem has twenty-two design variables, including three phalange lengths, three phalange widths, three radii of joint mandrels, a palm width and twelve route variables for allocation of six pulleys. First, the mathematical model between the active and contact forces is expressed in relation to the geometric dimensions of the robotic gripper. Second, the geometric model of transmission characteristics determined by the tendon routes for reducing the resistance is generated. Next, three objective functions and multiple geometric constraints are derived and integrated into two fitness models. Finally, the genetic algorithm is applied to addressing the optimization problem. Practical experiments are performed as well to validate the proposed approach. The approach is universal for optimizing any conventional under-actuated tendon-driven gripper.