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On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography

Robotics 2019, 8(2), 30;

Mechanism Design for Robotics
Laboratory of Robot Mechatronics, Department of Industrial Engineering; University of Rome Tor Vergata, Via del Politecnico 1, 00133 Roma, Italy
Polytechnic Department of Engineering and Architecture, Università degli Studi di Udine, Via delle Scienze 206, 33100 Udine, Italy
Author to whom correspondence should be addressed.
Received: 17 April 2019 / Accepted: 17 April 2019 / Published: 19 April 2019
MEDER 2018, the IFToMM International Symposium on Mechanism Design for Robotics, was the fourth event of a series that was started in 2010 as a specific conference activity on mechanisms for robots. The first event was held at Universidad Panamericana de Ciudad de Mexico, Mexico, in September 2010; the second was held in 2012 at Beihang University in Beijing, China; the third one was held in 2012at Aalborg University in Denmark; and the fourth one was organized at Udine University in Italy.
The aim of the MEDER Symposium is to bring researchers, industry professionals, and students together from a broad ranges of disciplines dealing with mechanisms for robots, in an intimate, collegial, and stimulating environment. Again, in the 2018 MEDER event, we have received significant attention regarding this initiative, as can be seen by the fact that the Proceedings contain contributions by authors from all around the world.
The Proceedings of MEDER 2018 Symposium have been published within the Springer book series on MMS, and the book contains 52 papers that have been selected after review for oral presentation. These papers cover several aspects of the wide field of robotics dealing with mechanism aspects in theory, design, numerical evaluations, and applications.
This Special Issue in Robotics ( has been obtained as a result of a second review process and selection, but all the papers that have been accepted for MEDER 2018 are of very good quality with interesting contents that are suitable for journal publication, and the selection process has been difficult.
The papers in this Special Issue are focused on the design of novel mechanisms for robots, and on the development of new methodologies for the modeling and control of robotic devices. In particular, a couple of papers deal with walking robots, namely, one presents a novel humanoid robot with parallel architectures [1] and the other one is focused on a hexapod robot [2]. Several papers are focused on teleoperation and HRI (human–robot interactions) to deal with the design of a safe teleoperated system for Doppler sonography [3] and of a safety mechanism for cobot joints [4], the development of techniques for hand guidance of a mobile robot [5], and the use of artificial muscles in haptic interfaces [6]. Other papers address problems regarding the design of specific actuators for robots, such as underactuated fingers [7], compliant rotary actuators [8], and robotic wrists [9]. There are also three papers on special robotic systems for a robot for artistic painting [10], a cylindrical rolling robot [11], and a cable-driven robot [12]. The last paper of this Special Issue presents a methodology for the design of optimal robotic trajectories [13].
The members of the International Scientific Committee for MEDER Symposium are gratefully acknowledged for helping us to achieve the success of MEDER 2018 and this Special Issue:
  • Marco Ceccarelli (Univ. of Cassino, Italy, Chair)
  • Ding Xilun (Beihang Univ., China)
  • Grigore Gogu (SIGMA Clermont, France)
  • Mario Acevedo (Univ. Panamericana, Mexico)
  • Shaoping Bai (Aalborg Univ., Denmark)
  • Yukio Takeda (Tokyo Inst Tech., Japan)
  • Alba Perez (Idaho State Univ., USA)
  • Yan Jin (Belfast Univ., UK)
  • Erwin Lovasz (Politehnica Univ. Timisoara, Romania)
  • Said Zeghloul (Poitiers Univ., France)
  • Victor Petuya (Univ. of Basque Country, Spain).
We thank the authors, who have contributed very interesting papers on several subjects, covering many fields of “Mechanism Design for Robotics”, and for their cooperation in revising papers on time in agreement with the reviewers’ comments. We are grateful to the reviewers for the time and effort they spent in evaluating the papers to a very tight schedule, which permitted the publication of this Special Issue.
We thank the Udine University in Udine, Italy, for having hosted the MEDER 2018 event with a very efficient local organising committee. We would like to thank the sponsorship of IFToMM (International Federation for the Promotion of Mechanism and Machine Science), IFToMM Italy, the IFToMM Technical Committees of Linkages and Mechanical Controls, and Robotics and Mechatronics, which have supported the conference event, in which more than 15 countries participated.
We would like to thank the publisher and editorial staff of the Robotics for accepting and helping with the publication of this Special Issue, a process that began in 2016.
We are grateful to our families, since without their patience and comprehension it would not have been possible for us to organise MEDER 2018, IFToMM International Symposium on Mechanism Design for Robotics and this Special Issue.


  1. Russo, M.; Cafolla, D.; Ceccarelli, M. Design and Experiments of a Novel Humanoid Robot with Parallel Architectures. Robotics 2018, 7, 79. [Google Scholar] [CrossRef]
  2. LI, R.; Meng, H.; Bai, S.; Yao, Y.; Zhang, J. Stability and Gait Planning of 3-UPU Hexapod Walking Robot. Robotics 2018, 7, 48. [Google Scholar] [CrossRef]
  3. Arévalo, J.S.S.; Laribi, M.A.; Zeghloul, S.; Arsicault, M. On the Design of a Safe Human-Friendly Teleoperated System for Doppler Sonography. Robotics 2019, 8, 29. [Google Scholar] [CrossRef]
  4. Ayoubi, Y.; Laribi, M.A.; Zeghloul, S.; Arsicault, M. V2SOM: A Novel Safety Mechanism Dedicated to a Cobot’s Rotary Joints. Robotics 2019, 8, 18. [Google Scholar] [CrossRef]
  5. Weyrer, M.; Brandstötter, M.; Husty, M. Singularity Avoidance Control of a Non-Holonomic Mobile Manipulator for Intuitive Hand Guidance. Robotics 2019, 8, 14. [Google Scholar] [CrossRef]
  6. Franco, W.; Maffiodo, D.; de Benedictis, C.; Ferraresi, C. Use of McKibben Muscle in a Haptic Interface. Robotics 2019, 8, 13. [Google Scholar] [CrossRef]
  7. Zappatore, G.A.; Reina, G.; Messina, A. A Toolbox for the Analysis of the Grasp Stability of Underactuated Fingers. Robotics 2019, 8, 26. [Google Scholar] [CrossRef]
  8. Kittinanthapanya, R.; Sugahara, Y.; Matsuura, D.; Takeda, Y. Development of a Novel SMA-Driven Compliant Rotary Actuator Based on a Double Helical Structure. Robotics 2019, 8, 12. [Google Scholar] [CrossRef]
  9. Shah, D.; Wu, Y.; Scalzo, A.; Metta, G.; Parmiggiani, A. A Comparison of Robot Wrist Implementations for the iCub Humanoid. Robotics 2019, 8, 11. [Google Scholar] [CrossRef]
  10. Scalera, L.; Seriani, S.; Gasparetto, A.; Gallina, P. Non-Photorealistic Rendering Techniques for Artistic Robotic Painting. Robotics 2019, 8, 10. [Google Scholar] [CrossRef]
  11. Puopolo, M.; Jacob, J.; Gabino, E. Locomotion of a Cylindrical Rolling Robot with a Shape Changing Outer Surface. Robotics 2018, 7, 52. [Google Scholar] [CrossRef]
  12. Boschetti, G.; Carbone, G.; Passarini, C. Cable Failure Operation Strategy for a Rehabilitation Cable-Driven Robot. Robotics 2019, 8, 17. [Google Scholar] [CrossRef]
  13. Boscariol, P.; Richiedei, D. Trajectory Design for Energy Savings in Redundant Robotic Cells. Robotics 2019, 8, 15. [Google Scholar] [CrossRef]
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