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Selected Papers from MEDER 2024: Advances of Mechanism Design for...
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Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines

A special issue of Machines (ISSN 2075-1702). This special issue belongs to the section "Machine Design and Theory".

Deadline for manuscript submissions: closed (31 October 2024) | Viewed by 6111

Special Issue Editors

Prof. Dr. Marco Ceccarelli

E-Mail Website1 Website2
Guest Editor
LARM: Laboratory of Robotics and Mechatronics, University of Cassino and South Latium, 03043 Cassino, Italy
Interests: mechanism design mechanics of robots; robot design
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Erwin Lovasz

E-Mail Website
Guest Editor
Department of Mechatronics, Faculty of Mechanics, Politehnica University of Timisoara, 300222 Timisoara, Romania
Interests: mechanism design; mechanics of robots; precision mechanics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The aim of the Symposium on Mechanism Design for Robotics (MEDER 2024, https://meder2024.upt.ro/) is to bring together researchers, industry professionals and students from a broad range of disciplines related to mechanisms and robotics to share the latest developments and discuss the directions for the future of mechanism and robotics research. MEDER 2024 continues a successful series of Symposiums that has been started in Mexico 2010, continued in China 2012, in Denmark 2015, in Italy 2018 and in France 2021. The Conference will be held at the Conference Center and the buildings of Mechanical Faculty of Politehnica University of Timişoara in Timişoara, Romania.

Papers are solicited on topics related with mechanisms within aspects of theory, design, practice and its applications for robotics, including but not limited to: 

  • Mechanism design 
  • Mechanism education and history of MMS 
  • Theoretical and computational kinematics 
  • Experimental mechanics 
  • Mechanics of robots 
  • Control issues of mechanical systems 
  • Machine intelligence 
  • Innovative mechanisms and applications 
  • Linkages and manipulators 
  • Micro-mechanisms 
  • Dynamics of machinery and multi-body systems

You may choose our Joint Special Issue in Robotics.

Prof. Dr. Marco Ceccarelli
Prof. Dr. Erwin Lovasz
Guest Editors

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Machines is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

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Further information on MDPI's Special Issue policies can be found here.

Published Papers (6 papers)

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Editorial

Jump to: Research

2 pages, 141 KiB  
Editorial
Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines
by Marco Ceccarelli and Erwin Christian Lovasz
Machines 2025, 13(3), 208; https://doi.org/10.3390/machines13030208 - 5 Mar 2025
Viewed by 342
Abstract
This Special Issue aims to promote and circulate the recent developments and achievements of the international community in the field of Robot Design within Mechanism and Machine Science, ranging from theoretical contributions to experimental and practical applications [...] Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)

Research

Jump to: Editorial

20 pages, 9366 KiB  
Article
Design and Experimental Characterization of Developed Human Knee Joint Exoskeleton Prototypes
by Michał Olinski
Machines 2025, 13(1), 70; https://doi.org/10.3390/machines13010070 - 18 Jan 2025
Cited by 1 | Viewed by 722
Abstract
This paper focuses on the experimental testing and characterisation of two designed and constructed prototypes of a human knee joint mechanism. The aim of the mechanical systems, presented as kinematic diagrams and 3D CAD drawings, is to reproduce the knee joint’s complex movement, [...] Read more.
This paper focuses on the experimental testing and characterisation of two designed and constructed prototypes of a human knee joint mechanism. The aim of the mechanical systems, presented as kinematic diagrams and 3D CAD drawings, is to reproduce the knee joint’s complex movement, in particular the flexion/extension in the sagittal plane, within a given range and constraints, while taking into account the trajectory of the joint’s instantaneous centre of rotation. The first prototype can simulate different movements by modifying its dimensions in real time using a linearly adjustable crossed four-bar mechanism. The second prototype has interchangeable cooperating components, with cam profiles that can be adapted to specific requirements. Both devices are built from 3D-printed parts and their characteristics are determined experimentally. Although many types of tests have been carried out, this research mainly aims to conduct experiments with volunteers. To this end, the IMU sensors measure the mechanisms’ movements, but the main source of the data is video analysis of the colour markers. For the purposes of postprocessing, the results in the form of numerical values and figures were computed by Matlab 2019b. To illustrate the prototypes’ capabilities, the results are shown as motion trajectories of selected tibia/femur points and the calculated knee joint’s flexion/extension angle. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)
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24 pages, 2509 KiB  
Article
Unified Design Methodology for a Polycentric Transfemoral Knee Prosthesis Using Kinematic Synthesis
by Mertcan Koçak and Erkin Gezgin
Machines 2025, 13(1), 20; https://doi.org/10.3390/machines13010020 - 31 Dec 2024
Cited by 2 | Viewed by 888
Abstract
This study introduces a novel single-degree-of-freedom polycentric knee mechanism specifically designed for transfemoral prostheses to address dual challenges of stability during the stance phase and biomimetic motion during the swing phase. Leveraging analytical kinematic synthesis, the proposed mechanism integrates separate kinematic designs for [...] Read more.
This study introduces a novel single-degree-of-freedom polycentric knee mechanism specifically designed for transfemoral prostheses to address dual challenges of stability during the stance phase and biomimetic motion during the swing phase. Leveraging analytical kinematic synthesis, the proposed mechanism integrates separate kinematic designs for each of the gait phases into a combined structure that prevents singularity issues during full knee flexion, which is a significant limitation in conventional active designs. The stance phase mechanism emphasizes stability through precise control of the instantaneous center of rotation (ICR) and weight-bearing support, while the swing phase mechanism adopts a biomimetic motion trajectory. In order to validate the proposed methodology, kinematic synthesis, numerical simulations, and visual analyses were conducted. Incorporating insights from polycentric prostheses and orthotic applications, the proposed mechanism achieves a seamless transition between two different configurations by keeping its overall mobility. Additionally, its possible compatibility with motorized actuation offers a foundation for active prosthesis systems, paving the way for adapting the advantages of polycentric prosthesis to active devices. This innovative approach offers a scientifically grounded pathway for improving transfemoral prosthetic systems, advancing both their biomechanical utility and user comfort. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)
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12 pages, 6442 KiB  
Article
Design and Validation of an Improved Rotational Variable Stiffness Mechanism
by Carl Nelson, Kasey Moomau and Yucheng Li
Machines 2025, 13(1), 6; https://doi.org/10.3390/machines13010006 - 25 Dec 2024
Cited by 1 | Viewed by 710
Abstract
In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed [...] Read more.
In various aspects of robotics, including human–robot interaction, the ability to dynamically adjust the apparent stiffness of an interaction (e.g., between the robot and its environment or between the robot and its payload) has become an important capability. Various means have been developed in recent years to achieve this, notable among them the so-called variable lever devices. In this paper, we present a new variable lever mechanism based on a gear–rack pair. This unique design combines the functionality of the lever itself with that of the stiffness-adjustment transmission. We show through simulations and hardware experiments the relatively large resulting range of achievable stiffness adjustment and efficient operation. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)
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19 pages, 10032 KiB  
Article
Design, Control, and Analysis of a 3-Degree-of-Freedom Kinematic–Biologically Matched Hip Joint Structure for Lower Limb Exoskeleton
by Yuntian Wang, Xiuyuan Wu, Yifan Fang, Keisuke Osawa, Kei Nakagawa, Shintaro Yamasaki and Eiichiro Tanaka
Machines 2024, 12(12), 924; https://doi.org/10.3390/machines12120924 - 17 Dec 2024
Cited by 1 | Viewed by 872
Abstract
The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological [...] Read more.
The increasing demand for rehabilitation and walking assistive devices driven by aging populations has promoted the development of a novel hip joint structure. This design aims to enhance the functionality of lower limb exoskeletons by eliminating the kinematic mismatch with the human’s biological hip. The design utilizes three 1-DOF (Degree of Freedom) rotational joints to replicate natural hip movement. By integrating IMU data, motor compensation is dynamically made to facilitate a more natural gait. Experimental results indicate improved hip joint angles and enhanced user comfort, presenting a promising solution for better walking assistance for elderly individuals. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)
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20 pages, 8912 KiB  
Article
Test Results and Considerations for Design Improvements of L-CADEL v.3 Elbow-Assisting Device
by Marco Ceccarelli, Sergei Kotov, Earnest Ofonaike and Matteo Russo
Machines 2024, 12(11), 808; https://doi.org/10.3390/machines12110808 - 14 Nov 2024
Cited by 2 | Viewed by 900
Abstract
The elbow-assisting device, L-CADEL, was analyzed by testing a prototype of design version three (v3) with the aim of discussing design improvements to solve problems and improve operational performance. The test results reported are from a lab testing campaign with 15 student volunteers [...] Read more.
The elbow-assisting device, L-CADEL, was analyzed by testing a prototype of design version three (v3) with the aim of discussing design improvements to solve problems and improve operational performance. The test results reported are from a lab testing campaign with 15 student volunteers from the engineering and physiotherapy disciplines. The main aspects of attention of the reported investigation are data analyses for motion diagnostics, comfort in wearing, operation efficiency, and the mechanical design of the arm platform and cable tensioning. Full article
(This article belongs to the Special Issue Selected Papers from MEDER 2024: Advances of Mechanism Design for Robotic Machines)
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