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Recent Trends and Advances on Robotics and Mechatronics within the...
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Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics

A special issue of Robotics (ISSN 2218-6581). This special issue belongs to the section "Intelligent Robots and Mechatronics".

Deadline for manuscript submissions: 30 September 2024 | Viewed by 7940

Special Issue Editors

Prof. Dr. Giuseppe Carbone

E-Mail Website
Guest Editor
Department of Mechanical, Energy and Management Engineering, Università della Calabria, 87036 Rende, Italy
Interests: robotics; robot design; mechatronics; walking hexapod; design procedure; mechanics of machinery; leg–wheel
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Shaoping Bai

E-Mail Website
Guest Editor
Department of Materials and Production, Aalborg University, Fib. 16, 9220 Aalborg, Denmark
Interests: robotics; parallel robots; exoskeletons; linkages
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Xilun Ding

E-Mail Website
Guest Editor
School of Mechanical Engineering & Automation, Beijing University of Aeronautics and Astronautics, Beijing, China
Interests: compliant mechanical systems and robots; nonholonomic control of space robots; dynamics and control of aerial robots; biomimetic robots
Prof. Dr. Juan Carretero

E-Mail Website
Guest Editor
Department of Mechanical Engineering, University of New Brunswick, Fredericton, NB, Canada
Interests: parallel manipulators; motion simulators; reduced degree-of-freedom parallel manipulators applications; robot simulation path planning contact tasks
Prof. Dr. Adrian Pisla

E-Mail Website
Guest Editor
Design and Industrial Robots Department, Technical University of Cluj-Napoca, Cluj-Napoca, Romania
Interests: exoskeletons; upper extremity; stroke rehabilitation; orthotic devices; foot orthoses

Special Issue Information

Dear Colleagues,

This Special Issue cordially invites submissions from members of the IFToMM Technical Committee on Robotics and Mechatronics, focusing on the latest developments and emerging trends in the field. Particularly welcome are contributions from the inspirational presentations delivered at the IFToMM World Congress in 2023 (http://wc2023.jc-iftomm.org/). We invite contributions across a spectrum of topics, including, but not limited to:

  • Automation and Control Systems;
  • Sensing and Perception in Robotics;
  • Artificial Intelligence and Machine Learning in Mechatronics;
  • Bio-inspired Robotics;
  • Swarm Robotics;
  • Autonomous Vehicles and Drones;
  • Robot Vision and Image Processing;
  • Robot Manipulation and Grasping;
  • Human–machine Interaction;
  • Mechatronic Systems;
  • Cyber-Physical Systems in Robotics;
  • Advanced Actuators and Sensors;
  • Energy Efficiency in Mechatronics;
  • Biomechatronics and Exoskeletons;
  • Robotics in Healthcare and Medical Applications;
  • Industry 4.0 and Smart Manufacturing;
  • Mechatronic System Integration;
  • Control Algorithms for Robotics;
  • Robotics and Mechatronics in Space Exploration;
  • Environmental and Sustainability Considerations in Robotics and Mechatronics.

Prof. Dr. Giuseppe Carbone
Prof. Dr. Shaoping Bai
Prof. Dr. Xilun Ding
Prof. Dr. Juan Carretero
Prof. Dr. Adrian Pisla
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. Robotics 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 1800 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.

Keywords

  • automation and control systems
  • sensing and perception in robotics
  • artificial intelligence and machine learning in mechatronics
  • bio-inspired robotics
  • swarm robotics
  • autonomous vehicles and drones
  • robot vision and image processing
  • robot manipulation and grasping
  • human–machine interaction
  • mechatronic systems
  • cyber-physical systems in robotics
  • advanced actuators and sensors
  • energy efficiency in mechatronics
  • biomechatronics and exoskeletons
  • robotics in healthcare and medical applications
  • Industry 4.0 and smart manufacturing
  • mechatronic system integration
  • control algorithms for robotics
  • robotics and mechatronics in space exploration
  • environmental and sustainability considerations in robotics and mechatronics

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  • Greater discoverability: Special Issues support the reach and impact of scientific research. Articles in Special Issues are more discoverable and cited more frequently.
  • Expansion of research network: Special Issues facilitate connections among authors, fostering scientific collaborations.
  • External promotion: Articles in Special Issues are often promoted through the journal's social media, increasing their visibility.
  • e-Book format: Special Issues with more than 10 articles can be published as dedicated e-books, ensuring wide and rapid dissemination.

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

Published Papers (6 papers)

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Research

17 pages, 3904 KiB  
Article
Adaptive Path Planning for Subsurface Plume Tracing with an Autonomous Underwater Vehicle
by Zhiliang Wu, Shuozi Wang, Xusong Shao, Fang Liu and Zefeng Bao
Robotics 2024, 13(9), 132; https://doi.org/10.3390/robotics13090132 - 31 Aug 2024
Viewed by 504
Abstract
Autonomous underwater vehicles (AUVs) have been increasingly applied in marine environmental monitoring. Their outstanding capability of performing tasks without human intervention makes them a popular tool for environmental data collection, especially in unknown and remote regions. This paper addresses the path planning problem [...] Read more.
Autonomous underwater vehicles (AUVs) have been increasingly applied in marine environmental monitoring. Their outstanding capability of performing tasks without human intervention makes them a popular tool for environmental data collection, especially in unknown and remote regions. This paper addresses the path planning problem when AUVs are used to perform plume source tracing in an unknown environment. The goal of path planning is to locate the plume source efficiently. The path planning approach is developed using the Double Deep Q-Network (DDQN) algorithm in the deep reinforcement learning (DRL) framework. The AUV gains knowledge by interacting with the environment, and the optimal direction is extracted from the mapping obtained by a deep neural network. The proposed approach was tested by numerical simulation and on a real ground vehicle. In the numerical simulation, several initial sampling strategies were compared on the basis of survey efficiency. The results show that direct learning based on the interaction with the environment could be an appropriate survey strategy for plume source tracing problems. The comparison with the canonical lawnmower path used in practice showed that path planning using DRL algorithms could be potentially promising for large-scale environment exploration. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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17 pages, 9604 KiB  
Article
An Arch-Shaped Electrostatic Actuator for Multi-Legged Locomotion
by Yusuke Seki and Akio Yamamoto
Robotics 2024, 13(9), 131; https://doi.org/10.3390/robotics13090131 - 30 Aug 2024
Viewed by 505
Abstract
A simple actuator to create non-reciprocal leg motion is imperative in realizing a multi-legged micro-locomotion mechanism. This work focuses on an arch-shaped electrostatic actuator as a candidate actuator, and it proposes the operation protocol to realize a non-reciprocal trajectory. The actuator consists of [...] Read more.
A simple actuator to create non-reciprocal leg motion is imperative in realizing a multi-legged micro-locomotion mechanism. This work focuses on an arch-shaped electrostatic actuator as a candidate actuator, and it proposes the operation protocol to realize a non-reciprocal trajectory. The actuator consists of two hard and flexible sheets and a leg attached to the flexible sheet. The flexible sheet is deformed through an electrostatic zipping motion that changes the height and/or angle of the attached leg. The fabricated prototype weighed 0.1 g and swung about 15 degrees with the applied voltage of 1000 V. The swinging force exceeded 5 mN, five times the gravitational force on the actuator’s weight. Large performance deviations among prototypes were found, which were due to the manual fabrication process and the varying conditions of the silicone oil injected into the gap. The trajectory measurement showed that the leg tip moved along a non-reciprocal trajectory with a vertical shift of about 0.3 mm between the forward and backward swings. The prototype locomotion mechanism using four actuators successfully demonstrated forward and backward motions with the non-reciprocal swing motion of the four legs. The observed locomotion speed was about 0.3 mm/s. Although the speed was limited, the results showed the potential of the actuator for use in multi-legged micro-locomotion systems. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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21 pages, 5591 KiB  
Article
Design of a Three-Degree of Freedom Planar Parallel Mechanism for the Active Dynamic Balancing of Delta Robots
by Christian Mirz, Mathias Hüsing, Yukio Takeda and Burkhard Corves
Robotics 2024, 13(9), 129; https://doi.org/10.3390/robotics13090129 - 27 Aug 2024
Viewed by 574
Abstract
Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential [...] Read more.
Delta robots are the most common parallel robots for manipulation tasks. In many industrial applications, they must be operated at reduced speed, or dwell times have to be included in the motion planning, to prevent frame vibrations. As a result, their full potential cannot be realized. Against this background, this publication is concerned with the mechanical design of an active dynamic balancing unit for the reduction of frame vibrations. In the first part of this publication, the main design requirements for an active dynamic balancing mechanism are discussed, followed by a presentation of possible mechanism designs. Subsequently, one the most promising mechanisms is described in detail and its kinematics and dynamics equations are derived. Finally, the dimensions of a prototype mechanism designed to experimentally validate the concept of active dynamic balancing are defined using the example of Suisui Bot, a low-cost Delta robot. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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20 pages, 11999 KiB  
Article
Enhanced Design of an Adaptive Anthropomorphic Finger through Integration of Modular Soft Actuators and Kinematic Modeling
by Sheng-Guan Lin and Jen-Yuan (James) Chang
Robotics 2024, 13(8), 116; https://doi.org/10.3390/robotics13080116 - 28 Jul 2024
Viewed by 808
Abstract
This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pressure regulation in each air chamber, thus achieving [...] Read more.
This study introduces a novel modular soft actuator designed for an anthropomorphic robotic finger that addresses the need for adaptive behavior and precise joint-angle control. The key innovation is its modular design, which enables independent pressure regulation in each air chamber, thus achieving superior precision compared to traditional PneuNets soft actuators. A rigid skeleton is integrated to enhance force transmission and measurement capabilities and thus ensure effective force handling and transmission within each module. The versatility of the actuator is demonstrated through its adaptability in various scenarios, and its features include adaptive positional control achieved by modulating the inflation in each air chamber. This research includes kinematic and kinetostatic analyses to ensure precise control of joint angles and forces at the finger’s endpoint. Experimental results confirm the actuator’s excellent performance and adaptability, providing valuable insights for advancing soft-actuator technology. The findings suggest significant potential for this actuator in diverse applications, emphasizing its role in the future development of precise and adaptable robotic systems. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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17 pages, 8463 KiB  
Article
Design of a Wheelchair-Mounted Robotic Arm for Feeding Assistance of Upper-Limb Impaired Patients
by Simone Leone, Luigi Giunta, Vincenzo Rino, Simone Mellace, Alessio Sozzi, Francesco Lago, Elio Matteo Curcio, Doina Pisla and Giuseppe Carbone
Robotics 2024, 13(3), 38; https://doi.org/10.3390/robotics13030038 - 26 Feb 2024
Cited by 2 | Viewed by 2602
Abstract
This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization [...] Read more.
This paper delineates the design and realization of a Wheelchair-Mounted Robotic Arm (WMRA), envisioned as an autonomous assistance apparatus for individuals encountering motor difficulties and/or upper limb paralysis. The proposed design solution is based on employing a 3D printing process coupled with optimization design techniques to achieve a cost-oriented and user-friendly solution. The proposed design is based on utilizing commercial Arduino control hardware. The proposed device has been named Pick&Eat. The proposed device embodies reliability, functionality, and cost-effectiveness, and features a modular structure housing a 4-degrees-of-freedom robotic arm with a fixing frame that can be attached to commercial wheelchairs. The arm is integrated with an interchangeable end-effector facilitating the use of various tools such as spoons or forks tailored to different food types. Electrical and sensor components were meticulously designed, incorporating sensors to ensure user safety throughout operations. Smooth and secure operations are achieved through a sequential procedure that is depicted in a specific flowchart. Experimental tests have been carried out to demonstrate the engineering feasibility and effectiveness of the proposed design solution as an innovative assistive solution for individuals grappling with upper limb impairment. Its capacity to aid patients during the eating process holds promise for enhancing their quality of life, particularly among the elderly and those with disabilities. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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18 pages, 12793 KiB  
Article
Design and Analysis of VARONE a Novel Passive Upper-Limb Exercising Device
by Luis Daniel Filomeno Amador, Eduardo Castillo Castañeda, Med Amine Laribi and Giuseppe Carbone
Robotics 2024, 13(2), 29; https://doi.org/10.3390/robotics13020029 - 8 Feb 2024
Cited by 2 | Viewed by 1974
Abstract
Robots have been widely investigated for active and passive rehabilitation therapy of patients with upper limb disabilities. Nevertheless, the rehabilitation assessment process is often ignored or just qualitatively performed by the physiotherapist implementing chart-based ordinal scales or observation-based measures, which tend to rely [...] Read more.
Robots have been widely investigated for active and passive rehabilitation therapy of patients with upper limb disabilities. Nevertheless, the rehabilitation assessment process is often ignored or just qualitatively performed by the physiotherapist implementing chart-based ordinal scales or observation-based measures, which tend to rely on professional experience and lack quantitative analysis. In order to objectively quantify the upper limb rehabilitation progress, this paper presents a noVel pAssive wRist motiOn assessmeNt dEvice (VARONE) having three degrees of freedom (DoFs) based on the gimbal mechanical design. VARONE implements a mechanism of three revolute passive joints with controllable passive resistance. An inertial measurement unit (IMU) sensor is used to quantify the wrist orientation and position, and an encoder module is implemented to obtain the arm positions. The proposed VARONE device can also be used in combination with the previously designed two-DoFs device NURSE (cassiNo-qUeretaro uppeR limb aSsistive dEvice) to perform multiple concurrent assessments and rehabilitation tasks. Analyses and experimental tests have been carried out to demonstrate the engineering feasibility of the intended applications of VARONE. The maximum value registered for the IMU sensor is 36.8 degrees, the minimum value registered is −32.3 degrees, and the torque range registered is around −80 and 80 Nmm. The implemented models include kinematics, statics (F.E.M.), and dynamics. Thirty healthy patients participated in an experimental validation. The experimental tests were developed with different goal-defined exercising paths that the participant had to follow. Full article
(This article belongs to the Special Issue Recent Trends and Advances on Robotics and Mechatronics within the IFToMM Technical Committee on Robotics and Mechatronics)
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