In the period of reference (June 2011-July 2011) the following sub-tasks have been continued/initiated, according to the TESBE workplan:

T1.2: Implementation of the selected control approaches

T2.2: Implementation and test of the collaborative control

T3.2: Analysis and preliminary design of the under-actuated gripper mechanism

T3.3: Detailed development of the gripper

 In sub-task 1.2, the unified simulation framework, developed in the previous reporting period, has been tested, verifying the functionalities of all the composing modules.

This tool will be used in the next period to easily carry on a quantitative comparison of the system performances achievable with the different control approaches selected in T1.1.

In sub-task 2.2, the definition of a revised mathematical formulation of the collaborative control has been initiated, taking into account also the effect of the inertial forces on the position of the ZMP.

Through an in depth analysis of a simple 1 DoF system, it has been possible to quantitative define upper and lower limits for both the operator intended velocity and acceleration, ensuring that the ZMP always falls inside the support polygon and that the distortion of the operator intended motion is minimal.

These limits are dependent on the height of the system center of gravity from the support polygon and on the position of its projection on the support polygon.

In the next period the results achieved for the 1DoF system will be extended for a general n-DoF system.

In sub-task 3.2, the preliminary design of the gripper has been completed.

In sub-task 3.3, the detailed design of the gripper has been initiated.

In particular all the components of the mechanical transmission, located between the output of the actuator module and the input of the differential mechanism has been verified/dimensioned, the range of motion of the differential mechanism has been verified in function of the finger postures required to grasp the specified objects and the linkages and springs of the under-actuated fingers have been dimensioned.