In a cavitating water jet, cavity clouds emerge and collapse with an unsteady, but periodic tende... more In a cavitating water jet, cavity clouds emerge and collapse with an unsteady, but periodic tendency where the frequencies depend on the working conditions. The presented work aims at examining and analyze the dynamic behavior and properties of the clouds under different circumstances. Computer vision and image processing were introduced as tools to define the cavitation clouds based on the Contour Recognition technique. A Canny operator and Otsu threshold fragmenting methods were used. The use of these methods allows for a better understanding of the cavitating jet clouds' behavior based on the pixel intensities and shows that for an arbitrary cloud the surface itself has a dynamic feature and depends on the cavity composition. The clouds' properties could be measured and correlated to the applied working conditions. Also, the oscillation frequencies of the area of the clouds could be determined. The analysis shows that the quality of the obtained results depends mainly on ...
2018 IEEE International Symposium on Medical Measurements and Applications (MeMeA), 2018
This paper presents a tactile telepresence system employed for the localization of stiff inclusio... more This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values.
2020 IEEE International Workshop on Metrology for Industry 4.0 & IoT, 2020
Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in ... more Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user's hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pickand-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.
A platform dedicated to the problems of engineering education (EngEdu) has been established by Eu... more A platform dedicated to the problems of engineering education (EngEdu) has been established by European Council of Academies of Applied Sciences, Technologies and Engineering (Euro-CASE). The renewed working group (WG) of this EngEdu Platform started to work in Sept. 2017 and now tries to establish a direct link with REV conference participants and organizers, and disseminate and exchange ideas and results. Current topics of interest are presented as well as one of the projects going on.
DDR1 is a collagen adhesion-mechanoreceptor expressed in fibrotic lesions. DDR1 mediates non-musc... more DDR1 is a collagen adhesion-mechanoreceptor expressed in fibrotic lesions. DDR1 mediates non-muscle myosin IIA (NMIIA)-dependent collagen remodeling. We discovered that the myosin phosphatase Rho-interacting protein (MRIP), is enriched in DDR1-NMIIA adhesions on collagen. MRIP regulates RhoA- and myosin phosphatase-dependent myosin activity. We hypothesized that MRIP regulates DDR1-NMIIA interactions to enable cell migration and collagen tractional remodeling. After deletion of MRIP in β1-integrin null cells expressing DDR1, in vitro wound closure, collagen realignment, and contraction were reduced. Cells expressing DDR1 and MRIP formed larger and more abundant DDR1 clusters on collagen than cells cultured on fibronectin or cells expressing DDR1 but null for MRIP or cells expressing a non-activating DDR1 mutant. Deletion of MRIP reduced DDR1 autophosphorylation and blocked myosin light chain-dependent contraction. Deletion of MRIP did not disrupt the association of DDR1 with NMIIA. ...
The advancements in the study of the human sense of touch are fueling the field of haptics. This ... more The advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting the sensory perception during objects palpation in tele-surgery, and reproducing the information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform being 50 km apart. We found that the entailed percentage of identification was higher for sti...
Research on bidirectional human-machine interfaces will enable the smooth interaction with roboti... more Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the e...
We present a tactile telepresence system for real-time transmission of information about object s... more We present a tactile telepresence system for real-time transmission of information about object stiffness to the human fingertips. Experimental tests were performed across two laboratories (Italy and Ireland). In the Italian laboratory, a mechatronic sensing platform indented different rubber samples. Information about rubber stiffness was converted into on-off events using a neuronal spiking model and sent to a vibrotactile glove in the Irish laboratory. Participants discriminated the variation of the stiffness of stimuli according to a two-alternative forced choice protocol. Stiffness discrimination was based on the variation of the temporal pattern of spikes generated during the indentation of the rubber samples. The results suggest that vibrotactile stimulation can effectively simulate surface stiffness when using neuronal spiking models to trigger vibrations in the haptic interface. Specifically, fractional variations of stiffness down to 0.67 were significantly discriminated w...
Discoidin domain receptor 1 (DDR1) is a tyrosine kinase collagen adhesion receptor that mediates ... more Discoidin domain receptor 1 (DDR1) is a tyrosine kinase collagen adhesion receptor that mediates cell migration through association with non-muscle myosin IIA (NMIIA). Because DDR1 is implicated in cancer fibrosis, we hypothesized that DDR1 interacts with NMIIA to enable collagen compaction by traction forces. Mechanical splinting of rat dermal wounds increased DDR1 expression and collagen alignment. In periodontal ligament of DDR1 knockout mice, collagen mechanical reorganization was reduced >30%. Similarly, cultured cells with DDR1 knockdown or expressing kinase-deficient DDR1d showed 50% reduction of aligned collagen. Tractional remodeling of collagen was dependent on DDR1 clustering, activation, and interaction of the DDR1 C-terminal kinase domain with NMIIA filaments. Collagen remodeling by traction forces, DDR1 tyrosine phosphorylation, and myosin light chain phosphorylation were increased on stiff versus soft substrates. Thus, DDR1 clustering, activation, and interaction w...
This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematical... more This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d...
Raw lignite is enriched by humic acids by oxidation with nitric acid. The optimal conditions for ... more Raw lignite is enriched by humic acids by oxidation with nitric acid. The optimal conditions for producing potassium nitro-humate were defined by investigating the level of neutralization of the oxidized lignite, by means of potassium hydroxide. The increased content of humic acids and potassium in potassium nitro-humate makes it applicable as an organic-mineral fertilizer.
The isolation of saturated hydrocarbons from free bitumen coal and also from bound bitumen coal i... more The isolation of saturated hydrocarbons from free bitumen coal and also from bound bitumen coal in the region of Kosovo is descriled in this study. n-Alkanes from C17-C21 to C33-C35, with A7-C29 being dominant, were identified by gaschromatographic analysis of the free bitumen. This distribution indicated the terrestrial origin of the coals and a low level of carbonification. The decreasing values of the CPI of the bound bitumen (1.08-2.77), composed to the CPI values of the free bitumen (2,04-3,90) and a shift of the dominant n-alkane (A7-C29 -> A7-C23) are a result of the higher "maturity" level of the n-alkanes in bound bitumen.
Journal of Anthropology of Sport and Physical Education, 2019
Košarka u kolicima je sport koji se igra još od četrdesetih godina prošlog vijeka (Kasum, 2015). ... more Košarka u kolicima je sport koji se igra još od četrdesetih godina prošlog vijeka (Kasum, 2015). Ser Ludvig Gutman je najzaslužniji za razvoj košarke u kolicima. Kao ljekar radio je u bolnici u Ajlsberiju u Stouk Mandevilu (DePauw & Gavron, 2005), i tamo adaptirao košarku da je mogu igrati osobe koje su u ratu zadobile povrede kičmene moždine (Silver, 2012). Na taj način se ubrzavala rehabilitacija-fizička i psihička (Goosey-Tolfrey, 2010). Košarka u kolicima je paraolimpijski sport od prvih Igara koje su održane 1960. godine u Rimu (Milenković & Živanović, 2010). Osnovna pravila košarke u kolicima veoma su slična klasičnoj košarci (visina koša, veličina terena, linija slobodnih bacanja, linija za tri poena su jednakih dimenzija). Igraju dva tima sa po pet igrača na terenu. Vrijeme trajanja utakmice je četiri perioda po deset minuta (International Wheelchair Basketball Federation, 2017). Jedina razlika je u tome što igrači, iz razumljivih razloga, sjede u kolicima. Da bi dvije ekipe košarku u kolicima mogle ravnopravno da igraju, uvedena je klasifikacija. Klasifikacija je proces kojim se ukupni timski potencijal na terenu izjednačava sa timskim potencijalom protivnika. Tu se na osnovu funkcionalne sposobnosti igrača, dodeljuje bodovna vrijednost svakom igraču posebno. Međunarodni raspon za klasifikaciju je od 1,0 do 4,5 bodova, a za petorku na terenu 14 bodova (IWBF Player Classification Commission, 2014). Danas se košarka u kolicima igra na svim kontinentima, a najveća takmičenja su Paraolimpijske igre, svjetska i kontinentalna prvenstva. U Evropi postoji tri ranga takmičenja između 34 nacionalne selekcije (A, B i C divizija). U svakom rangu se takmiči po 10 do 12 selekcija, po dvije ispadaju u niži rang i napreduju u viši (International Wheelchair Basketball Federation, 2018). Košarka u kolicima je aerobno-anaerobni sport, intermitentnog karaktera, koji zahtijeva od igrača visok nivo fizičke i tehničke spreme (Bloxhamet et al., 2001). Ovaj sport zahtijeva
... Robotics and Automation: 720-724. Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force co... more ... Robotics and Automation: 720-724. Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force control of the hexa parallel robot, Proc. EUFIT '96. ... 8Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force control of the hexa parallel robot, Proc. EUFIT '96, ELITE Foundation: 2.21-2.25. ...
In a cavitating water jet, cavity clouds emerge and collapse with an unsteady, but periodic tende... more In a cavitating water jet, cavity clouds emerge and collapse with an unsteady, but periodic tendency where the frequencies depend on the working conditions. The presented work aims at examining and analyze the dynamic behavior and properties of the clouds under different circumstances. Computer vision and image processing were introduced as tools to define the cavitation clouds based on the Contour Recognition technique. A Canny operator and Otsu threshold fragmenting methods were used. The use of these methods allows for a better understanding of the cavitating jet clouds' behavior based on the pixel intensities and shows that for an arbitrary cloud the surface itself has a dynamic feature and depends on the cavity composition. The clouds' properties could be measured and correlated to the applied working conditions. Also, the oscillation frequencies of the area of the clouds could be determined. The analysis shows that the quality of the obtained results depends mainly on ...
2018 IEEE International Symposium on Medical Measurements and Applications (MeMeA), 2018
This paper presents a tactile telepresence system employed for the localization of stiff inclusio... more This paper presents a tactile telepresence system employed for the localization of stiff inclusions embedded in a soft matrix. The system delivers a neuromorphic spike-based haptic feedback, encoding object stiffness, to the human fingertip. For the evaluation of the developed system, in this study a customized silicon phantom was fabricated inserting 12 inclusions made of 4 different polymers (3 replicas for each material). Such inclusions, all of them having the same shape, were encapsulated in a softer silicon matrix in randomized positions. Two main blocks composed the experimental setup. The first sub-setup included an optical sensor for tracking human hand movements and a piezoelectric disk, inserted into a glove at the level of the index fingertip, to deliver tactile feedback. The second sub-setup was a 3-axis cartesian motorized sensing platform which explored the silicon phantom through a spherical indenter mechanically linked to a load cell. The movements of the platform were based on the acquired hand gestures of the user. The normal force exerted during the active sliding was converted into temporal patterns of spikes through a neuronal model, and delivered to the fingertip via the vibrotactile glove. Inclusions were detected through modulation in the aforementioned patterns generated during the experimental trials. Results suggest that the presented system allows the recognition of the stiffness variation between the encapsulated inclusions and the surrounding matrix. As expected, stiffer inclusions were more frequently discriminated than softer ones, with about 70% of stiffer inclusions being identified in the proposed task. Future works will address the investigation of a larger set of materials in order to evaluate a finer distribution of stiffness values.
2020 IEEE International Workshop on Metrology for Industry 4.0 & IoT, 2020
Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in ... more Sensors and human machine interfaces for collaborative robotics will allow smooth interaction in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user's hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pickand-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the effectiveness of a neuronal spiking model for encoding hand displacement and exerted forces in order to promote a fluid embodiment of the haptic interface and control strategy. The main contribution of this paper is in presenting a robotic arm under gesture-based remote control with multisensory telepresence, demonstrating for the first time that a spiking haptic interface can be used to effectively deliver on the skin surface a sequence of stimuli emulating the neural code of the mechanoreceptors beneath.
A platform dedicated to the problems of engineering education (EngEdu) has been established by Eu... more A platform dedicated to the problems of engineering education (EngEdu) has been established by European Council of Academies of Applied Sciences, Technologies and Engineering (Euro-CASE). The renewed working group (WG) of this EngEdu Platform started to work in Sept. 2017 and now tries to establish a direct link with REV conference participants and organizers, and disseminate and exchange ideas and results. Current topics of interest are presented as well as one of the projects going on.
DDR1 is a collagen adhesion-mechanoreceptor expressed in fibrotic lesions. DDR1 mediates non-musc... more DDR1 is a collagen adhesion-mechanoreceptor expressed in fibrotic lesions. DDR1 mediates non-muscle myosin IIA (NMIIA)-dependent collagen remodeling. We discovered that the myosin phosphatase Rho-interacting protein (MRIP), is enriched in DDR1-NMIIA adhesions on collagen. MRIP regulates RhoA- and myosin phosphatase-dependent myosin activity. We hypothesized that MRIP regulates DDR1-NMIIA interactions to enable cell migration and collagen tractional remodeling. After deletion of MRIP in β1-integrin null cells expressing DDR1, in vitro wound closure, collagen realignment, and contraction were reduced. Cells expressing DDR1 and MRIP formed larger and more abundant DDR1 clusters on collagen than cells cultured on fibronectin or cells expressing DDR1 but null for MRIP or cells expressing a non-activating DDR1 mutant. Deletion of MRIP reduced DDR1 autophosphorylation and blocked myosin light chain-dependent contraction. Deletion of MRIP did not disrupt the association of DDR1 with NMIIA. ...
The advancements in the study of the human sense of touch are fueling the field of haptics. This ... more The advancements in the study of the human sense of touch are fueling the field of haptics. This is paving the way for augmenting the sensory perception during objects palpation in tele-surgery, and reproducing the information through tactile feedback. Here, we present a novel tele-palpation apparatus that enables the user to detect nodules with various distinct stiffness buried in an ad-hoc polymeric phantom. The contact force measured by the platform was encoded using a neuromorphic model and reproduced on the index fingertip of a remote user through a haptic glove embedding a piezoelectric disk. We assessed the effectiveness of this feedback in allowing nodule identification under two experimental conditions of real-time telepresence: In Line of Sight (ILS), where the platform was placed in the visible range of a user; and the more demanding Not In Line of Sight (NILS), with the platform being 50 km apart. We found that the entailed percentage of identification was higher for sti...
Research on bidirectional human-machine interfaces will enable the smooth interaction with roboti... more Research on bidirectional human-machine interfaces will enable the smooth interaction with robotic platforms in contexts ranging from industry to tele-medicine and rescue. This paper introduces a bidirectional communication system to achieve multisensory telepresence during the gestural control of an industrial robotic arm. We complement the gesture-based control by means of a tactile-feedback strategy grounding on a spiking artificial neuron model. Force and motion from the robot are converted in neuromorphic haptic stimuli delivered on the user’s hand through a vibro-tactile glove. Untrained personnel participated in an experimental task benchmarking a pick-and-place operation. The robot end-effector was used to sequentially press six buttons, illuminated according to a random sequence, and comparing the tasks executed without and with tactile feedback. The results demonstrated the reliability of the hand tracking strategy developed for controlling the robotic arm, and the e...
We present a tactile telepresence system for real-time transmission of information about object s... more We present a tactile telepresence system for real-time transmission of information about object stiffness to the human fingertips. Experimental tests were performed across two laboratories (Italy and Ireland). In the Italian laboratory, a mechatronic sensing platform indented different rubber samples. Information about rubber stiffness was converted into on-off events using a neuronal spiking model and sent to a vibrotactile glove in the Irish laboratory. Participants discriminated the variation of the stiffness of stimuli according to a two-alternative forced choice protocol. Stiffness discrimination was based on the variation of the temporal pattern of spikes generated during the indentation of the rubber samples. The results suggest that vibrotactile stimulation can effectively simulate surface stiffness when using neuronal spiking models to trigger vibrations in the haptic interface. Specifically, fractional variations of stiffness down to 0.67 were significantly discriminated w...
Discoidin domain receptor 1 (DDR1) is a tyrosine kinase collagen adhesion receptor that mediates ... more Discoidin domain receptor 1 (DDR1) is a tyrosine kinase collagen adhesion receptor that mediates cell migration through association with non-muscle myosin IIA (NMIIA). Because DDR1 is implicated in cancer fibrosis, we hypothesized that DDR1 interacts with NMIIA to enable collagen compaction by traction forces. Mechanical splinting of rat dermal wounds increased DDR1 expression and collagen alignment. In periodontal ligament of DDR1 knockout mice, collagen mechanical reorganization was reduced >30%. Similarly, cultured cells with DDR1 knockdown or expressing kinase-deficient DDR1d showed 50% reduction of aligned collagen. Tractional remodeling of collagen was dependent on DDR1 clustering, activation, and interaction of the DDR1 C-terminal kinase domain with NMIIA filaments. Collagen remodeling by traction forces, DDR1 tyrosine phosphorylation, and myosin light chain phosphorylation were increased on stiff versus soft substrates. Thus, DDR1 clustering, activation, and interaction w...
This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematical... more This paper presents theoretical and experimental aspects of Jacobian nullspace use in kinematically redundant robots for achieving kinetostatically consistent control of their compliant behavior. When the stiffness of the robot endpoint is dominantly influenced by the compliance of the robot joints, generalized stiffness matrix can be mapped into joint space using appropriate congruent transformation. Actuation stiffness matrix achieved by this transformation is generally nondiagonal. Off-diagonal elements of the actuation matrix can be generated by redundant actuation only (polyarticular actuators), but such kind of actuation is very difficult to realize practically in technical systems. The approach of solving this problem which is proposed in this paper is based on the use of kinematic redundancy and nullspace of the Jacobian matrix. Evaluation of the developed analytical model was done numerically by a minimal redundant robot with one redundant d.o.f. and experimentally by a 7 d...
Raw lignite is enriched by humic acids by oxidation with nitric acid. The optimal conditions for ... more Raw lignite is enriched by humic acids by oxidation with nitric acid. The optimal conditions for producing potassium nitro-humate were defined by investigating the level of neutralization of the oxidized lignite, by means of potassium hydroxide. The increased content of humic acids and potassium in potassium nitro-humate makes it applicable as an organic-mineral fertilizer.
The isolation of saturated hydrocarbons from free bitumen coal and also from bound bitumen coal i... more The isolation of saturated hydrocarbons from free bitumen coal and also from bound bitumen coal in the region of Kosovo is descriled in this study. n-Alkanes from C17-C21 to C33-C35, with A7-C29 being dominant, were identified by gaschromatographic analysis of the free bitumen. This distribution indicated the terrestrial origin of the coals and a low level of carbonification. The decreasing values of the CPI of the bound bitumen (1.08-2.77), composed to the CPI values of the free bitumen (2,04-3,90) and a shift of the dominant n-alkane (A7-C29 -> A7-C23) are a result of the higher "maturity" level of the n-alkanes in bound bitumen.
Journal of Anthropology of Sport and Physical Education, 2019
Košarka u kolicima je sport koji se igra još od četrdesetih godina prošlog vijeka (Kasum, 2015). ... more Košarka u kolicima je sport koji se igra još od četrdesetih godina prošlog vijeka (Kasum, 2015). Ser Ludvig Gutman je najzaslužniji za razvoj košarke u kolicima. Kao ljekar radio je u bolnici u Ajlsberiju u Stouk Mandevilu (DePauw & Gavron, 2005), i tamo adaptirao košarku da je mogu igrati osobe koje su u ratu zadobile povrede kičmene moždine (Silver, 2012). Na taj način se ubrzavala rehabilitacija-fizička i psihička (Goosey-Tolfrey, 2010). Košarka u kolicima je paraolimpijski sport od prvih Igara koje su održane 1960. godine u Rimu (Milenković & Živanović, 2010). Osnovna pravila košarke u kolicima veoma su slična klasičnoj košarci (visina koša, veličina terena, linija slobodnih bacanja, linija za tri poena su jednakih dimenzija). Igraju dva tima sa po pet igrača na terenu. Vrijeme trajanja utakmice je četiri perioda po deset minuta (International Wheelchair Basketball Federation, 2017). Jedina razlika je u tome što igrači, iz razumljivih razloga, sjede u kolicima. Da bi dvije ekipe košarku u kolicima mogle ravnopravno da igraju, uvedena je klasifikacija. Klasifikacija je proces kojim se ukupni timski potencijal na terenu izjednačava sa timskim potencijalom protivnika. Tu se na osnovu funkcionalne sposobnosti igrača, dodeljuje bodovna vrijednost svakom igraču posebno. Međunarodni raspon za klasifikaciju je od 1,0 do 4,5 bodova, a za petorku na terenu 14 bodova (IWBF Player Classification Commission, 2014). Danas se košarka u kolicima igra na svim kontinentima, a najveća takmičenja su Paraolimpijske igre, svjetska i kontinentalna prvenstva. U Evropi postoji tri ranga takmičenja između 34 nacionalne selekcije (A, B i C divizija). U svakom rangu se takmiči po 10 do 12 selekcija, po dvije ispadaju u niži rang i napreduju u viši (International Wheelchair Basketball Federation, 2018). Košarka u kolicima je aerobno-anaerobni sport, intermitentnog karaktera, koji zahtijeva od igrača visok nivo fizičke i tehničke spreme (Bloxhamet et al., 2001). Ovaj sport zahtijeva
... Robotics and Automation: 720-724. Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force co... more ... Robotics and Automation: 720-724. Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force control of the hexa parallel robot, Proc. EUFIT '96. ... 8Pierrot, F., Dauchez, P., Fraisse, P., 1996, Fuzzy force control of the hexa parallel robot, Proc. EUFIT '96, ELITE Foundation: 2.21-2.25. ...
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