Preface; Committees; General Chair; Scientific Committee; Organizing Committee; General Secretary; Contents; Biomechanical Engineering; 1 Design and Implementation of a Low-Cost Mechatronic Shoe for Biomechanical Analysis of the Human Locomotion; Abstract; 1 Introduction; 2 Design of the Mechatronic Shoe; 3 Experimental Results; 4 Conclusions; Acknowledgments; References; 2 A Study of Feasibility for a Limb Exercising Device; Abstract; 1 Introduction; 2 The Attached Problem; 3 Cable Driven Robots Features; 4 Proposed Design Solution; 5 Numerical Simulations

6 Preliminary Tests on a Built Prototype7 Conclusions; Acknowledgments; References; 3 DARTAGNAN a Self-balanced Rehabilitation Robot Able to Work in Active and Passive Modes on Both Sides of Upper and Lower Limbs; Abstract; 1 Introduction; 2 The New Device; 3 Actual DARTAGNAN Version; 4 The Kinematic Models; 5 Conclusion; Acknowledgments; References; Dynamic Analysis of Handcycling: Mathematical Modelling and Experimental Tests; 1 Introduction; 2 Mathematical Modelling; 3 Results; 4 Conclusions; References; 5 A Kinematic Solution of a Novel Leg Mechanism with Parallel Architecture; Abstract

1 Introduction2 Kinematic Design; 3 Forward and Inverse Kinematics; 3.1 Forward Kinematics; 3.2 Inverse Kinematics; 4 A Numerical Evaluation; 5 Conclusions; References; Multi-target Planar Needle Steering with a Bio-inspired Needle Design; 1 Introduction; 2 Needle Design; 3 Controlling to Multiple Targets; 4 In Vitro Testing; 4.1 Experimental Setup; 4.2 Segment Offset Versus Curvature Calibration; 4.3 Experimental Scenarios; 5 Results and Discussion; 6 Conclusion and Future Work; References; Development of an Active Force Plate for Testing Lower-Limb Prostheses; 1 Introduction

2 System Mechanical Architecture3 Mechanical Design of the Foot Loading Subsystem; 4 Mathematical Model; 5 Results; 6 Conclusions; References; 8 Determination of the Human Arm Stiffness Efficiency with a Two Antagonist Muscles Model; Abstract; 1 Introduction; 2 Methods; 2.1 Arm and Musculo-Tendon System Models; 2.2 Equations for the Force Balancing; 2.3 Stiffness Calculation and Efficiency; 3 Analysis; 3.1 Musculo-Tendon System Characteristic and Angle Boundaries; 3.2 Arm Stiffness and Efficiency; 4 Discussion; References

9 Design of a Miniaturized Safety Clamping Device for Portable Kidney Replacement SystemsAbstract; 1 Introduction; 2 Design Specifications; 3 Mechanical Design and Optimization; 4 Conclusions; Acknowledgments; References; 10 Conceptual Design of a Mechatronic Biomedical Wearable Device for Blood Ultrafiltration; Abstract; 1 Introduction; 2 Operative Requirements and Risk Management; 3 Chief Components for a WUF; 4 Control Architecture; 5 Conclusions; Acknowledgments; References; Design of an Underactuated Hand Exoskeleton with Joint Estimation; 1 Introduction; 2 Device Characteristics