Abstract
Legged-wheeled locomotion systems are a particular case of robot types that can be characterized by an increase in the degrees of freedom. To increase safety and robustness in the performance of industrial robots, while reducing the risk of damage to the robot joints and injure to human operators, the use of non-rigid joints is growing in the literature and in the industry. Realistic simulators are tools capable of detecting rigid bodies interactions through physics engines. This paper presents the simulation model of a hybrid legged-wheeled robot, built in the SimTwo simulator. The proposed algorithms for path following control are detailed, along with the tests performed to them. These showed that the errors in linear paths are at most 1 cm. For circular paths, the maximum error is 3 cm.

Abstract
This paper presents a first prototype of an automated system that will be applied in stoneware tableware ceramics finishing, being developed in the scope of STC 4.0 HP project. The main objective of this prototype is to test different alternatives to obtain a precise finish on ceramic pieces produced by GRESTEL - PRODUTOS CERAMICOS S.A, improving the production of irregular pieces that until now are finished using manual labor. This is why the implementation of a closedloop control of the rotation speed of a finishing sponge and its applied force control is proposed. The mechanical structure of the devised solution was prototyped using a FDM based technology. A 3D printer was used for the manufacturing of the structural parts to support the rotating sponge and measurement sensors. In addition a PID based control is used to control the system. Once the prototype has been designed and assembled a series of tests and measurements were carried out leading to the conclusion that the proposed approach is adequate to meet the design requirements for this prototype.

Abstract
The proposed work was developed as part of the SmartHealth project, which aims to advance upper body rehabilitation by granting a robotic alternative to reduce the limitations of physical therapy while conferring more intensive and personalized therapy sessions for patients. The use of robots permits therapists to be relieved of laborious and repetitive tasks while supplying feedback for patients and physiotherapists through automatic recordings. The proposed strategy is to develop new python-based software that controls the robot, collects the patient's forces and muscle activity in real-time, and stores them for future analysis while providing visual feedback, thus allowing session optimization. These features permit the physiotherapist to objectively perceive the patient's performance during exercise. This solution is implemented in robots already commercialized in the industrial field. These kinds of robots are generally mass-produced in production lines at a relatively low cost and with great flexibility.

Abstract
In this paper it is presented the stochastic modeling of a time of flight sensor, to be applied in a mobile robotics application. The sensor was configured to provide data at a frequency 30 Hz, obtaining a tradeoff between reactiveness and accuracy. The sensor data was acquired using a microcontroller development board, being the sensor moved with a manipulator, in order to assure repeatability and accuracy in the data acquisition process. The sensor was modeled having in mind the targets color, ranging from black to white for the working range, its variance, standard deviation, offset, means and errors measures were estimated.

Abstract
Nowadays, the automation of factory floors is necessary for extensive manufacturing processes to meet the ever-increasing competitiveness of current markets. The technological advances applied to the digital platforms have led many businesses to automate their manufacturing processes, introducing robotic manipulators collaborating with human operators to achieve new productivity, manufacturing quality, and safety levels. However, regardless of the amount of optimization implemented, some quality problems may be introduced in production lines with many products being designed and produced. This project proposes a solution for feature extraction that can be applied to automatic shape- and position-detection using a 2-dimension (2D) industrial laser to extract 3-dimension (3D) data where the movement of the item adds the third dimension through the laser's beam. The main goal is data acquisition and analysis. This analysis will later lead to the generation of trajectories for a robotic manipulator. The results of this application proved reliable given their small measurement error values of a maximum of 2 mm.

Abstract
Rehabilitation robotics aims to facilitate the rehabilitation procedure for patients and physical therapists. This field has a relatively long history dating back to the 1990s; however, their implementation and the standardisation of their application in the medical field does not follow the same pace, mainly due to their complexity of reproduction and the need for their approval by the authorities. This paper aims to describe architecture that can be applied to industrial robots and promote their application in healthcare ecosystems. The control of the robotic arm is performed using the software called SmartHealth, offering a 2 Degree of Autonomy (DOA). Data are gathered through electromyography (EMG) and force sensors at a frequency of 45 Hz. It also proves the capabilities of such small robots in performing such medical procedures. Four exercises focused on shoulder rehabilitation (passive, restricted active-assisted, free active-assisted and Activities of Daily Living (ADL)) were carried out and confirmed the viability of the proposed architecture and the potential of small robots (i.e., the UR3) in rehabilitation procedure accomplishment. This robot can perform the majority of the default exercises in addition to ADLs but, nevertheless, their limits were also uncovered, mainly due to their limited Range of Motion (ROM) and cost.