https://www.um.edu.mt/library/oar/handle/123456789/902 2026-10-10T05:17:39Z 2026-10-10T05:17:39Z Abela, Luca Saliba, Michael A. https://www.um.edu.mt/library/oar/handle/123456789/149442 2026-09-28T08:06:28Z 2025-01-01T00:00:00Z

Title: Preliminary design and characterisation of a force and position sensor for a prosthetic finger Authors: Abela, Luca; Saliba, Michael A. Abstract: Modern prosthetic hands often lack force-sensing capabilities or the ability to detect the precise location of applied forces, limiting user feedback and dexterity. This work presents the analysis and preliminary development of a compact and practical force sensor for potential integration into a prosthetic finger. The design incorporates four strain gauges mounted on an internal beam structure to measure both force magnitude and point of application. A prototype was fabricated, and its performance was evaluated across varying force and location ranges. Results showed a mean absolute force error of 4.24% and a mean absolute position error of 2.7 mm. The proposed sensor contributes to advancing tactile sensing in prosthetics, and supports the development of more functional, user appropriate prosthetic hands which can enhance the quality of life for amputees.

2025-01-01T00:00:00Z Caruana, Martina Saliba, Michael A. Brincat, Norbert https://www.um.edu.mt/library/oar/handle/123456789/149438 2026-09-28T08:00:13Z 2025-01-01T00:00:00Z

Title: Robotics outreach : laboratory demonstrations for diverse audiences Authors: Caruana, Martina; Saliba, Michael A.; Brincat, Norbert Abstract: Robotics has seen a surge in popularity as an educational and engagement tool, leading the Robotic Systems Laboratory at the University of Malta to embark on the development of comprehensive outreach activity. This paper outlines the development of a coherent demonstration strategy and of targeted robotic demonstrations aimed at diverse audiences, including primary and secondary school students, tertiary education students, the general public, and visiting researchers. A structured design approach, incorporating quality function deployment, function-means analysis, and decision matrices, guided the conceptualisation and development phases. Five distinct demonstrations were developed: shapes drawing for primary students, pick-and place block handling for secondary students, a stair-descending robot demonstration for tertiary students, a cocktail-making demonstration for the general public, and a bottle-cap presence checking demonstration for visiting researchers. Post demonstration surveys gathered feedback, informing valuable suggestions for improvement, such as increasing robot operating speed for younger audiences and expanding complexity for advanced learners. The work concludes that these demonstrations can significantly enhance the outreach, educational, and engagement values of the laboratory, potentially increasing revenue and reach, and supporting the mission of the laboratory as a centre for public outreach and technological advancement.

2025-01-01T00:00:00Z Vella, Michela Saliba, Michael A. https://www.um.edu.mt/library/oar/handle/123456789/149437 2026-09-28T07:56:43Z 2025-01-01T00:00:00Z

Title: Biomechanical analysis and preliminary transtibial prosthesis design for pedal harpists Authors: Vella, Michela; Saliba, Michael A. Abstract: The concert harp is a string instrument played using both the hands and the feet. Harpists pluck the strings with their fingers while operating seven foot-pedals that change the pitch of the string notes. For this reason, the instrument is inaccessible to individuals with lower limb amputations. This work investigates the biomechanics of harp playing and proposes a new dedicated transtibial prosthesis design. A custom pedal jig was built, replicating the pedal box of the harp, and used in motion and force capture trials conducted using a Vicon system and Plug-in-Gait model. Analysis revealed rapid pedal transitions and foot motion that are distinct from and more demanding than everyday activities such as walking or running, and that cannot be performed by current commercial prostheses. A preliminary design has been developed based on these analyses, and evaluated using CAD simulations in Autodesk Inventor, confirming that the required range of motion can be achieved. Actuator selection was based on calculated forces derived from the biomechanical data. The preliminary design meets the key functional requirements.

2025-01-01T00:00:00Z Zhu, Yunpeng Li, Ruipeng Sun, Yuankun Yan, Yuqi Liu, Hongyuan Saliba, Michael A. Reabroy, Ratthakrit Fan, Dixia https://www.um.edu.mt/library/oar/handle/123456789/149436 2026-09-28T07:48:42Z 2025-01-01T00:00:00Z

Title: A comparative study on vortex shedding dynamics of forced oscillating splitter-plate with or without cylinders Authors: Zhu, Yunpeng; Li, Ruipeng; Sun, Yuankun; Yan, Yuqi; Liu, Hongyuan; Saliba, Michael A.; Reabroy, Ratthakrit; Fan, Dixia Abstract: This study explores the vortex shedding dynamics of oscillating cylinder with splitter plate compared to pure plate, emphasizing its impact on propulsive performance. Conducted at a Reynolds number of 3000, the investigation combines particle image velocimetry and force measurements to analyze thrust, lift, and vortex evolution across a range of Strouhal numbers (St: 0.12–0.72) and non-dimensional ampli tudes (A: 0.175–2.5). The results reveal that the oscillating cylinder with a splitter plate significantly enhances propulsive efficiency compared to the pure plate, particularly under reverse 2S flow conditions. At high St and low A, the splitter-plate configuration achieves an efficiency improvement of 29.8%, driven by augmented vortex formation, reattachment, and fusion. The findings highlight the critical role of flow regime transitions and geometric design in optimizing fluid–structure interactions, offering insights for bio-inspired propulsion systems and advanced marine engineering technologies.

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