Multijoint passive elastic spine exoskeleton for stoop lifting assistance
International Journal of Advanced Robotic Systems, 2021 In the task of carrying heavy objects, it is easy to cause back injuries and other musculoskeletal diseases. Although wearable robots are designed to reduce this danger, most existing exoskeletons use high-stiffness mechanisms, which are beneficial to ...
Jiyuan Song +3 more
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Linking neural circuits to the mechanics of animal behavior in Drosophila larval locomotion
Frontiers in Neural Circuits, 2023 The motions that make up animal behavior arise from the interplay between neural circuits and the mechanical parts of the body. Therefore, in order to comprehend the operational mechanisms governing behavior, it is essential to examine not only the ...
Hiroshi Kohsaka, Hiroshi Kohsaka
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Non-singular assembly mode changing trajectories in the workspace for the 3-RPS parallel robot [PDF]
, 2014 Having non-singular assembly modes changing trajectories for the 3-RPS parallel robot is a well-known feature. The only known solution for defining such trajectory is to encircle a cusp point in the joint space.
Chablat, Damien +3 more
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A New Method for Displacement Modelling of Serial Robots Using Finite Screw
MachinesKinematics is a hot topic in robotic research, serving as a foundational step in the synthesis and analysis of robots. Forward kinematics and inverse kinematics are the prerequisite and foundation for motion control, trajectory planning, dynamic ...
Feiyang Xue +4 more
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Structural design and characteristic analysis for a 4-degree-of-freedom parallel manipulator
Advances in Mechanical Engineering, 2019 Previous studies on parallel mechanisms have been limited to symmetrical and semi-symmetrical parallel robots. However, there is relatively little research on asymmetrical parallel robot, especially on asymmetrical parallel robots with 4 degrees of ...
Jiupeng Chen +4 more
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Kinematics and workspace analysis of a 3ppps parallel robot with u-shaped base [PDF]
, 2017 This paper presents the kinematic analysis of the 3-PPPS parallel robot with an equilateral mobile platform and a U-shape base. The proposed design and appropriate selection of parameters allow to formulate simpler direct and inverse kinematics for the ...
Baron, Luc, Chablat, Damien, Jha, Ranjan
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Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences
, 2017 Gaze stabilization is fundamental for humanoid robots. By stabilizing vision, it enhances perception of the environment and keeps points of interest in the field of view.
Asfour, Tamim +4 more
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Kinematic analysis of geared robotic mechanism using Matroid and T–T graph methods [PDF]
Mechanism and Machine Theory, 2014 In this paper, the kinematic structure of the geared robotic mechanism (GRM) is investigated with the aid of two different methods which are based on directed graphs and the methods are compared. One of the methods is Matroid Method developed by Talpasanu and the other method is Tsai-Tokad (T-T) Graph method developed by Uyguroglu and Demirel.
S. Vahid Amirinezhad +2 more
openaire +2 more sources
Direct Kinematics Solution of 3-RCC Parallel Robot using a Semi-Analytical Homotopy Method [PDF]
International Journal of Advanced Design and Manufacturing Technology, 2019 Parallel robots are closed-loop mechanisms presenting very good performances in terms of accuracy, rigidity, and the ability to manipulate large loads. Inverse kinematics problem for most parallel robots is straightforward, while the direct kinematics is
Seyyed Mojtaba Varedi-Koulaei +1 more
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An Efficient Stochastic Constrained Path Planner for Redundant Manipulators
Applied Sciences, 2021 This brief proposes a novel stochastic method that exploits the particular kinematics of mechanisms with redundant actuation and a well-known manipulability measure to track the desired end-effector task-space motion in an efficient manner. Whilst closed-
Arturo Gil Aparicio, Jaime Valls Miro
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