Parallel Mechanisms for Multiscale Motion Using Twisted Wire Actuation: Designing for Microworkspace and Dexterity [0.03%]
基于扭转丝驱动的多尺度运动并联机构：针对微作业空间和灵巧度的设计
Elan Z Ahronovich,Joshua H Turner,Nabil Simaan
Elan Z Ahronovich
This article presents an exploratory study of a new family of parallel mechanisms with multiscale (micro/macro) motion capabilities. These composite serial-in-parallel mechanisms use kinematic redundancy and two sets of macro and micro actu...
KINEMATIC CONVEX COMBINATIONS OF MULTIPLE POSES OF A BOUNDED PLANAR OBJECT BASED ON AN AVERAGE-DISTANCE MINIMIZING MOTION SWEEP [0.03%]
基于平均距离最小化运动轨迹的平面有界物体多姿态kinematic凸组合
Huan Liu,Qiaode Jeffrey Ge,Mark P Langer
Huan Liu
Convex combination of points is a fundamental operation in computational geometry. By considering rigid-body displacements as points in the image spaces of planar quaternions, quaternions and dual quaternions, respectively, the notion of co...
The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains [0.03%]
可变刚度跑步机2：开发和验证一种独特的工具以研究 compliant 地形上的行走和奔跑规律
Vaughn Chambers,Bradley Hobbs,William Gaither et al.
Vaughn Chambers et al.
Understanding legged locomotion in various environments is valuable for many fields, including robotics, biomechanics, rehabilitation, and motor control. Specifically, investigating legged locomotion in compliant terrains has recently been ...
Qiaode Jeffrey Ge,Zihan Yu,Mona Arbab et al.
Qiaode Jeffrey Ge et al.
This paper studies the problem of computing an average (or mean) displacement from a set of given spatial displacements using three types of parametric representations: Euler angles and translation vectors, unit quaternions and translation ...
On the Construction of Confidence Regions for Uncertain Planar Displacements [0.03%]
不确定平面运动置信域的构建方法研究
Zihan Yu,Qiaode Jeffrey Ge,Mark P Langer et al.
Zihan Yu et al.
This paper studies the statistical concept of confidence region for a set of uncertain planar displacements with a certain level of confidence or probabilities. Three different representations of planar displacements are compared in this co...
Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal [0.03%]
最优的同心管式机器人设计用于安全移除脑内出血物
Zhefeng Huang,Hussain Alkhars,Anthony Gunderman et al.
Zhefeng Huang et al.
Purpose: The purpose of this paper is to investigate the geometrical design and path planning of Concentric tube robots (CTR) for intracerebral hemorrhage (ICH) evacuation, with a focus on minimizing the risk of damaging ...
Separable Tendon-Driven Robotic Manipulator with a Long, Flexible, Passive Proximal Section [0.03%]
具有长而灵活的远端部分的可分离肌腱驱动机器人操纵器
Christian DeBuys,Florin C Ghesu,Jagadeesan Jayender et al.
Christian DeBuys et al.
This work tackles practical issues which arise when using a tendon-driven robotic manipulator (TDRM) with a long, flexible, passive proximal section in medical applications. Tendon-driven devices are preferred in medicine for their improved...
Teja Vanteddu,Pinhas Ben-Tzvi
Teja Vanteddu
An exoskeleton robotic glove intended for patients who have suffered paralysis of the hand due to stroke or other factors has been developed and integrated. The robotic glove has the potential to aid patients with grasping objects as part o...
Zilong Li,Songming Hou,Thomas C Bishop
Zilong Li
The Magic Snake (Rubik's Snake) is a toy that was invented decades ago. It draws much less attention than Rubik's Cube, which was invented by the same professor, Erno Rubik. The number of configurations of a Magic Snake, determined by the n...
The Concurrent Control of Motion and Contact Force in the Presence of Predictable Disturbances [0.03%]
存在可预测干扰情况下的运动和接触力的同步控制
Davide Piovesan,Maxim Kolesnikov,Kevin Lynch et al.
Davide Piovesan et al.
The simultaneous control of force and motion is important in everyday activities when humans interact with objects. While many studies have analyzed the control of movement within a perturbing force field, few have investigated its dual asp...