A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation [0.03%]
一种具有串联弹性驱动器的通用机械手外骨骼
Eric M Refour,Bijo Sebastian,Raghuraj J Chauhan et al.
Eric M Refour et al.
This paper describes the design and control of a novel hand exoskeleton. A subcategory of upper extremity exoskeletons, hand exoskeletons have promising applications in healthcare services, industrial workplaces, virtual reality, and milita...
Erratum: "A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters" [J. Mechanisms Robotics 8(5), 051016 (May 04, 2016); DOI: 10.1115/1.4032249] [0.03%]
有关“一种用于定位超声内窥镜的四自由度机器人”的勘误(2016年5月4日发表)[期刊名称：《机械科学与机器人》][影响因子：1.403]
[This corrects the article DOI: 10.1115/1.4032249.].
Published Erratum
Journal of mechanisms and robotics. 2017 Aug;9(4):0470011-470011. DOI:10.1115/1.4036457 2017
A Four Degree of Freedom Robot for Positioning Ultrasound Imaging Catheters [0.03%]
一种用于定位超声内窥镜导管的四自由度机器人
Paul M Loschak,Alperen Degirmenci,Yaroslav Tenzer et al.
Paul M Loschak et al.
In this paper, we present the design, fabrication, and testing of a robot for automatically positioning ultrasound (US) imaging catheters. Our system will point US catheters to provide real-time imaging of anatomical structures and working ...
Estimating Tool-Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool [0.03%]
基于三自由度手术工具的医工交互力估计方法
Baoliang Zhao,Carl A Nelson
Baoliang Zhao
Robot-assisted minimally invasive surgery (MIS) has gained popularity due to its high dexterity and reduced invasiveness to the patient; however, due to the loss of direct touch of the surgical site, surgeons may be prone to exert larger fo...
Optimal Design of Cable-Driven Manipulators Using Particle Swarm Optimization [0.03%]
基于粒子群优化的线驱动机械臂的最佳设计
Joshua T Bryson,Xin Jin,Sunil K Agrawal
Joshua T Bryson
The design of cable-driven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the geometry of the robot ...
Topology Synthesis of a 1-Translational and 3-Rotational Parallel Manipulator With an Articulated Traveling Plate [0.03%]
一种具有铰链式移动工作台的(S)(R)RR并联机器人的拓扑综合
Tao Sun,Yimin Song,Hao Gao et al.
Tao Sun et al.
Driven by the increasing demands of the aircraft assemblage for the pose-adjustment equipment in the large-scale component docking, this paper carries out the topology synthesis of a 1-translational and 3-rotational (1T3R) four degrees of f...
Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot [0.03%]
一种新型 articulated 驱动机构的多功能 NOTES 机器人设计与分析
Tao Shen,Carl A Nelson,Kevin Warburton et al.
Tao Shen et al.
This paper presents a novel articulated drive mechanism (ADM) for a multifunctional natural orifice transluminal endoscopic surgery (NOTES) robotic manipulator. It consists mainly of three major components including a snakelike linkage, mot...
Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)-A Cable-Based Arm Exoskeleton [0.03%]
基于缆索的上肢外骨骼(CAREX)下肩关节转动中心的实时估计方法
Ying Mao,Xin Jin,Sunil K Agrawal
Ying Mao
In the past few years, the authors have proposed several prototypes of a Cable-driven upper ARm EXoskeleton (CAREX) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stati...
Solution of Inverse Kinematics for 6R Robot Manipulators With Offset Wrist Based on Geometric Algebra [0.03%]
基于几何代数的偏心腕6R机器人 manipulator逆运动学求解
Zhongtao Fu,Wenyu Yang,Zhen Yang
Zhongtao Fu
In this paper, we present an efficient method based on geometric algebra for computing the solutions to the inverse kinematics problem (IKP) of the 6R robot manipulators with offset wrist. Due to the fact that there exist some difficulties ...
Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device [0.03%]
下肢假肢初步台架试验概念研究
Bryan J Bergelin,Javier O Mattos,Joseph G Wells Jr et al.
Bryan J Bergelin et al.
This paper outlines the design and testing of a powered ankle prosthesis, which utilizes a four-bar mechanism in conjunction with a spring and motor that mimics nonamputee (normal) ankle moments. This approach would enable transtibial (belo...