Related papers: Stiffness Analysis of Parallel Manipulators with P…
Human joint dynamic stiffness plays an important role in the stability of performance augmentation exoskeletons. In this paper, we consider a new frequency domain model of the human joint dynamics which features a complex value stiffness.…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
The paper focuses on the stiffness modeling of heavy industrial robots with gravity compensators. The main attention is paid to the identification of geometrical and elastostatic parameters and calibration accuracy. To reduce impact of the…
This paper deals with a new planar parallel mechanism with variable actuation and its kinetostatic performance. A drawback of parallel mechanisms is the non homogeneity of kinetostatic performance within their workspace. The common approach…
This paper presents a method for dynamic adjustment of cable preloads based on the actuation redundancy of \acp{CDPR}, which allows increasing or decreasing the platform stiffness depending on task requirements. This is achieved by…
The paper proposes a novel approach for the geometrical model calibration of quasi-isotropic parallel kinematic mechanisms of the Orthoglide family. It is based on the observations of the manipulator leg parallelism during motions between…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
This paper proposes a simultaneous control method for the angle and stiffness of the joint in an antagonistic pneumatic artificial muscle (PAM) actuator system using only pressure measurements, and clarifies the allowable references for the…
Inflated continuum robots are promising for a variety of navigation tasks, but controlling their motion with a small number of actuators is challenging. These inflated beam robots tend to buckle under compressive loads, producing extremely…
This paper presents a sensitivity analysis of the Orthoglide, a 3-DOF translational Parallel Kinematic Machine. Two complementary methods are developed to analyze its sensitivity to its dimensional and angular variations. First, a linkage…
This paper proposes a multitask learning framework for probabilistic model updating by jointly using strain and acceleration measurements. This framework can enhance the structural damage assessment and response prediction of existing steel…
The study is devoted to geometrically non-linear modelling of viscoplastic structures with residual stresses. We advocate and develop a special approach to residual stresses based on the transition between reference configurations. The…
Stroke-induced motor impairment often results in substantial loss of upper-limb function, creating a strong demand for rehabilitation robots that enable safe and transparent physical human-robot interaction (pHRI). Variable stiffness…
Force and torque sensing is crucial in robotic manipulation across both collaborative and industrial settings. Traditional methods for dynamics identification enable the detection and control of external forces and torques without the need…
Compliance in actuation has been exploited to generate highly dynamic maneuvers such as throwing that take advantage of the potential energy stored in joint springs. However, the energy storage and release could not be well-timed yet. On…
The paper proposes an integrated approach to the design optimization of parallel manipulators, which is based on the concept of the workspace grid and utilizes the goal-attainment formulation for the global optimization. To combine the…
The paper is devoted to the elastostatic calibration of industrial robots, which is used for precise machining of large-dimensional parts made of composite materials. In this technological process, the interaction between the robot and the…
Variable stiffness is a key capability in biological and robotic systems, enabling adaptive interaction across tasks and environments. Mechanical metamaterials offer an alternative to conventional mechatronic solutions by encoding stiffness…
The natural impedance, or dynamic relationship between force and motion, of a human operator can determine the stability of exoskeletons that use interaction-torque feedback to amplify human strength. While human impedance is typically…
Bolted joints are critical in engineering for maintaining structural integrity and reliability. Accurate prediction of parameters influencing their function and behavior is essential for optimal performance. Traditional methods often fail…