Related papers: Kinematic & Dynamic Analysis of the Human Upper Li…
Motion planning schemes are used for planning motions of a manipulator from an initial pose to a final pose during a task execution. A motion planning scheme generally comprises of a trajectory planning method and an inverse kinematic…
Typical leg exoskeletons employ open-loop kinematic chains with motors placed directly on movable joints; while this design offers flexibility, it leads to increased costs and heightened control complexity due to the high number of degrees…
In recent years, the research of rehabilitation robot technology has become a hotspot in the field of rehabilitation medicine engineering and robotics. To assist active rehabilitation in patients with unilateral lower extremity injury, we…
Euler angle representation in biomechanical analysis allows straightforward description of joints rotations. However, application of Euler angles could be limited due to singularity called gimbal lock. Quaternions offer an alternative way…
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…
This paper presents an analysis of parametric characterization of a motor driven tendon-sheath actuator system for use in upper limb augmentation for applications such as rehabilitation, therapy, and industrial automation. The double tendon…
The configuration space of a mechanical linkage, consisting of rigid bodies moving in space constrained by joints, is defined by algebraic conditions. If these equations do not define a complete intersection, then the dimension of the…
The purpose of this work is twofold: to present mathematical expressions for the kinematics of an articulated mechanism and to perform numerical experiments with the implemented code. The system of rigid parts is made of two slender bars…
A motion of a mechanism is a curve in its configuration space (c-space). Singularities of the c-space are kinematic singularities of the mechanism. Any mobility analysis of a particular mechanism amounts to investigating the c-space…
This paper proposes a shoulder inverse kinematics (IK) technique. Shoulder complex is comprised of the sternum, clavicle, ribs, scapula, humerus, and four joints. The shoulder complex shows specific motion pattern, such as Scapulo humeral…
This paper presents a versatile cable-driven robotic interface to investigate the single-joint joint neuromechanics of the hip, knee and ankle. This endpoint-based interface offers highly dynamic interaction and accurate position control,…
This paper deals with the kinematic and dynamic analyses of the Orthoglide 5-axis, a five-degree-of-freedom manipulator. It is derived from two manipulators: i) the Orthoglide 3-axis; a three dof translational manipulator and ii) the Agile…
Tendon-driven musculoskeletal humanoids typically have complex structures similar to those of human beings, such as ball joints and the scapula, in which encoders cannot be installed. Therefore, joint angles cannot be directly obtained and…
In the present work, irregular complex joints of the human arm are modelled in the computer-aided design environment. Accurately the geometric models of the joints and surrounding bony regions are developed from computed tomography data set…
Model-based control usually relies on an accurate model, which is often obtained from CAD and actuator models. The more accurate the model the better the control performance. However, in bipedal robots that demonstrate high agility actions,…
This paper introduces an upper limb postural optimization method for enhancing physical ergonomics and force manipulability during bimanual human-robot co-carrying tasks. Existing research typically emphasizes human safety or manipulative…
The aim of this work is to improve musculoskeletal-based models of the upper-limb Wrench Feasible Set i.e. the set of achievable maximal wrenches at the hand for applications in collaborative robotics and computer aided ergonomics. In…
In this paper we combine a survey of the most important topological properties of kinematic maps that appear in robotics, with the exposition of some basic results regarding the topological complexity of a map. In particular, we discuss…
Accelerometry has been extensively studied as an objective means of measuring upper limb function in patients post-stroke. The objective of this paper is to determine whether the accelerometry-derived measurements frequently used in more…
Using joint actuators to drive the skeletal movements is a common practice in character animation, but the resultant torque patterns are often unnatural or infeasible for real humans to achieve. On the other hand, physiologically-based…