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Isoperimetric robots are large scale, untethered inflatable robots that can undergo large shape changes, but have only been demonstrated in one 3D shape -- an octahedron. These robots consist of independent triangles that can change shape…
Symmetry is a central organizing principle in natural systems, yet its use as a unifying design strategy in robotics has largely remained limited to geometric form. We show that symmetry can instead be leveraged at the level of dynamic…
Seven degree-of-freedom (DOF) robot arms have one redundant DOF which does not change the motion of the end effector. The redundant DOF offers greater manipulability of the arm configuration to avoid obstacles and singularities, but it must…
We present a geometric framework for the inverse design of smart woven fabrics composed of non-uniformly shrinking threads. A sufficiently tight weaving structure imposes strong local criteria on the material deformation and reduces the…
This paper presents a quadratic unconstrained binary optimization-based formulation framework for robot design optimization using kinematic structure-level evaluation metrics. In the proposed framework, classical computation is used to…
A spherical $t$-design is a finite subset $X$ of the unit sphere such that every polynomial of degree at most $t$ has the same average over $X$ as it does over the entire sphere. Determining the minimum possible size of spherical designs,…
This paper proposes a classification of three-revolute orthogonal manipulators that have at least one of their DH parameters equal to zero. This classification is based on the topology of their workspace. The workspace is characterized in a…
In linear elasticity, a fourth order elasticity (stiffness) tensor of 21 independent components completely describes deformation properties of a material. Due to Voigt, this tensor is conventionally represented by a $6\times 6$ symmetric…
A skew brace is a triplet $(A,\cdot,\circ)$, where $(A,\cdot)$ and $(A,\circ)$ are groups such that the brace relation $x\circ (y\cdot z) = (x\circ y)\cdot x^{-1}\cdot (x\circ z)$ holds for all $x,y,z\in A$. In this paper, we study the…
This paper explores the development of a control and sensor strategy for an industrial wearable wrist exoskeleton by classifying and predicting workers' actions. The study evaluates the correlation between exerted force and effort…
The wrist plays a pivotal role in facilitating motion dexterity and hand functions. Wrist orthoses, from passive braces to active exoskeletons, provide an effective solution for the assistance and rehabilitation of motor abilities. However,…
We study ideal lattices in $\mathbb{R}^2$ coming from real quadratic fields, and give an explicit method for computing all well-rounded twists of any such ideal lattice. We apply this to ideal lattices coming from Markoff numbers to…
Term "asymmetrical pseudoelasticity" refers to the theory, in which a symmetrical stress tensor and a symmetrical strain tensor are connected by means of an asymmetrical material tensor. An 6-dimensional asymmetrical matrix of elasticity…
We study the 10 noncommutative spheres obtained by liberating, twisting, and liberating+twisting the real and complex spheres $S^{N-1}_\mathbb R,S^{N-1}_\mathbb C$. At the axiomatic level, we show that, under very strong axioms, these 10…
A computation shows that there are 77 (up to scalar shifts) possible pairs of integer coefficient polynomials of degree five, having roots of unity as their roots, and satisfying the conditions of Beukers and Heckman [1], so that the…
Spherical $t$-designs on $\mathbb{S}^{d}\subset\mathbb{R}^{d+1}$ provide $N$ nodes for an equal weight numerical integration rule which is exact for all spherical polynomials of degree at most $t$. This paper considers the generation of…
We use a combinatorial approach to compute the number of non-isomorphic choices on four elements that can be explained by models of bounded rationality.
Many problems in Euclidean geometry, arising in computational design and fabrication, amount to a system of constraints, which is challenging to solve. We suggest a new general approach to the solution, which is to start with analogous…
This paper presents an analytical solution to the inverse kinematic problem(IKP) for the seven degree-of-freedom (7-DOF) Moz1 Robot Arm with offsets on wrist. We provide closed-form solutions with the novel arm angle . it allow fully…
This paper studies numerical integration over the unit sphere $ \mathbb{S}^2 \subset \mathbb{R}^{3} $ by using spherical $t$-design, which is an equal positive weights quadrature rule with polynomial precision $t$. We investigate two kinds…