相关论文: Human Mimetic Forearm Design with Radioulnar Joint…
This paper delineates the formulation and verification of an innovative robotic forearm and elbow design, mirroring the intricate biomechanics of human skeletal and ligament systems. Conventional robotic models often undervalue the…
The functional replication and actuation of complex structures inspired by nature is a longstanding goal for humanity. Creating such complex structures combining soft and rigid features and actuating them with artificial muscles would…
This work proposes a compact robotic limb, AugLimb, that can augment our body functions and support the daily activities. AugLimb adopts the double-layer scissor unit for the extendable mechanism which can achieve 2.5 times longer than the…
Configurable robots are made up of robotic modules that can be assembled or can configure themselves into multiple robot configurations. In this research plan, a method for upper-body rehabilitation will be discussed in the form of a…
Most traditional robotic mechanisms feature inelastic joints that are unable to robustly handle large deformations and off-axis moments. As a result, the applied loads are transferred rigidly throughout the entire structure. The…
This paper critically analyzes conventional and biomimetic robotic arms, underscoring the trade-offs between size, motion range, and load capacity in current biomimetic models. By delving into the human shoulder's mechanical intelligence,…
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…
The complex ways in which humans utilize their bodies in sports and martial arts are remarkable, and human motion analysis is one of the most effective tools for robot body design and control. On the other hand, motion analysis is not easy,…
In this paper, we present a novel kinematic model of the human phalanges based on the elliptical motion of their joints. The presence of the soft elastic tissues and the general anatomical structure of the hand joints highly affect the…
This study examines a biology-inspired approach of using reconfigurable articulation to reduce the control requirement for soft robotic arms. We construct a robotic arm by assembling Kresling origami modules that exhibit predictable…
Human can not only support their body during standing or walking, but also support them by hand, so that they can dangle a bar and others. But most humanoid robots support their body only in the foot and they use their hand just to…
The present study is part of a broader programme, exploring the possibility of involving the Microsoft Kinect$^{\rm TM}$ sensor in the analysis of human motion. We examine the output obtained from the two available versions of this sensor…
Robot hands that imitate the shape of the human body have been actively studied, and various materials and mechanisms have been proposed to imitate the human body. Although the use of soft materials is advantageous in that it can imitate…
In this paper, we present a light-weight, multi- axis compliant tenegrity joint that is biologically inspired by the human elbow. This tensegrity elbow actuates by shortening and lengthening cable in a method inspired by muscular actuation…
In future, robots will be present in everyday life. The development of these supporting robots is a challenge. A fundamental task for assistance robots is to pick up and hand over objects to humans. By interacting with users, soft factors…
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly overlooked when studying the mechanisms of human movement…
Continuum arms, such as trunk and tentacle robots, lie between the two extremities of rigid and soft robots and promise to capture the best of both worlds in terms of manipulability, dexterity, and compliance. This paper proposes a new…
Human hand simulation plays a critical role in digital twin applications, requiring models that balance anatomical fidelity with computational efficiency. We present a complete pipeline for constructing multi-rigid-body approximations of…
High degree-of-freedom dual-arm robots are becoming increasingly common due to their morphology enabling them to operate effectively in human environments. However, motion planning in real-time within unknown, changing environments remains…
Through the implementation of reconfigurability to achieve flexibility and adaptation to tasks by morphology changes rather than by increasing the number of joints, malleable robots present advantages over traditional serial robot arms in…