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A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery

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Reading from the Black Box: What Sensors Tell Us about Resting and Recovery after Real-World Falls

Kamiar Aminian

Lying on the floor for a long time after falls, regardless of whether an injury results, remains an unsolved health care problem. In order to develop efficient and acceptable fall detection and reaction approaches, it is relevant to improve the understandi ...

2018

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In this paper, we present a simple control framework for on-line push recovery with dynamic stepping properties. Due to relatively heavy legs in our robot, we need to take swing dynamics into account and thus use a linear model called 3LP which is composed ...

2018

Higher-order continuation method for the rigid-body kinematic design of compliant mechanisms

Simon Nessim Henein, Lennart Rubbert

Compliant mechanisms are of great interest in precision engineering. In this paper we propose a higher order continuation method to help their rigid-body kinematic design. The method helps to investigate the choice of a mechanism configuration through the ...

Elsevier2017

Calculation of the General Number of Imposed Constraints of Kinematic Chains

Jamie Paik, Alexey Fomin

The study provides derivation and application of novel formula for the calculation of general imposed constraints for kinematic chains (including mechanisms and zero-degrees-of-freedom Assur groups) depending on the types of kinematic pairs and numbers of ...

Elsevier2017

This study provides a novel approach for designing a rotary hexapod with a single actuator and definable motion of a platform. Hexapod is a parallel structure mechanism with six legs and six degrees of freedom (DoF) of an end-effector. It is not an underac ...

2017

Modelling of the human shoulder as a parallel mechanism without constraints

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Christoph Anselm Engelhardt, David Ingram

The synthesis of shoulder kinematics, either for simulation in a model or imitation in a robot, is a challenging task because of the contact between shoulder blade and ribcage. As the shoulder moves, the shoulder blade glides over the ribcage. In kinematic ...

Elsevier2016

Étude des engrenages de microtechnique

Quentin Theurillat-Bonjour

The research presented in this thesis addresses the design of gear drives for micro engineering applications, and was performed in collaboration with a watch manufacturer. Gears have long been found in many fields of mechanical engineering. Their use in wa ...

EPFL2016

Background: Common scales for clinical evaluation of post-stroke upper-limb motor recovery are often complemented with kinematic parameters extracted from movement trajectories. However, there is no a general consensus on which parameters to use. Moreover, ...

Biomed Central Ltd2016

Three-Parameter Kinematic Theory for Shear-Dominated Reinforced Concrete Walls

Katrin Beyer, Pia Hannewald, Boyan Iliev Mihaylov

This paper is aimed at addressing the need for physically accurate and computationally effective models for predicting the response of shear-dominated reinforced concrete walls. The presented theory is based on a three-degree-of-freedom kinematic model for ...

Asce-Amer Soc Civil Engineers2016

We analyze the observability properties of the kinematic model of an autonomous underwater vehicle (AUV) moving in 3D, under the influence of ocean currents, using range and depth measurements. The results obtained shed light into the types of trajectories ...

Pergamon-Elsevier Science Ltd2015