A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery
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Despite tremendous improvements in recent years, lower-limb prostheses are still inferior to their biological counterparts. Most powered knee joints use impedance control, but it is unknown which impedance profiles are needed to replicate physiological beh ...
An external manipulator for positioning surgical instruments within the abdominal cavity, comprising a hybrid kinematics with a parallel structure, able to provide four, active or passive, positional degrees of freedom to a endoscopic unit, placed in the d ...
In the past couple of years, the concept of exosuits has emerged. These soft, robotic devices are primarily made of textiles and can be worn like clothes. They assist the user during specific motions by transmitting forces around the human joints making us ...
The kinematics of the anatomical shoulder are analysed and modelled as a parallel mechanism similar to a Stewart platform. A new method is proposed to describe the shoulder kinematics with minimal coordinates and solve the indeterminacy. The minimal coordi ...
The machine tool industry is a well established, old and extremely important branch of today's manufacturing industry. With the ongoing globalization and the resulting increase of competition in this industry, the manufacturers have to push their technolog ...
Tripping is considered a major cause of fall in older people. Therefore, foot clearance (i.e., height of the foot above ground during swing phase) could be a key factor to better understand the complex relationship between gait and falls. This paper presen ...
Institute of Electrical and Electronics Engineers2012
Flexures are enjoying a new boom in numerous high-precision and extreme-environment applications. This paper presents some general aspects of flexure design, showing simple principles, and also some subtler issues concerning kinematic design, stiffness com ...
The goal of this semester project is to study and design such a vibrating key. This report is meant not only to describe a particular vibrating key, but also to serve as a basis for anyone who would want to design one. In this idea, sensing and actuating t ...
Timing is an important part in the analysis of alpine skiing technique. Key events extracted from dynamics and kinematics of ski were previously proposed, but timing of body segments kinematics is also required to understand the biomechanics and to assess ...
In this paper we propose a simple model for the coupling behavior of the human spine for an inverse kinematics framework. Our spine model exhibits anatomically correct motions of the vertebrae of virtual mannequins by coupling standard swing and revolute j ...