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Flexure mechanism design is an art, and this book provides the theoretical and practical foundation for scientists and engineers to express their creativity in this field. Flexure mechanisms, also known as compliant mechanisms, rely on the elasticity of ma ...
Industrial robots are increasingly used in various
applications where the robot accuracy becomes very important,
hence calibrations of the robot's kinematic parameters and
the measurement system's extrinsic parameters are required.
However, the existing ca ...
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 ...
Robotic devices represent an undeniable alternative method to traditional therapy. However, the clinical use of robot-assisted rehabilitation for patients with hemiplegia after stroke has been restricted for decades by i) limited functional characterisatio ...
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 ...
Catching a fast flying object is particularly challenging as consists of two tasks: it requires extremely precise estimation of the object’s motion and control of the robot motion. Any small imprecision may lead the fingers to close too abruptly and let th ...
Institute of Electrical and Electronics Engineers2016
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 ...
We consider an imitation learning approach to model robot point-to-point (also known as discrete or reaching) movements with a set of autonomous Dynamical Systems (DS). Each DS model codes a behavior (such as reaching for a cup and swinging a golf club) at ...
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 ...
The Unreinforced Wall (URM) elements that are most susceptible to out-of-plane failure are wall elements of the upper storeys where the accelerations are largest. In modern URM buildings with reinforced concrete slabs, the out-of-plane mechanism involves t ...
