Concept

Parallel manipulator

Related publications (23)

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Silvestro Micera, Matteo Vissani, Michael Lassi

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Edizioni Minerva Medica2023

Scalable Fabrication and Actuation of a Human Inspired Hand Through 3D Printed Flexures and Combinatorial Actuation

Josephine Anna Eleanor Hughes, Kai Christian Junge, Carlo Bosio

The fabrication and control of robot hands with biologically inspired structure remains challenging due to its cost and complexity. In this paper we explore how widely available FDM printers can be used to fabricate complex hand structures by leveraging co ...

FRONTIERS MEDIA SA2022

Closed-Loop Position Control of a Self-Sensing 3-DoF Origami Module With Pneumatic Actuators

Jamie Paik, Mustafa Mete

This letter presents closed-loop position control of a pneumatically actuated modular robotic platform "pneumagami" that can be stacked to enlarge work and design space for wearable applications. The module is a 3 degrees of freedom (DoF) parallel robot wi ...

2021

Soft pneumatic actuator-driven origami-inspired modular robotic ‘‘pneumagami’’

Jamie Paik, Matthew Aaron Robertson, Özdemir Can Kara

This article presents a new modular robotic platform for enabling reconfigurable, actively controlled, high-degree-of-freedom (high-DoF) systems with compact form factor. The robotic modules exploit the advantages of origami-inspired construction methods a ...

2021

A New Kinematic Model and Control Strategy for a Mobile Platform for Transporting Lightweight Manipulators

Andres San Millan Rodriguez

This work is concerned with the mechanical design and the description of the different components of a new mobile base for a lightweight mobile manipulator. These kinds of mobile manipulators are normally composed of multiple lightweight links mounted on a ...

MDPI2018

The Design of A New Rotary Hexapod with A Single Active Degree of Freedom

Jamie Paik, Alexey Fomin

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

Modular and reconfigurable desktop microfactory for high precision manufacturing

Zhenishbek Zhakypov

Sub-millimeter scale devices are developing rapidly taking smaller, smarter, and more precise forms. This is achieved thanks to advancements in micro-manufacturing tools and techniques. For micro-production, a miniaturization of the machinery is a prominen ...

Springer London Ltd2017

A singularity-tolerant inverse kinematics including joint position and velocity limitations

Auke Ijspeert, Salman Faraji

Humanoid robots have many degrees of freedom which ideally enables them to accomplish different tasks. From a control viewpoint, however, the geometric complexity makes planning and control difficult. Favoring controllability properties, it is popular to o ...

2017

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 ...

2017

Modelling of the human shoulder as a parallel mechanism without constraints

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

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

Xy isotropic harmonic oscillator and associated time base without escapement or with simplified escapement

Simon Nessim Henein, Ilan Vardi, Lennart Rubbert

The mechanical isotropic harmonic oscillator comprises at least a two degree of freedom linkage supporting an orbiting mass with respect to a fixed base with springs having isotropic and linear restoring force properties. The oscillator may be used in a ti ...

2015

General 2 degree of freedom isotropic harmonic oscillator and associated time base without escapement or with simplified escapement

Simon Nessim Henein, Ilan Vardi, Lennart Rubbert

The mechanical isotropic harmonic oscillator comprises at least a two degrees of freedom linkage supporting an orbiting mass with respect to a fixed base with springs having isotropic and linear restoring force properties wherein the mass has a tilting mot ...

2015

Real-time 3D thermal modeling of a magnetically levitated planar actuator

Yves Perriard

A transient thermal model used to monitor the temperature distribution in real-time in a long-stroke moving-magnet planar actuator is presented. The temperature distribution in the stator coils of the planar actuator depends on the trajectory of the levita ...

Pergamon-Elsevier Science Ltd2013

A Minimal Set of Coordinates for Describing Humanoid Shoulder Motion

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

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 ...

Ieee2013

MicroFactory : Miniaturized Modular Cleanroom Concept for Automated Production

Philipp Kobel

Production in a controlled environment is becoming an increasingly important issue in various branches of industry. In the food, pharmaceutical, optical and semiconductor industries, today’s mass production would not be possible without so-called “cleanroo ...

EPFL2013

Concept of Modular Kinematics to Design Ultra-high Precision Parallel Robots

Murielle Richard

Miniaturisation will be the key challenge for the next decade in numerous industrial fields, such as microelectronics, optics and biomedical engineering. Although most of their products already achieve footprints of some square millimeters, the trend towar ...

EPFL2012

Mechanical manipulator for surgical instruments

Hannes Bleuler, Reymond Clavel, Ricardo Daniel Rita Beira

A novel mechanical system, based on a new cable driven mechanical transmission, able to provide sufficient dexterity, stiffness, speed, precision and payload capacity to actuate multi-DOF micro-manipulators. Besides the possibility of being used in several ...

2012

Design and evaluation of a new mechatronic platform for assessment and prevention of fall risks

Silvestro Micera

Background: Studying the responses in human behaviour to external perturbations during daily motor tasks is of key importance for understanding mechanisms of balance control and for investigating the functional response of targeted subjects. Experimental p ...

BioMed Central2012

Modularity and parallel kinematics: an original design methodology applied to high precision

Reymond Clavel, Murielle Richard

This paper introduces a new methodology to design modular industrial ultra-high precision robots; it aims at significantly reducing both the complexity of their design and their development time. This modular concept can be considered as a robotic Lego®, w ...

World Scientific2011

Dionis: A novel remote-center-of-motion parallel manipulator for Minimally Invasive Surgery

Hannes Bleuler, Reymond Clavel, Giulio Rognini, Laura Santos Carreras

The large volume and reduced dexterity of current surgical robotic systems are factors that restrict their effective performance. To improve the usefulness of surgical robots in minimally invasive surgery (MIS), a compact and accurate positioning mechanism ...

Ios Press2011