Currently, there exists a need for a more thorough understanding of native hip joint kinematics to improve the understanding of pathological conditions, injury mechanisms, and surgical interventions. A biomechanical testing system able to accomplish multiple degree-of-freedom (DOF) movements is required to study the complex articulation of the hip joint. Therefore, the purpose of this study was...

recent developments in the area of smart structures indicate that variable geometry / stiffness truss network is of fundamental importance in designing smart transformable structures and systems for space applications. this paper presents the conceptual design and dynamic modeling of a cooperative re-configurabel dual-arm robotic structure called dual-arm cam-lock manipulator. the manipulator i...

This paper introduces a novel sensor concept for surface exploration in robotic applications. We present an IMU-based haptic sensor that accurately estimates the orientation of contact points. One of the biggest advantages of our proposed sensor concept is the extraction of absolute surface orientation without being affected by inaccuracies in the forward kinematics. Conventional sensors requir...

In this paper, trajectory generation for the 4 DOF arm of SURENA III humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. For this purpose, first, kinematic equations for a seven DOF manipulator are derived. Then, using the Lagrange method, an explicit dynamics model for the arm is developed. In the next step, in order to generate the desired traject...

Abstract The usage of the robotic arm in industries has been growing as can provide many advantages to industries. However, challenges faced by One problems is error angle position caused movement arm’s joint which affects precision desired end-effector. Therefore, this paper aims study solution PID controller increase accuracy end-effector X-Y plane using forward kinematic. It describes mechan...

When robots operate in unknown environments small errors in postions can lead to large variations in the contact forces, especially with typical high-impedance designs. This can potentially damage the surroundings and/or the robot. Series elastic actuators (SEAs) are a popular way to reduce the output impedance of a robotic arm to improve control authority over the force exerted on the environm...

In this paper a robotic assistive device is presented, aimed at assisting physically impaired individuals when rising from a sitting to a standing position. The robotic device is designed as a three degrees of freedom (3-DOF) mechanism supporting the subject under the buttocks. The device is driven by an electrohydraulic servosystem capable of operating in multiple control modes. It is instrume...

The human arm may be considered to be a redundant mechanism given a pointing task. As a result, multiple arm configurations can be used to complete a pointing task in which the tip of the index finger is brought to a preselected point in space. A kinematic model of the human arm with four degrees of freedom (DOF) and the synthesis of two criteria were developed as an analytical tool for studyin...

Flexible-link robotic manipulators are mechanical devices whose control can be rather challenging, among other reasons because of their intrinsic under-actuated nature. This chapter presents various experimental studies of diverse robust control schemes for this kind of robotic arms. The proposed designs are based on several control strategies with well defined theoretical foundations whose eff...