A novel class of mobile, wearable computer systems designed and manufactured at Carnegie Mellon University is described. These wearable systems provide a variety of capabilities including head mounted display, speech recognition, wireless telecommunication, and global position sensing. The mobile computer emphasizes the integration of computer supplied information in the mobile workspace. Three...

Trajectory planning is a critical step while programming the parallel manipulators in a robotic cell. The main problem arises when there exists a singular configuration between the two poses of the end-effectors while discretizing the path with a classical approach. This paper presents an algebraic method to check the feasibility of any given trajectories in the workspace. The solutions of the ...

This paper proposes a new design method to determine the feasible set of parameters of translational or position/orientation decoupled parallel robots for a prescribed singularity-free workspace of regular shape. The suggested method uses Groebner bases to define the singularities and the cylindrical algebraic decomposition to characterize the set of parameters. It makes it possible to generate...

Robotic automation has been the major driving force in modern industrial developments. High speed pick-and-place operations ...nd their place in many manufacturing applications. The goal of this project is to develop a class of high speed robots that has a planar workspace. The presented robots are intended for pick-and-place applications that have a relatively large workspace. In order to achi...

Visual and somatosensory signals participate together in providing an estimate of the hand's spatial location. While the ability of subjects to identify the spatial location of their hand based on visual and proprioceptive signals has previously been characterized, relatively few studies have examined in detail the spatial structure of the proprioceptive map of the arm. Here, we reconstructed a...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...

Industrial robots play a vital role in automation however only little effort are taken for the application of robots in machining work such as Grinding, Cutting, Milling, Drilling, Polishing etc. Robot parallel manipulators have high stiffness, rigidity and accuracy, which cannot be provided by conventional serial robot manipulators. The aim of this paper is to perform the modeling and the work...

We discuss in this paper gesture-based interaction techniques that are appropriate for everyday office desk scenarios for which the constraints of the workspace and the seated position limit the available range of body motions. We are interested in gestures performed by hands and head and highlight our findings with regards to the acquisition and recognition of such gestures using vision techni...

We describe a Bayesian architecture to estimate the position and pose of a 3D object. The system starts with knowledge of the 3D structure of the object and the prior probability distribution of its position and orientation in the workspace. This information is used to guide the search for focus features in the image, and the information recovered from the image processing is used to reene the ...