A systematic study is performed for the workspace characteristics and orientation capability analysis of 3R planar manipulators. This study will aid the design and control of this kind of manipulators. This particular manipulator is well suited for industrial applications in aided automation manufacturing as well as medical applications for orthopaedic surgery robotics and micro holder for tact...

How does the motor system efficiently control dexterous finger movements? A study by Overduin et al. (2012) shows that muscle activity patterns elicited by cortical microstimulation matched those extracted from natural movements and hence could constitute the building blocks for movement production.

Below are historically the main areas of research for Dr. Wunderlich and his students “ARM DESIGN” PPT PDF Manned vs. unmanned tasks, instrument deployment vs. dexterous manipulation, Redundant and Hyper-redundant manipulators, Psuedo-inverse velocity-control PATHPLANNING, Attractive poles, Repelling-fields, Creative use of null-space, Heuristic search, DOF minimization, “Consumption Of Availab...

Recent studies from our group have demonstrated the existence of a disynaptic excitatory cortico-motoneuronal (CM) pathway in macaque monkeys via propriospinal neurons in the midcervical segments. Results from behavioral studies with lesion of the direct pathway suggest that the indirect CM pathway can mediate the command for dexterous finger movements.

We show that paths for dexterous robots can be generated in a few seconds or less using parallel informed randomized search on multicomputers. The experimental results we present have been obtained for a simulated 7-jointed arm operating in realistic 3D workspaces. We also present a new method for predicting the solution times that our parallel formulation can deliver on increasing numbers of p...