Based on the reciprocal relationship of twist and wrench in screw theory, the mathematical model for limb of parallel manipulator is established in this paper. According to the motion modes of mobile platform (translation or rotation), we concluded the geometric conditions which the prismatic joint or revolute joint must meet with by analyzing the constraint screw on the platform, which provide...

Nowadays, active safety has a significant place in the automotive field. Recent studies have shown that electronic driver assistance systems could be improved if the wheelground interface could be determined in real time from the driver’s requests. So, the aim of this paper is to present a real time estimation of the forces exerted between the wheel and the road, using neural networks. The orig...

This paper presents a novel Intelligent Inference System (IIS) for the determination of an optimum preshape for multifingered robot hand grasping, given object under a manipulation task. The IIS is formed as hybrid agent architecture, by the synthesis of object properties, manipulation task characteristics, grasp space partitioning, lowlevel kinematical analysis, evaluation of contact wrench pa...

Many recent human-robot collaboration strategies, such as Assist-As-Needed (AAN), are promoting human-centered robot control, where the continuously adapts its assistance level based on real-time need of human counterpart. One fundamental assumptions these approaches is ability to measure or es...

We study grasps of multiinger dexterous hands under the point contact model. Speciically, we are interested in high-quality force closure grasps. We abstract the problem into the space of force/torque wrenches where the quality is proportional to the magnitude of the largest wrench expressed as a non-negative combination of the grasp wrenches. This abstraction enables us to solve the problem by...

Despite prevention efforts, burn injuries among auto mechanics are described in the literature. Electrothermal ring burns from car batteries occur by short-circuiting through the ring when it touches the open terminal or metal housing. This article describes a 34-year-old male auto mechanic who was holding a wrench when his gold ring touched the positive terminal of a 12-volt car battery and th...

The mathematical approach presented allows main features of kinematics and force transfer in the loaded natural tibiofemoral joint (TFJ) or in loaded knee endoprostheses with asymmetric condyles to be deduced from the spatial curvature morphology of the articulating surfaces. The mathematical considerations provide the theoretical background for the development of total knee replacements (TKR) ...