 Y. Yang, MS student and author of correspondence, Phone: +86-10-8233-8273, Fax: +86-10-8233-8023, Email: [email protected].  Y. Zhang, Professor and author of correspondence, Phone: +86-10-8233-8023, Fax: +86-10-8233-8023, Email: [email protected]. ABSTRACT This paper presents a procedure to obtain a singularity-free task workspace with a new method to deal with singularities. In order to ...

Parkinson's disease (PD) patients frequently suffer from dexterous deficits impeding activities of daily living. There is controversy whether impaired fine motor skill may stem from limb kinetic apraxia (LKA) rather than bradykinesia. Based on classical models of limb praxis LKA is thought to result when premotor transmission of time-space information of skilled movements to primary motor repre...

Malleable robots are a type of reconfigurable serial robot capable adapting their topology, through the use variable stiffness malleable links, to desired tasks and workspaces by varying relative positioning between revolute joints. However, reconfiguration is nontrivial, lacking intuitive communication human robot, method efficiently aligning end effector position. In this article, we present ...

accommodation of mechanism with human being’s physical characteristics creates the possibility of safe and efficient interaction between human being and robot. regarding the fact that amputation of a limb in human beings causes several mental, economical and social difficulties and problems, need to a substitute limb which has the most efficiency for the person after amputation is a vital need....

Given significant mobility advantages, UAVs have access to many locations that would be impossible for an unmanned ground vehicle to reach, but UAV research has historically focused on avoiding interactions with the environment. Recent advances in UAV size to payload and manipulator weight to payload ratios suggest the possibility of integration in the near future, opening the door to UAVs that...

iii Summary In last few years, the demand for micro motion devices increases in many industrial applications; especially fields of assembling micro machines, manipulating biological cells, and micro-surgical operation. As a consequence, there is an urgent need to develop dexterous micro-manipulators. However, the field of manipulating microscopic objects places hard requirements on the design p...

BACKGROUND The concept of reachable workspace is closely tied to upper limb joint range of motion and functional capability. Currently, no practical and cost-effective methods are available in clinical and research settings to provide arm-function evaluation using an individual's three-dimensional (3D) reachable workspace. A method to intuitively display and effectively analyze reachable worksp...

A novel 3-PUU parallel robot was put forward, on which kinematic analysis was conducted to obtain its inverse kinematics solution, and on this basis, the limitations of the sliding pair and the Hooke joint on the workspace were analyzed. Moreover, the workspace was solved through the three dimensional limit search method, and then optimization analysis was performed on the workspace of this par...