The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is present...

The Rutgers Ankle is a compact Stewart-platform type robot used in ankle rehabilitation. It can measure displacements and apply forces/torques in six degrees of freedom. Two rehabilitation simulations resembling video games have been developed. One is an airplane flying exercise; the other is a boat navigation exercise. Both are executed with the ankle, using the Rutgers Ankle as a haptic joyst...

This paper implements algebraic elimination methods for an accurate and general calibration of parallel robots, applied to Gough (or Stewart) platforms. It focuses on two approaches, namely algebraic variable elimination and monomial linearization, which are compared to a classical numerical optimization technique. We detail the former, since it is not often used for the problems at hand, and s...

Robot frame compliance has a large negative effect on the global accuracy of the system when large external forces/torques are exerted. This phenomenon is particularly problematic in applications where the robot is required to achieve ultra-high (micron level) accuracy under very large external loads, e.g. in biomechanical testing and high precision machining. To ensure the positioning accuracy...

Klein LW, Stewart JC, Oberdorster G, Frampton MW. Ultrafine particles activate platelets in vitro. American Journal of Respiratory and Critical Care Medicine 2007;175:A169. not available Abstract Shah AP, Stewart JC, Klein LW, Utell MJ, Frampton MW. Effects of carbon ultrafine particles on platelet activation. Proceedings of the American Thoracic Society 2006;3:A551. not availableShah AP, Stewa...

This paper discusses the technical issues that were required to adapt a KUKA Robocoaster for use as a real-time motion simulator. Within this context, the paper addresses the physical modifications and the software control structure that were needed to have a flexible and safe experimental setup. It also addresses the delays and transfer function of the system. The paper is divided into two sec...

The paper describes the recent advancements gained on the MPI motion simulator project. The aim of this project is the use of an anthropomorphic robot as actuation system for a motion platform intended for real time flight simulation. Almost all commercially available motion platforms rely on the so called Stewart platform, that is a 6-DOF platform that can bear high payloads and can achieve hi...

In this paper, we studied numerically both kinematic and dynamic models of a biologically inspired mammal-like octopod robot walking with a tetrapod gait. Three different nonlinear oscillators were used to drive the robot’s legs working as central pattern generators. In addition, also a new, relatively simple and efficient model was proposed and investigated. The introduced model of the gait ge...

In this paper, a tight coupling between computer vision and parallel robotics is exhibited through the projective line geometry. Indeed, contrary to the usual methodology where the robot is modeled independently from the control law which will be implemented, we take into account, since the early modeling stage, that vision will be used for control. Hence, kinematic modeling and projective geom...

This paper summarizes the development of a robotic system for the analysis of aircraft dynamics within and beyond the nominal flight envelope. The paper proposes the development of a parallel robot and its motion cueing algorithm to attain a reasonable workspace with adequate motion capabilities to facilitate the testing of aircraft stall and fault manoeuvrab...