A minimal hypothesis is proposed concerning the brain processes underlying effortful tasks. It distinguishes two main computational spaces: a unique global workspace composed of distributed and heavily interconnected neurons with long-range axons, and a set of specialized and modular perceptual, motor, memory, evaluative, and attentional processors. Workspace neurons are mobilized in effortful ...

We present a method for designing optimal parallel manipulators of the Gough platform type, according to design constraints like a specified workspace, best accuracy over the workspace, minimum articular forces for a given load, etc.... A reduced set of design parameters is defined and the workspace constraints are used to compute the zone of the parameters space which define all the robots who...

This paper presents a novel method to solve the inverse kinematics of redundant manipulators with active Spherical ball joint. The workspace density function is built combining the Fourier transform, convolution theorem and particular form of the workspace density of a single link, which can accurately generate the size of workspace. The approach of inverse kinematics selects a solution from am...

MOTIVATION Homology models of proteins are of great interest for planning and analysing biological experiments when no experimental three-dimensional structures are available. Building homology models requires specialized programs and up-to-date sequence and structural databases. Integrating all required tools, programs and databases into a single web-based workspace facilitates access to homol...

26 Though many daily tasks tend to destabilize arm posture, it is still possible to have stable 27 interactions with the environment by regulating the multijoint mechanics of the arm in a 28 task-appropriate manner. For postural tasks, this regulation involves the appropriate control 29 of endpoint stiffness, which represents the stiffness of the arm at the hand. While 30 experimental studies h...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...

A microrobotic leg actuated with amplifying mechanisms is developed in this letter to mimic the motion of legs natural organisms on small scale. The device has a planar structure and fabricated bulk micromachining. Two electrothermal actuators are used drive back forth workspace. actuator transmitted elastically using flexible arms. mechanism symmetrical similar standard parallel manipulators b...