Individual joint deviations are often identified in the analysis of cerebral palsy (CP) gait. However, knowledge is limited as to how these deviations affect the control of the locomotor system as a whole when striving to meet the demands of walking. The current study aimed to bridge the gap by describing the control of the locomotor system in children with diplegic CP in terms of their leg sti...

The paper presents the position analysis of a spatial structure composed of two platforms mutually connected by one RRP and three SS serial kinematic chains, where R, P, and S stand for revolute, prismatic, and spherical kinematic pair respectively. A set of three compatibility equations is laid down that, following algebraic elimination, results in a 28 th -order univariate algebraic equation,...

We revisit the dimensional synthesis of a spatial two-link, two revolute-jointed serial chain for path following applications, focussing on the systematic development of the design equations and their analytic solution for the three precision point synthesis problem. The kinematic design equations are obtained from the equations of loop-closure for end-eeector position in rotation-matrix/vector...

While it is generally believed that the choice of prosthetic components affects amputee gait, systematically quantifying the effects of prosthetic design on amputee walking is difficult [1]. A simulation model capable of predicting human amputee gait could allow for quantitative, systematic investigations. Existing models of amputee gait are either too complex for a predictive study (e.g. [2]) ...

In this paper, we focus on the development of a quantitative performance analysis framework for a cooperative system of multiple wheeled mobile manipulators physically transporting a common payload. Each mobile manipulator module consists of a differentially driven wheeled mobile robot (WMR) with a mounted planar three-degree-offreedom (DOF) revolute-jointed manipulator. A composite cooperative...

This paper presents the 3D dynamic formulations for a flexible beam sliding through revolute-prismatic joint. Considering geometric nonlinearity, configuration space of is nonlinear differentiable manifold (R3×SO(3)). Moreover, manipulated by joint can undergo large overall motion and slide Because difficulty mentioned above, most studies on these problems focus 2D cases or are tackled under sm...

Abstract The demand for redundant hydraulic manipulators that can implement complex heavy-duty tasks in unstructured areas is increasing; however, current manipulator layouts remarkably differ from human arms make intuitive kinematic operation challenging to achieve. This study proposes a seven-degree-of-freedom (7-DOF) anthropomorphic hydraulically actuated with novel roll-pitch-yaw spherical ...

By combining a parallel mechanism with integrated flexible joints, a large measurement range and high accuracy sensor is realized. However, the main errors of the sensor involve not only assembly errors, but also deformation errors of its flexible leg. Based on a flexible joint 6-UPUR (a kind of mechanism configuration where U-universal joint, P-prismatic joint, R-revolute joint) parallel six-a...

This paper presents a procedure to synthesize planar rigid-body mechanisms, containing both prismatic and revolute joints, capable of approximating a shape change defined by a set of morphing curves in different positions. The existing mechanization process is extended specifically to enable the design of morphing aircraft wings. A portion of the closed-curve morphing chain that has minimal dis...