a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

A new type of backbone robot is presented in this paper. The core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. Although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. This design does not suffer from the weaknesses of the continuum design suc...

Electro Encephalo Gram based Brain-Computer Interface robotic arm can help as a powerful support for severely disabled people in their regular activities, especially to aid them to move their arm voluntarily. This paper proposes and implements a brain signal (mind) controlled robotic arm to yield different movements in robotic arm. The scheme uses a single electrode pair acquisition scheme, mic...

In this paper an anthropomorphic robot arm is de scribed for service tasks The paper focus mainly on the mechatronics concept of the arm which gets its inspiration from the biology of the human arm This includes the mechanical design kinematical mod elling the range of motion the sensor concept and the hierarchical control architecture