The purpose of this article is to inform clinicians of the relevant knowledge gained from research in the field of prosthetics. From a biomechanical point of view, clinicians need relevant knowledge in order to properly prescribe a lower limb prosthesis, including prosthetic components. In this context, and due to the lack of data regarding their utility, a strength-weakness analysis of 8 types...

Currently, rehabilitation systems with closed kinematic chain mechanisms are low-cost alternatives for treatment and health care. In designing these systems, the dimensional synthesis is commonly stated as a constrained optimization problem to achieve repetitive movements, metaheuristic algorithms problems promising methods searching solutions in complex search space. The Constraint Handling Te...

In the present work, graphical enumeration technique is applied for structural synthesis of mechanically constrained planar parallel robot formed by single loop 6bar chain or two 3R chains. Two RR chains are added to the considered system to mechanically constraint the movement of its end-effector. Structural code has been proposed as a new systematic methodology to detect isomorphic graphs. Th...

This paper investigates the in-hand manipulation capabilities of a compliant, underactuated planar robotic hand by treating the system as a simple, symmetric, 6-bar linkage mechanism with compliant joints. Although underactuated hands are generally not considered to be adept at dexterous tasks, we have found through past work that an underactuated manipulator can control n degrees of freedom wi...