The problem of planning motions of robot manipulators and similar mechanical devices in the presence of obstacles is one of keen interest to the artificial intelligence community. Most of the algorithms previously reported for solving such problems have been combinatorial algorithms, which work by partitioning the problem domain continuum into a finite set of equivalence classes, and applying c...

Continuum manipulators offer many advantages compared to their rigid-linked counterparts, such as increased degrees of freedom and workspace volume. Inspired by biological systems, such as elephant trunks and octopus tentacles, many continuum manipulators are made of multiple segments that allow large-scale deformations to be distributed throughout the body. Most continuum manipulators currentl...

To clarify the mechanism of multi-articular muscles that contributes to the emergence of animal behavior, we focus on the locomotion of a snake. Analyses on the basis of the continuum model show that the body propels efficiently as the number of segments spanned by each muscle increases. On the basis of this result, we propose a decentralized control scheme for the efficient locomotion of a mul...

This paper aims to develop a writing robot by recognizing the speech signal from the user. The robot arm constructed mainly for the disabled people who can’t perform writing on their own. Here, dynamic time warping (DTW) algorithm is used to recognize the speech signal from the user. The action performed by the robot arm in the environment is done by reducing the redundancy which frequently fac...

Gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. In this paper, a new robotic orthosis is presented for treadmill training. In the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

The continuum robot is a new type of bionic which widely used in the medical field. However, current structure limits its application field minimally invasive surgery. In this paper, bio-inspired compound (CCR) combining concentric tube (CTR) and notched proposed to design high-dexterity surgical instrument. Then, kinematic model, considering stability CTR part, was established. unstable operat...

Reconfigurable continuum robots exhibit programmable interaction capability, enabling them to cope with challenges poorly addressed by conventional rigid robots. However, the regulation of module type and/or sequence may result in time-consuming and labor-intensive problems. Therefore, situ reconfiguration schemes are required develop a simple yet robust solution for robot design. Herein, inspi...