Ai = Prismatic joints along the horizontal circular guide Bi = Spherical joints on the moving platform Ci = Prismatic joints on the vertical columns (i = 1,2,3) {F} = Fixed global reference frame {M} = Moving frame α, β, γ = ZYX Euler angles of rotation about the three joint axes of rider. α', β', γ', δ' = ZYXZ’ Euler angles of rotation about the four joint axes of chair on the moving platform ...

This paper presents an anthropomorphic robot hand called the Gifu hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF); the other fingers have four joints with 3-DOF; and two axes of the joints near the palm cross orthogonally at one point, as is the case i...

INTRODUCTION: Combination of measurement and mathematical modeling has provided a powerful tool for investigating the complicated behavior of human joints [2, 6]. In the previous studies the ankle joint complex was usually modeled as ideal hinge joints with fixed rotation axes or spherical joints [3, 7]. These models ignored some important kinematic features of the joints. In this study, a thre...

In this paper, a novel MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm’s inverse and forward dynamic model. The highly nonlinear cross effect of both links of the 2-axes PAM robot arm are thoroughly modeled through an Inverse and Forward Neural MIMO NARX Model-based identification process using experimental input-output training...

Background Rearfoot pronation is one of the factors having been linked to overuse injuries in running (1). Many studies have used shoe eversion as a measure for movement about the subtalar joint axis. Others used foot movement expressed as rotations about the anatomical main axes (2). If joint coupling and with that muscle loading is to be investigated it may be beneficial to assess rotations a...

1. introduction persian folktales and literary stories are full of love relationships which add to the structural richness of the story. in most of these stories, love commences on part of the male character. however, there are instances in which women or girls initiate love. these kinds of love create adventures which are admirable in themselves. the commencement of love and the way a lover es...

Article history: Received 7 October 2009 Received in revised form 10 November 2010 Accepted 11 November 2010 Available online 4 December 2010 In this paper a robust methodology, reported in a previous work, is applied to the design of the unactuated joints of a spherical three-degree-of-freedom parallel robot, the Agile Wrist (AW). Robustness is needed because of the extremely difficult task of...

We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined ...

We propose a method to drive an underactuated manipulator among obstacles in its workspace. The method allows for collision-free trajectories to be generated from the dynamic equations of the manipulator. When the passive joints are locked, these trajectories lie on surfaces parallel to the axes of the active joints. When the passive joints are free, the trajectories lie on surfaces determined ...

The paper presents a model of an articulated figure for use in the animation of human locomotion. This model is an evolution of the standard hierarchical joint-based representation of a human figure, which is widely used in figure animation. Whereas previous models have been based on a simplified mechanics-based view of the joints, our model is based on an anatomical approach. This model uses p...