— For robotic manipulators that are redundant or with high degrees of freedom, an analytical solution to the inverse kinematics is very difficult or impossible. As alternative approaches, neural networks and optimal search methods have been widely used for inverse kinematics modeling and control in robotics. This paper presents a first analytical solution to the inverse kinematics of a widely u...

(1) Background: Vascular tissue seems to adapt towards stable homeostatic mechanical conditions, however, failure of reaching homeostasis may result in pathologies. Current vascular tissue adaptation models use many ad hoc assumptions, the implications of which are far from being fully understood; (2) Methods: The present study investigates the plausibility of different growth kinematics in mod...

BACKGROUND We describe the features of modern and historical bicruciate-retaining (BCR) total knee arthroplasty (TKA) implants compared with other TKA implant designs, reviewing kinematics, proprioception, operative technique, and clinical results. METHODS We performed a review based on PubMed, Embase, CINAHL Plus, and Cochrane databases from January 1990 to April 2016 using combinations of t...

Two inverse kinematics algorithms were implemented in a tele-operated robot system and evaluated with a user performance study. The kinematics algorithms were designed such that the point of resolution (POR) of the robot arm's wrist and the end-effector was controlled by joysticks, one each for rotation and translation. Operator performance was evaluated with "peg-in-the-hole" type tasks using ...

This paper is aimed at presenting a study on the kinematics of the Tricept robot, which comprises a three-degree-offreedom (dof) parallel structure having a radial link of variable length. The robot workspace is characterized and the inverse kinematics equation is obtained by using spherical coordinates. The inverse differential kinematics and statics are derived in terms of both an analytical ...

The lower limb sidestepping kinematics of 20 elite female athletes were calculated using: 1) an established direct kinematic (DK) model (criterion) and, 2) two inverse kinematic (IK) models; one with and one without participant-specific joint co-ordinates prescribed during model preparation. The aim of this research was to determine whether prescribing joint co-ordinates influences the accuracy...

We study redundant robot kinematics around singular configurations of corank 1. Sufficient conditions are derived under which the kinematics become equivalent to a hyperbolic normal form. These conditions are specified further to non-redundant kinematics, and illustrated with examples of a double pendulum with links of equal length at the fully folded down configuration as well as of the PUMA m...

An in-vivo approach to the measurement of three-dimensional motion patterns of carpal bones in the wrist may have future diagnostic applications, particularly for ligament injuries of the wrist. Static methods to measure carpal kinematics in-vivo only provide an approximation of the true kinematics of the carpal bones. This study is aimed at finding the difference between dynamically and static...

Abstract: This paper describes a new 2DOF planar manipulator (PM) using coupled kinematics to manage the singularities. It is designed in order to overcome the singularity configuration of planar manipulators. Manipulators are composed of five rigid links, five revolute joints and two actuators each actuating two of input links coordinated fashion, what we term coupled kinematics. Coupled kinem...

This paper presents a fast numerical solution for the inverse kinematics of a serial manipulator. The method is implemented on the C-Arm, a manipulator designed for use in robotic surgery. The inverse kinematics solution provides all possible solutions for any six degree-of-freedom serial manipulator, assuming the forward kinematics are known and that it is possible to solve for the remaining j...