2018
Quaternion Joint: Dexterous 3-DOF Joint Representing Quaternion Motion for High-Speed Safe Interaction
IROS 2018poster
This paper presents a dexterous three degree-of-freedom (3-DOF) wrist mechanism with a large range of motion and uniform manipulability without singular points throughout the entire range of motion. It has a 2-DOF spherical pure rolling joint surrounded by two pairs of actuating wires, the motions o…