10 accepted papers
A novel kinematically redundant (6+36+3) -DoF parallel robot is presented in this paper. Three identical 3-DoF RU/2-RUS legs are attached to a configurable platform through spherical joints. With the selected leg mechanism, the motors are mounted at the base, reducing the reflected inertia. The robo…
This paper presents reorientation manoeuvres applied to an omnidirectional wheeled robot for impact mitigation during short falls. The proposed robot architecture aims to build upon recent innovations in reorientation robots to attain fast, multi-axis reorientation. Indeed, the use of omnidirectiona…
The design of underactuated fingers using rolling contact joints is addressed in this article in order to increase performance in robotic and prosthetic hands applications. Rolling contact joints have proven to be a promising alternative to revolute joints by increasing the range of motion, introduc
This paper investigates the design of a three-degree-of-freedom rotational inertia generator using the gyroscopic effect to provide ungrounded torque feedback. It uses a rotating mass in order to influence the torques needed to move the device, creating a perceived inertia. The dynamic model and the…
This paper presents a novel sensing approach for the physical interaction between a human user and a serial robotic arm. The approach is inspired from the concept of macro-mini robot architecture. The framework is developed for a general multi-degree-of-freedom serial robot and a corresponding imped…
This letter introduces a prototype of a haptic interface designed to produce a realistic human-robot handshake. Inspired by the human hand anatomy, a new robotic hand designed to achieve a realistic palm compliance and finger grasping is presented. As the system is backdrivable, a position-controlle
This paper introduces a novel four-degree-of-freedom (4-DOF) parallel mechanism having 3 translational DOFs and 1 rotational DOF. The mechanism comprises 2 sets of parallelogram linkages, which constrain two of the rotational DOFs of the mechanism. An interesting feature of the mechanism is that it…
A novel 3-[R(RR-RRR)SR] kinematically redundant 6+3-degree-of-freedom (dof)spatial hybrid parallel robot with revolute actuators is proposed. The kinematic model is developed based on the constraint conditions of the robot. It is shown that the type II (parallel) singularities can be completely avoi…
This paper presents a novel robotic hand design that aims at producing a realistic human-robot handshake. A standard characteristic model of the human-palm compliance is developed based on human hand anatomy and an empirical study. Based on this model a realistic palm-compliance rendering is impleme…
As demonstrated by the exceptionally successful Delta robot, parallel kinematics Schönflies motion generators (PKSMG) exhibit several advantages over their serial counterparts. Despite its success, the Delta robot suffers from several shortcomings, including a bulky framework and a small workspace-t