5 accepted papers
This paper presents a novel under-actuated twofinger gripper that passively adapts to various environments and maintains its grip posture using a passive-locking mechanism. The proposed mechanism features fingers with three phalanges, each incorporating four-bar and eight-bar linkages arranged in pa
This study proposes a novel 7-DOF robotic manipulator called CoSMo-Arm for high torque density multi-link robotic platform based on a concentrically stacked modular actuator (CoSMoA) and an extended coaxial spherical joint module (E-CoSMo) introduced in previous researches. The CoSMoA is an actuator…
In this study, a novel four degrees of freedom (DoF) robotic link mechanism and its torque analysis based on extended coaxial spherical joint module (E-CoSMo) are introduced. The E-CoSMo is a previously developed 4-DoF point-centered rotational parallel mechanism with coaxial actuators. The use of t…
In this study, we propose an extended coaxial spherical joint module (E-CoSMo) with three to four degrees of freedom (DOFs) for a multi-DOF robot platform. The E-CoSMo consists of a coaxial spherical parallel mechanism (CSPM) with three DOFs and one extended DOF based on a universal joint mechanism…
In a human-robot interaction (HRI) device that performs physical collaboration operations in constant contact with the user, admittance control and impedance control are generally used. Since the two controllers exhibit opposite performances depending on the stiffness condition, controllers capable…