Kinematic decoupling in mechanisms and application to a passive hand controller design
نویسندگان
چکیده
منابع مشابه
Kinematic decoupling in mechanisms and application to a passive hand controller design
Observations regarding the kinematics of mechanisms are applied to the synthesis of a passive hand controller. It is argued that stiffness (and damping) properties are central to the effectiveness of such devices and in particular that the simplicity of these properties is crucial. What simple means is analyzed and it is shown that only certain types of manipulators can appropriately be used. I...
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ژورنال
عنوان ژورنال: Journal of Robotic Systems
سال: 1993
ISSN: 0741-2223,1097-4563
DOI: 10.1002/rob.4620100512