A robotic human masticatory system: kinematics simulations

An LPV Approach to Sensor Fault Diagnosis of Robotic Arm

One of the major challenges in robotic arms is to diagnosis sensor fault. To address this challenge, this paper presents an LPV approach. Initially, the dynamics of a two-link manipulator is modelled with a polytopic linear parameter varying structure and then by using a descriptor system approach and a robust design of a suitable unknown input observer by means of pole placement method along w...

Grasp analysis of a four-fingered robotic hand based on Matlab simmechanics

The structure of the human hand is a complex design comprising of various bones, joints, tendons, and muscles functioning together in order to produce the desired motion. It becomes a challenging task to develop a robotic hand replicating the capabilities of the human hand. In this paper, the analysis of the four-fingered robotic hand is carried out where the tendon wires and a spring return me...

GMDH Type Neural Networks and Their Application to the Identification of the Inverse Kinematics Equations of Robotic Manipulators (RESEARCH NOTE)

Robotic lower limb prosthesis design through simultaneous computer optimizations of human and prosthesis costs

Robotic lower limb prostheses can improve the quality of life for amputees. Development of such devices, currently dominated by long prototyping periods, could be sped up by predictive simulations. In contrast to some amputee simulations which track experimentally determined non-amputee walking kinematics, here, we explicitly model the human-prosthesis interaction to produce a prediction of the...

Designing a Robot Based on Parallel Mechanism to Reproduce Human Chewing Behaviour

To quantitatively assess masticatory efficiency and/or food texture changes during chewing, the jaw movements and forces of human chewing behaviour need to be reproduced. We have proposed a robotic solution where a parallel mechanism with six degrees of freedom (DOF) is developed and based on the biological model of human mastication system. This paper presents such a robot and outlines the des...