We present a purely kinematic model of wave propagation in an excitable medium, namely cardiac tissue. The kinematic model is constructed from a standard reaction-diffusion model, using asymptotic techniques to track the position and velocity of each propagating wave front and wave back. The kinematic model offers a substantial improvement in computational efficiency without sacrificing the abi...

We propose a new two -degree of freedom para llel mechanism for a haptic device and will refer to the mechanism as the SenSation. The SenSation is designed in order to improve the kinematic performance and to achieve static balance. We use the pantograph mechanisms in order to change the location of active joints, which leads to transform a direct kinematic singularity into a nonsingularit y. T...

The instantaneous kinematic analysis of a manipulator defines the direction and magnitude (translational and rotational) of impending motion at a specific point in time. This analysis is position dependent, and assumes apriori knowledge of the position information. From the position kinematic analysis, a kinematic transformation between joint space and tool space can be represented as: ( ) x = ...

231  Abstract—The kinematic of serial manipulators comprises the study of the relations between joint variables and Cartesian variables. We distinguish two problems, commonly referred to as the direct and inverse kinematic problems. The former reduces matrix multiplications, and poses no major problem. The inverse kinematic problems, however, is more challenging, for it involves intensive vari...

Aimed at solving the misplaced body trajectory problem caused by the rolling of semi-round rigid feet when a robot is walking, a legged kinematic trajectory correction methodology based on the Least Squares Support Vector Machine (LS-SVM) is proposed. The concept of ideal foothold is put forward for the three-dimensional kinematic model modification of a robot leg, and the deviation value betwe...

This work investigates new kinematic features of parallel manipulators. It is well known that parallel manipulators admit generally several direct kinematic solutions for a given set of input joint values. The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The study focuses on the most usual case ...