This paper focuses on adaptive motor control in the kinematic domain. Several motor learning strategies from the literature are adopted to kinematic problems: “feedback-error learning”, “distal supervised learning”, and “direct inverse modeling”. One of these learning strategies, direct inverse modeling, is significantly enhanced by combining it with abstract recurrent neural networks. Moreover...

Machine supervision on parallel robots demand a powerful online singularity loci prediction. To detect the entrance of the end-effector on direct kinematic singularities that constrain the internal workspace is not trivial for parallel robots with five or six degrees of freedom. This paper presents a strategy to safely drive a Hexa parallel robot out of direct singularity regions based an index...

An artificial neural network (ANN) model is presented for the prediction of kinematic viscosity of binary mixtures of poly (ethylene glycol) (PEG) in water as a function of temperature, number-average molecular weight and mass fraction. Kinematic viscosities data of aqueous solutions for PEG (0.55419×10 – 9.875×10 m2/s) were obtained from the literature for a wide range of temperatures (277.15 ...

This paper features the kinematic modelling of a 5-axis stationary articulated robot arm which is used for doing successful robotic manipulation task in its workspace. To start with, a 5-axes articulated robot was designed entirely from scratch and from indigenous components and a brief kinematic modelling was performed and using this kinematic model, the pick and place task was performed succe...

The paper proposes a new architecture for a lower exoskeleton with five degrees of freedom (DOF) per each leg, where, the design and synthesis of the kinematic chains is based on human leg parameters in terms of ratios, range of motion, and physical length. This research presents the design and simulation of lower limb exoskeleton for rehabilitation of patients with paraplegia. This work presen...

This paper describes experiments in estimation and control of the fixation point with a 10 degree of freedom head-neck-body system. A system has been constructed which uses standard kinematic techniques to estimate the fixation point. Two approaches have been investigated to control the fixation point: 3D kinematic estimation and 2D visual servoing. Kinematics is shown to be efficient provided ...

Automatic surgical gesture segmentation and recognition can provide useful feedback for surgical training in robotic surgery. Most prior work in this field relies on the robot's kinematic data. Although recent work [1,2] shows that the robot's video data can be equally effective for surgical gesture recognition, the segmentation of the video into gestures is assumed to be known. In this paper, ...

This paper describes experiments in estimation and control of the fixation point with a 10 degree of freedom head-neck-body system. A system has been constructed which uses standard kinematic techniques to estimate the fixation point. Two approaches have been investigated to control the fixation point: 30 kinematic estimation and 2 0 visual servoing. Kinematics is shown to be efficient provided...