The acceptance of artificial devices like prostheses or other wearable robots requires their integration into the body schemas of the users. Different factors induce, influence and support the integration and acceptance of the device that substitutes or augments a part of the body. Previous studies have shown that the inducing and maintaining factors are visual, tactile and proprioceptive infor...

The solution of the inverse kinematic problem is of the utmost importance in robotic manipulator control. This article proposes a closed-loop scheme for solving the inverse kinematic problem for nonredundant and redundant wrists based on the computation of the Jacobian transpose. The manipulability measure is suitably introduced as a constraint for redundant wrists, by taking advantage of the n...

We introduce a constraint-based motion editing technique enforcing the intrinsic motion flow of a given motion pattern (e.g., golf swing). Its major characteristic is to operate in the motion Principal Coefficients (PCs) space instead of the pose PCs space. By construction, it is sufficient to constrain a single frame with Inverse Kinematics (e.g., the hitting position of the golf club head) to...

Problems arising when kinematically redundant manipulators are controlled using the Jacobian pseudoinverse are related to the non-integrability of the standard pseudo-inverse. This paper presents a class of generalized inverses which have the property of being integrable within any simply connected, nonsingular region of the workspace. Integrability is obtained by deriving the equations which d...

The driving mechanism of an axisymmetric vectoring exhaust nozzle (AVEN) is a 3-degrees-of-freedom (3-DOF) parallel manipulator (PM) with centering device. According to the characteristics nozzle’s movement mechanism, 3-DOF kinematics model 3SPS + 3PRS PM established. forward and inverse positional posture models are built based on architecture closed-loop vector method. Jacobian matrix Hessian...

It has been nearly 60 years since the introduction of Gough–Stewart manipulator (GSM). With advantages superior load capacity and high precision, GSM still plays an important role in many fields. However, limitations such as a small workspace complex singularities. To overcome these problems, novel kinematically redundant parallel robot is designed with three actuators added on basis GSM. First...

Kinematic trees of self-reconfigurable, modular robots are difficult to control for at least three primary reasons: (1) they must be controlled in a distributed fashion, (2) they are often kinematically redundant or hyper-redundant, and (3) in many cases, these robots must be designed to safely operate autonomously in dangerous and isolated environments. Much work has been done to design hardwa...

This paper addresses two unique challenges for self-reconfigurable robots to perform dexterous locomotion and manipulation in difficult environments: highdimensional inverse kinematics (HDIK) for > 100 degrees of freedom, and selfreconfiguration kinematic control (SRKC) where the workspace targets at which connectors are to meet for docking are not known a priori. These challenges go beyond the...

It is shown that there exists a nonlinear mapping which transforms image features and their changes to the desired camera motion without measuring of the relative distance between the camera and the object. This nonlinear mapping can eliminate several difficulties occurring in computing the inverse of the feature Jacobian as in the usual feature-based visual feedback control methods. Instead of...

The inverse kinematic control of soft robots appears as an open challenge that has been the subject a number letters presented in last decade. Some solutions have provided based on specific assumptions robot’s shape or actuation mechanism. Other more generic approaches are characterized by significant computational cost low level accuracy for very high deformations. In effort to overcome some t...