This paper deals with a robotic manipulator dedicated to craniotomy remote center of motion based on Spherical Parallel Manipulator (SPM) architecture. The SPM is proposed handle the drilling tool through requested Degrees Freedom (DoF) two rotations. architecture allows one degree redundancy according total DoF. Thus, first contribution this work focuses experimental analysis surgery tasks. Se...

The asymmetry in bilateral teleoperation, i.e., the differences of mechanical structures, sizes, and number joints between master slave robots, can introduce kinematics redundancy workspace inequality problems. In this article, a novel shared autonomy control strategy is proposed for handling which has two main contributions. First, to deal with redundancy, provides self-regulation algorithm or...

This paper presents an active slip control system (ASCS) for a four-wheel drive electric vehicle (EV) using suspension of the vehicle. The integrated mechanism is designed combination fuzzy controller and nonlinear back-stepping to individual wheels with help In this research, presented implemented in two steps. first step, based on friction coefficient calculated from tire model, will generate...

Currently, there exists a need for a more thorough understanding of native hip joint kinematics to improve the understanding of pathological conditions, injury mechanisms, and surgical interventions. A biomechanical testing system able to accomplish multiple degree-of-freedom (DOF) movements is required to study the complex articulation of the hip joint. Therefore, the purpose of this study was...

It is well known that the classical 2 user Gaussian interference channel has only 1 degree of freedom (DoF), which can be achieved by orthogonal time division among the 2 users. It is also known that the use of conventional relays, which introduce a processing delay of at least one symbol duration relative to the direct paths between sources and destinations, does not increase the DoF of the 2 ...

A new robust multi-degree of freedom (multi-DOF) MEMS gyroscope is presented in this paper. The designed gyroscope has its bandwidth and amplification factor of the sense mode adjusted more easily than the previous reported multi-DOF MEMS gyroscopes. Besides, a novel spring system with very small coupling stiffness is proposed, which helps achieve a narrow bandwidth and a high amplification fac...

This paper describes platform overview, system integration and dynamic walking control of the humanoid robot, KHR-2 (KAIST Humanoid Robot – 2). We have developed KHR-2 since 2003. KHR-2 has totally 41 DOF (Degree Of Freedom). Each arm including a hand has 11 DOF and each leg has 6 DOF. Head and trunk also has 6 DOF and 1 DOF respectively. In head, two CCD cameras are used for eye. In order to c...

A space manipulator plays an important role in spacecraft capturing, repairing, maintenance, and so on. However, the harsh space environment will cause its joints fail to work. For a non-redundant manipulator, single joint locked failure will cause it to lose one degree of freedom (DOF), hence reducing its movement ability. In this paper, the key problems related to the fault-tolerant including...

The need for compatibility between degrees of freedom of various elements is a major problem encountered in practice during the modeling of complex structures; the problem is generally solved by an additional rotational degree of freedom [1-3]. This present paper investigates possible improvements to the performances of strain based cylindrical shell finite element [4] by introducing an additio...

The characterization of fundamental performance bounds of many-to-many communication systems in which participating nodes are active in an intermittent way is one of the major challenges in communication theory. In order to address this issue, we introduce the multiple-input multiple-output (MIMO) three-way channel (3WC) with an intermittent node and study its degrees-of-freedom (DoF) region an...