This paper presents a new approach to generate the workspace of planar redundant manipulators based on the workspace density of a single link. The workspace density of planar serial redundant manipulators can be computed efficiently by using the concept of the Fourier transform for the group of rigid-body motions of the plane and the convolution theorem. For manipulators using discrete actuatio...

in this paper robust pid control of fully-constrained cable driven parallel manipulators with elastic cables is studied in detail. in dynamic analysis, it is assumed that the dominant dynamics of cable can be approximated by linear axial spring. to develop the idea of control for cable robots with elastic cables, a robust pid control for cable driven robots with ideal rigid cables is firstly de...

I enjoyed the CMAJ article by Trottier and colleagues, and wish to suggest a possible addition to the initial management of hoarseness algorithm in Figure 3. Many primary care and emergency physicians are able to perform simple, indirect laryngoscopy with topical anesthesia, a headlamp and a laryngeal mirror. In a cooperative patient, obtaining a decent view of the glottic opening and surroundi...

We have developed a planner for redundant manipulators that is fast, eeective and versatile, based on the idea of treating each link of a rigid-linked robot as if it were slightly exible and under the innuenceof a potentialeld. We justify the method by exploringsome simple examples, and brieey describe the extensions to the basic method that allow it to plan paths for manipulators with revolute...

The paper presents a methodology to enhance the stiffness analysis of serial and parallel manipulators with passive joints. It directly takes into account the loading influence on the manipulator configuration and, consequently, on its Jacobians and Hessians. The main contributions of this paper are the introduction of a non-linear stiffness model for the manipulators with passive joints, a rel...

BACKGROUND Nasopharyngeal surgery is commonly performed with a rigid endoscope using a transnasal or transoral approach. Here, we demonstrate a flexible single port computer-assisted endoscopic system enabling easy transoral access to the nasopharynx. METHODS Transoral nasopharyngeal surgery was performed in human cadavers (n = 8) using the Flex System (Medrobotics, Raynham, MA). Learning cur...

We review and compare our experience with tricuspid ring annuloplasty between usage of the Cosgrove-Edwards flexible band and the MC(3) rigid ring for repair of functional tricuspid regurgitation to determine the efficacy and mid-term durability of tricuspid annuloplasty. 117 patients with functional tricuspid regurgitation undergoing open heart surgery and tricuspid valve repair from May 2005 ...

Rehabilitation Exoskeleton is becoming more and important in physiotherapists’ routine work. To improve the treatment performance, such as reducing recovery period and/or monitoring reacting to unpredictable situations, rehabilitation manipulators need help patients various physical trainings. A special case of active disturbance rejection control (ADRC) applied govern a proper realisation basi...

The minimum-time pointwise motion of two manipu-lators grasping the same exible object is examined in this paper. We model the object as a spring with an associated damping factor. The coordinated motion is accomplished through the speciication of the trajectory for the mid-point between the two manipulators. The separate trajectories for each manipulator are not relevant per se, since they onl...

In this paper we determine all non-trivial self-motions of TSSM manipulators with two parallel rotary axes which equals the determination of all flexible octahedra where one vertex is an ideal point. This study also closes the classification of these motions for the whole set of parallel manipulators of TSSM type. Our approach is based on Kokotsakis meshes and the reducible compositions of sphe...