This paper describes the VITE system, a spatial hypertext system that supports two-way mapping for projecting structured information to a two-dimensional workspace and updating the structured information based on user interactions in the workspace. VITE uses information visualization techniques to render structured information in the workspace and provides users an environment to interact with ...

This paper presents a new method to calculate and display an approximated workspace of a surgical robot in nearly realtime. Displaying this information on a screen in the operation room could support the surgeon during intraoperative trocar placement for teleoperated minimally invasive robotic surgery (MIRS). We give a short overview on existing trocar placement procedures in teleoperated MIRS ...

This paper discusses dexterous, within-hand manipulation with differential-type underactuated hands. We discuss the fact that not only can this class of hands, which to date have been considered almost exclusively for adaptive grasping, be utilized for precision manipulation, but also that the reduction of the number of actuators and constraints can make within-hand manipulation easier to imple...

The workspace of a spatial 6‐DOF electro‐ hydraulic parallel manipulator is strongly coupled, due to its multi‐closed‐loop kinematic structure and the coupling complicates motion planning and control of the parallel manipulator. This paper clearly analyses the strong dynamic coupling property in the workspace of a spatial 6‐DOF parallel manipulator, using modal decouplin...

We consider the estimation of the post-failure workspace of two two-link serial robots where the free-swinging failure of one robot’s last joint is handled by having the functional robot grasp the final link of the broken robot. We present an algorithm for finding the optimal placement of such synergistic robot arms and the optimal grasp point on the final link of the broken robot. To determine...

Designers engaged in a team design project need to establish, develop, and maintain a shared environment in which they can collaborate. Design then emerges from the interaction between the participating designers. In this paper we consider issues involved in the development of computer-based design environments in which teams of design professionals can collahorat,~, focussing on the necd for v...

This paper presents the integration of a three degree-of-freedom (3-DOF) kinesthetic haptic device with a head-mounted display (HMD), using a virtual piano keyboard as a motivating application. The inertial sensors in the HMD allow the user to view the full set of keys without zooming out simply by turning his or her head to look up and down the keyboard. The haptic device further increases imm...

Parallel Kinematic Mechanisms (PKM) are interesting alternative designs for machine tools. A design method based on velocity amplification factors analysis is presented in this paper. The comparative study of two simple two-degree-of-freedom PKM dedicated to machining applications is led through this method: the common desired properties are the largest square Cartesian workspace for given kine...