This work examined if currently available electromyography (EMG) driven models, that are calibrated to satisfy joint moments about one single degree of freedom (DOF), could provide the same musculotendon unit (MTU) force solution, when driven by the same input data, but calibrated about a different DOF. We then developed a novel and comprehensive EMG-driven model of the human lower extremity th...

This paper presents the visual servoing of a 6 DOF manipulator for unknown 3D profile following. The profile has an unknown curvature, but its cross-section is known. The visual servoing keeps the transformation between a cross-section of the profile and the camera constant with respect to 6 degrees of freedom. The position of the profile with respect to only five degrees of freedom can be meas...

This paper touches upon the issue of designing of an upper-limb exoskeleton used for rehabilitation. Mainly there are presented the results concerning the mechanical design. The exoskeleton, also known as orthosis, has 12 degrees of freedom (DOF). Among 12 DOF there can be distinguished 7 DOF which are actively controlled during rehabilitation, 3 passive DOF which are responsible for wrist move...

Mechanical metamaterials are of tremendous research interest due to their unconventional properties that arise from unit microstructure. Shape-reconfiguration is an effective method realize programmability on various for different tasks a structure or system, while existing researches focus multiple degree-of-freedom (DOF) systems limited configurations morph along single kinematic path. Here, ...

Background: The dynamic phantom is one of the best tools to study the impact of motion on tumor target delineation and absorbed dose verification during dose delivery. Materials and Methods: this study, a 6-DOF (degrees of freedom) phantom was designed following the stacked serial kinematics and assembled by six commercial motion stages to generate 6-DOF motion, which were RotX (pitch, around X...

This paper deals with the kinematics and dynamics of a two degree of freedom spherical manipulator, the wrist of Orthoglide 5-axis. The latter is a parallel kinematics machine composed of two manipulators: i) the Orthoglide 3-axis; a three-dof translational parallel manipulator that belongs to the family of Delta robots, and ii) the Agile eye; a two-dof parallel spherical wrist. The geometric a...

Human control of high degree-of-freedom robotic systems is often difficult due to the overwhelming number of variables that need to be specified. Instead, we propose the use of sparse subspaces embedded within the pose space of a robotic system. Driven by human motion, we addressed this sparse control problem by uncovering 2D subspaces that allow cursor control, or eventually decoding of neural...

The paper derives the inverse and the forward kinematic equations of a serial – parallel 5-axis machine tool: the VERNE machine. This machine is composed of a three-degree-of-freedom (DOF) parallel module and a two-DOF serial tilting table. The parallel module consists of a moving platform that is connected to a fixed base by three non-identical legs. These legs are connected in a way that the ...