An important step during the design of a parallel manipulator is the determination of its workspace. For a 6 d.o.f. parallel manipulator workspace limitations are due to the bounded range of their linear actuators, mechanical limits on their passive joints and links interference. The computation of the workspace of a parallel manipulator is far more complex than for serial link manipulator as i...

Multiingered robot hands can be used for applying ne motions. Unlike pick-and-place manipulations, Fine Motions Strategies generate movements based on sensor information to overcome mechanical and sensory uncertainties(Laugier, 1989; Magnussen and Doersam, 1995; Munoz et al., 1995). Performing assembly operations with a dexterous hand, high level strategies for planning a manipulation task have...

44 Dexterous manipulation requires both “strength”, the ability to produce fingertip 45 forces of a specific magnitude; and “dexterity”, the ability to dynamically regulate the 46 magnitude and direction of fingertip force vectors and finger motions. While cortical 47 activity in fronto-parietal networks has been established for stable grip and pinch forces, 48 the cortical regulation in the de...

BACKGROUND AND PURPOSE Ischemic stroke is the leading cause of upper extremity motor impairments. Although several well-characterized experimental stroke models exist, modeling of upper extremity motor impairments, which are unique to primates, is not well established. Cortical representation of dexterous movements in nonhuman primates is functionally and topographically similar to that in huma...

Purpose This paper presents a procedure to change the orientation of a grasped object using dexterous manipulation. The manipulation is controlled by teleoperation in a very simple way with the commands introduced by an operator using a keyboard. Design/methodology/approach The paper shows a teleoperation scheme, hand kinematics and a manipulation strategy to manipulate different objects using ...

MOTIVATION Homology models of proteins are of great interest for planning and analysing biological experiments when no experimental three-dimensional structures are available. Building homology models requires specialized programs and up-to-date sequence and structural databases. Integrating all required tools, programs and databases into a single web-based workspace facilitates access to homol...

One of the main advantages of the Gantry-Tau machine is a large accessible workspace/footprint ratio compared to many other parallel machines. The Gantry-Tau improves this ratio by allowing a change of assembly mode without internal link collisions or collisions between the links and the moving TCP platform. This paper introduces an optimisation scheme based on the geometric approach for the wo...