This work addresses the problem arising on all construction sites: the occurrence of workspace interference between construction activities. From a site space planning context, this problem can lead to an inevitable roadblock to the progress of the scheduled construction operations. In real situations, when the spatial congestions occur, they could reduce productivity of workers sharing the sam...

Bimanual manipulation of objects is receiving a lot of attention nowadays, but there is few literature addressing the design of the arms configuration. In this paper, we propose a way to analyze the relative positioning of two redundant arms, both equipped with spherical wrists, in order to obtain the best common workspace for grasping purposes. Considering the geometry of a robot with a spheri...

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...

Relatively few studies have been reported that document how proprioception varies across the workspace of the human arm. Here we examined proprioceptive function across a horizontal planar workspace, using a new method that avoids active movement and interactions with other sensory modalities. We systematically mapped both proprioceptive acuity (sensitivity to hand position change) and bias (pe...

Nowadays, many teams collaborate via shared workspace environment which offer a suite of services supporting the group interaction. The needs for an effective group interaction vary over time and are dependent of the current problem and group goal. An ideal shared workspace environment has to take this into account and offer means for tailoring the offered the services to meet the current needs...

The aim of this paper is to characterize the uniqueness domains in the workspace of parallel manipulators, as well as their image in the joint space. The notion of aspect introduced for serial manipulators in [Borrel 86] is redefined for such parallel manipulators. Then, it is shown that it is possible to link several solutions to the direct kinematic problem without meeting a singularity, thus...

Using an audio-only diagraming tool, sixteen pairs of sighted individuals collaborated in a workspace where they used sound as the only means to communicate with each other and to access and edit shared entity-relationship diagrams. We examined the effects of the means for delivering audio to such a workspace – using headphones or speakers – on pairs’ workspace awareness. Results showed that pa...

Quantitative measures of the space an individual can reach is essential for tracking the progression of a disease and the effects of therapeutic intervention. The reachable workspace can be used to track an individuals’ ability to perform activities of daily living, such as feeding and grooming. There are few methods for quantifying upper limb performance, none of which are able to generate a r...

The workspace topologies of a family of 3-revolute (3R) positioning manipulators are enumerated. The workspace is characterized in a half-cross section by the singular curves. The workspace topology is defined by the number of cusps that appear on these singular curves. The design parameters space is shown to be divided into five domains where all manipulators have the same number of cusps. Eac...

This paper presents Workspace-based Connectivity Oracle (WCO), a new sampling strategy for probabilistic roadmap planning. WCO uses both domain knowledge—specifically, workspace geometry—and sampling history to construct a dynamic sampling distribution. WCO is composed of many component samplers, each based on a geometric feature of a robot. Each component sampler updates its distribution, usin...