Abstract. The design of new lightweight and dexterous configurations is a major research focus for continuum robotics. This work proposes cruciform robot. Its unique feature that it formed by multiple cruciform-arranged elastic sheets with single dimension motion connected in series, thus has low-coupling characteristics. In addition, the robot advantages lighter weight (65 g), better dexterity...

Dexterous robot hand development is a very challenging and interesting research topic. A dexterous robot hand may serve as a prosthesis hand for disabled patients or to serve as a gripping device for robotic arms. In most of previous studies, the dexterous robot hands are developed based on the directed gear train controls and tendon wired controls. The directed gear train control based design ...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎however, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

The transition from multiple-port to single-port robotic systems in minimally invasive surgery (MIS) procedures has made flexible, dexterous manipulation an essential capability. The requirement that single-port MIS devices span an enclosed surgical workspace through only one access point while avoiding collateral damage to surrounding tissues necessitates the employment of mechanically sophist...

People use handrests every day to complete dexterous activities as routine as providing a signature. However, the dexterous workspace of the hand is somewhat limited. To address this limit, we have developed an Active Handrest to aid in precision manipulation tasks by extending a user’s dexterous work space while providing ergonomic support for reduced fatigue – ideally while maintaining or eve...

in this research work, a novel parallel manipulator with high positioning and orienting rate is introduced. this mechanism has two rotational and one translational degree of freedom. kinematics and jacobian analysis are investigated. moreover, workspace analysis and optimization has been performed by using genetic algorithm toolbox in matlab software. because of decreasing moving elements, it i...

BACKGROUND The ability to dynamically control fingertip force vector magnitude and direction is critical for dexterous manipulation. We quantified the dynamic control of fingertip forces to examine how dexterous manipulation declines with age. METHODS The strength-dexterity (SD) test measures fingertip forces during compression of a slender spring prone to instability and buckling. The greate...