The pervasiveness of computers in everyday life coupled with recent rapid advances in computer technology have created both the need and the means for sophisticated Human Computer Interaction (HCI) technology. Despite all the progress in computer technology and robotic manipulation, the interfaces for controlling manipvtlators have changed very little in the last decade. Therefore HumanComputer...

The pervasiveness of computers in everyday life coupled with recent rapid advances in computer technology have created both the need and the means for sophisticated Human Computer Interaction (HCI) technology. Despite all the progress in computer technology and robotic manipulation, the interfaces for controlling manipulators have changed very little in the last decade. Therefore Human-Computer...

The existence of surface elastic waves at a mechanically free surface of granular phononic crystals is studied. The granular phononic crystals are made of spherical particles distributed periodically on a simple cubic lattice. It is assumed that the particles are interacting by means of normal, shear, and bending contact rigidities. First, Rayleigh-type surface acoustic waves, where the displac...

A novel approach for designing feedback controllers for natural mechanical systems using quasi velocities is presented. The approach is relevant to the stabilization and regulation of finite-dimensional multibody systems. In particular the globally asymptotically stable linear feedback of Rodrigues parameters and angular velocity is taken from spacecraft attitude control and applied to a broade...

gait rehabilitation using body weight support on a treadmill is a recommended rehabilitation technique for neurological injuries, such as spinal cord injury. in this paper, a new robotic orthosis is presented for treadmill training. in the presented design the criteria such as low inertia of robot components, backdrivability, high safety and degrees of freedom based on human walking are conside...

In this paper, some definitions and traditional formulas for calculating the mobility of mechanisms are represented, e.g. Grubler formula, Somov - Malyshev formula, and Buchsbaum - Freudenstei. It is discussed that there are certain cases in which they are too ambiguous and incorrect to use. However, a matrix method is suggested based on the rank of the Jacobian of the mechanism and its applica...

A parallelogram allows the output link to remain at a fixed orientation with respect to an input link, for which it acts as a unique role in the design of parallel mechanisms. In this paper, the unique role of a parallelogram is used completely to design some new parallel mechanisms with two to six degrees of freedom (DoFs). In these mechanisms, some with three DoFs possess the advantage of ver...

This paper presents the development of an innovative motion simulator, based on the Eclipse-II mechanism, which is a redundantly actuated parallel kinematic mechanism, with a partially decoupled architecture in its rotational motion. This parallel mechanism can generate six degrees of freedom motion, including continuous rotation through 360 degrees, and translation in any direction. After all ...

Introduction: The accuracy of patient positioning plays an important role for radiotherapy tasks. Short and automated Quality Assurance (QA) programs are becoming one of the challenging tasks in Radiotherapy. The current study, investigates the accuracy of treatment couch positioning with four degrees of freedom (4DoF) using a fast and accurate method based on an image acquired...