Currently, the uses of robotics are limited with respect to performance capabilities. Improving the performance of robotic mechanisms is and still will be the main research topic in the next decade. In this paper, design and integration for improving performance of robotic systems are achieved through three different approaches, i.e., structure synthesis design approach, dynamic balancing appro...

BACKGROUND Kinematic design is a predominant phase in the design of robotic manipulators for minimally invasive surgery (MIS). However, an extensive overview of the kinematic design issues for MIS robots is not yet available to both mechanisms and robotics communities. METHODS Hundreds of archival reports and articles on robotic systems for MIS are reviewed and studied. In particular, the kin...

in this research, first, kinematic and dynamic equations of a 4-dof 3-link robotic finger are derived using denavit-hartenberg convention and lagrange’s formulation. to model the muscles, several springs and dampers are placed between the finger links. then, two advanced controllers, namely adaptive-robust and adaptive-neural, which can control the robotic finger in presence of parametric uncer...

Robots have been playing a dominant role in the modern world. Novel developments in computer technology introduce wide advancements in the field of robotics. They can have application in the medical field, educational field, military purposes, space exploration, home assistantship, entertainment and so on. This paper focuses on the study of various robotic applications in the medical field and ...

Commercially available robotic grippers are often expensive and not easy to modify for specific purposes of robotics research and education. To extend the choice of robotic end effectors available to researchers, this paper presents the preliminary work on prototype design and analysis of a three-finger underactuated robotic end effector with a breakaway clutch mechanism suitable for research i...

The design of the robotic mechanisms is most important because they determine the performance characteristics of the robots. This paper concerns the issue of computer-aided design (CAD) for planar 3-DOF parallel robotic mechanisms by means of the physical model of the solution space, which can be used systematically to express the relationships between the performance criteria and all link leng...

Visual attention is a multi-faceted phenomenon, playing different roles in different situations and for different processing mechanisms. Regardless, attention is a mechanism that optimizes the search processes inherent in vision. This perspective leads to a sound theoretical foundation for studies of attention in both machine and in the brain. The development of this foundation and the many way...