Abstract — This paper discusses the design concept of a hyper-redundant haptic interface with 10 actuated degreesof-freedom (DOF). The kinematical redundancies allow a significantly larger workspace, while reducing the overall device size. Moreover, an increase in a variety of dexterity measures

Abstract:-This paper introduces a new design combining wheeled mobile robots and parallel mechanism for the purpose of manipulation. The movable platform consists of a hexagonal platform, which is rigidly fixed to three inclined planes regularly fixed at three of its sides. Contrarily to the previous similar works, the platform is not linked to mobile robots but lies down on three free different ball wheels located at the tip of a vertical and rigid link fixed at the top of each mobile robot. The mobile robot motions in horizontal plane are transformed through the frictional contact between ball wheels and inclined planes to transport or orient the platform. Key-words:-Parallel manipulator, platform, wheeled mobile robot, kinematics-1.

This paper deals with a 2-DOF (degrees-of-freedom) 3-4R parallel manipulator (PM) with planar base and platform-a novel PM with multiple operation modes (or disassembly free reconfigurable PM) that can use the minimum number of actuated joints. At first, a set of constraint equations of the 3-4R

to be made between fabrication complexity and design principle requirements. This thesis describes a Micro-Mechatronic design of a six Degrees-of-Freedom MEMS-based Precision Manipulator. Principle solutions for the synthesis of exact kinematic constraint design and MEMS fabrication technology for multi DOFs

-type mechanisms that the commutative feature of the SLBMs is found. Then, two type synthesis procedures containing five steps are proposed correspondingly. Following the procedure, a family of novel four, five, and six degrees-of-freedom (DOF) SLBM-type mechanisms is synthesized systematically. The motion

This paper describes the development of a tube-shaped ionic polymer-metal composite (IPMC) actuator with sectored elec-trodes and an integrated resistive strain-based displacement sen-sor. Tube or cylindrical shaped IPMC actuators, with the ability to provide multiple degrees-of-freedom motion, can

This paper presents three types of magnetostatic models of ironless planar actuators with moving magnets. The models predict the force and torque exerted on the translator of the actuator, which can be positioned in six degrees-of-freedom with respect to the stator coils. The force and torque

Abstract—Serpentine robots, also sometimes called “snake robots, ” are slender, multi-segmented vehicles designed to provide greater mobility than conventional wheeled or tracked robots. Serpentine robots typically comprise of three or more rigid segments that are connected by 2- or 3-degrees-of-freedom

the actuation and the movable parts of the mechanism separately. This allows for an efficient iterative design and evaluation of an actuated mechanism and its single elements. The practicability of active admittance control is demonstrated by haptically rendering a car door with two actuated degrees-of-freedom

Wepresentatechniqueforautomaticallysynthesizingwalkingand running controllers for physically-simulated 3D humanoid characters. The sagittal hip, knee, and ankle degrees-of-freedom are actuated using a set of eight Hill-type musculotendon models in each leg, with biologically-motivated control laws