This article presents a bioinspired pneumatic soft actuator designed to mimic the flexo-extension movement of human finger, with particular focus on stiffness modulation through granular jamming. Three-chamber geometries - honeycomb, rectangular, and half-round were evaluated optimize curvature performance, utilizing Mold Star 15 Slow elastomer for fabrication. Granular jamming, both passive active, was implemented within inextensible layer using chia quinoa grains enhance modulation....

SUMMARY This paper discusses the study of a spherical parallel manipulator (SPM) used as haptic device for tele-operation applications. The SPM presents poor behavior in singular configurations. Redundancy is to eliminate singularity without major changes mechanical structure. Comparisons terms kinematic and dynamic between non-redundant redundant are presented. results prove advantage introducing redundancy actuator sensor improve SPM. A new control strategy also proposed. has been...

Human gait analysis has been widely investigated in several applications: identification of impairments, therapy designing for rehabilitation, sports medicine, design orthoses and prostheti...

Robots have been widely investigated for active and passive rehabilitation therapy of patients with upper limb disabilities. Nevertheless, the assessment process is often ignored or just qualitatively performed by physiotherapist implementing chart-based ordinal scales observation-based measures, which tend to rely on professional experience lack quantitative analysis. In order objectively quantify progress, this paper presents a noVel pAssive wRist motiOn assessmeNt dEvice (VARONE) having...

SUMMARY The optimum selection of a structure for given application is capital phase in typological synthesis parallel robots. To help this selection, paper presents performance evaluation four translational robots: Delta, 3-UPU, Romdhane-Affi-Fayet, and Tri-pyramid (TP). problem set as multiobjective optimization using genetic algorithm methods, which uses kinematic criteria, that is, global dexterity compactness, to ensure prescribed workspace. results are presented Pareto fronts, used...

SUMMARY This paper introduces the design and optimization of a probe holder robot for tele-echography applications. To define its kinematic architecture, an approach based on motion capture expert's gestures during ultrasound examinations was proposed. The medical analyzed consisted movements were used to characterize specifications proposed manipulator. selected architecture Spherical Parallel Mechanism (SPM) with 3 degrees freedom (DoF) optimal synthesis performed using real-coded Genetic...

This paper deals with a collaborative robot, i.e., cobot, coupled new prismatic compliant joint (PCJ) at its end-effector. The proposed solution is intended for Doppler sonography to prevent musculoskeletal disorders issues. On one hand, the sonographer’s postures are investigated based on motion capture use during arteries examination. study highlighted that configurations adopted by angiologists lead disorder. other PCJ variable stiffness gives an intrinsic compliance cobot handling probe....

An experimental characterization is presented for an improved version of a wearable assistive device elbow motion. The design revised with respect to requirements motion assistance, looking at applications both in rehabilitation therapies and exercising elderly people. A laboratory prototype built lightweight, portable, easy-to-use features that are verified test results, whose discussion also provided as operating performance.

Bioinspired robots are useful tools to study complex biomechanical processes of animal locomotion. Key movements and kinematic parameters under the control experimenters, which is impossible perform when experimenting with living animals. The primary challenge test biological hypotheses designing realistic taking inspiration from swimming snakes. Yet, underlying biomechanics undulatory i.e., anguilliform swimming, remains poorly understood. Many underwater snakebots made rigid segments that...

Abstract This paper focuses on developing a novel hybrid-haptic (nHH) device with remote center of rotation 4 DOFs (degrees freedom) intendant to be used as haptic device. The new architecture is composed two chains handling each one part the motions. It has advantages parallel robot high stiffness and accuracy, large workspace serial robots. optimal synthesis nHH was performed using real-coded genetic algorithms. optimization criteria constraints were established successively formulated...

Abstract Accurate prediction for mechanisms’ dynamic responses has always been a challenging task designers. For modeling easiness purposes, synthesis and optimization have mostly limited to rigid systems, making consequently the designer unable vow that manufactured mechanism satisfies target responses. To address this limitation, flexible is aimed in work. Two benchmark mechanisms being core of myriad mechanical devices are scope, mainly, slider-crank four-bar. In addition dimensions,...

Kirigami is the art of cutting paper to create three-dimensional figures for primarily aesthetic purposes. However, it can also modify mechanical behavior resulting structure. In literature, kirigami has been applied material’s structural behavior, such as by changing its elasticity, rigidity, volume, or any other characteristic. This article examines a pattern rectangular cuts on thermoplastic polyurethane soft material structure and influence parameters macrostructure. The results...

Abstract In the field of laparoscopic surgery, research is currently focusing on development new robotic systems to assist practitioners in complex operations, improving precision their medical gestures. this context, performance these platforms can be conditioned by various factors, such as robot’s accessibility and dexterity task workspace. paper, we present a strategy for kinematic dynamic 7-degrees freedom robot-assisted camera-holder system surgery. This approach involves simultaneous...