Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Accepted ManuscriptSven Lilge, Kathrin Nülle, Georg Böttcher, Svenja Spindeldreier, Jessica Burgner-Kahrs Author and Article InformationJ. Mechanisms Robotics. 1-34 (34 pages)Paper No: JMR-20-1163 https://doi.org/10.1115/1.4049058Published Online: November 7, 2020 Abstract The use of continuous and flexible structures instead of rigid links and discrete joints is a growing field of robotics research. Recent work focuses on the inclusion of continuous segments in parallel robots to […]

Stable Grasp Control With a Robotic Exoskeleton Glove

Abstract An exoskeleton robotic glove intended for patients who have suffered paralysis of the hand due to stroke or other factors has been developed and integrated. The robotic glove has the potential to aid patients with grasping objects as part of their daily life activities. Grasp stability was studied and researched by various research groups, […]

Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage

Abstract Walking with load carriage is a common requirement for individuals in many situations. Legged exoskeletons can transfer the load weight to the ground with rigid-leg structures, thus reducing the load weight borne by the human user. However, the inertia of paralleled structures and the mechanical joint tend to disturb natural motions of human limbs, […]

Supernumerary Robotic Limbs to Assist Human Walking With Load Carriage

Abstract Walking with load carriage is a common requirement for individuals in many situations. Legged exoskeletons can transfer the load weight to the ground with rigid-leg structures, thus reducing the load weight borne by the human user. However, the inertia of paralleled structures and the mechanical joint tend to disturb natural motions of human limbs, […]

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Abstract This article investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design’s purpose. Wood is a material with low environmental impact and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. To guarantee stiffness […]

Stable Grasp Control With a Robotic Exoskeleton Glove

Abstract An exoskeleton robotic glove intended for patients who have suffered paralysis of the hand due to stroke or other factors has been developed and integrated. The robotic glove has the potential to aid patients with grasping objects as part of their daily life activities. Grasp stability was studied and researched by various research groups, […]

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Abstract Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the underactuated finger, has not well addressed when considering both the stability and adaptability. In this study, an adaptive anthropomorphic finger that adopted […]

Design of an Accurate and Stiff Wooden Industrial Robot: First Steps Toward Robot Eco-sustainable Mechanical Design

Abstract This article investigates the feasibility of replacing metal robot links by wooden bodies for eco-sustainable design’s purpose. Wood is a material with low environmental impact and a good mass-to-stiffness ratio. However, it has significant dimensional and mechanical variabilities. This is an issue for industrial robots that must be accurate and stiff. To guarantee stiffness […]

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Abstract Elastic elements are commonly adopted to realize underactuation in the design of human-friendly prosthetic hands. The stiffness of these elastic elements, which is a key factor affecting the grasp performance of the underactuated finger, has not well addressed when considering both the stability and adaptability. In this study, an adaptive anthropomorphic finger that adopted […]