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A low-cost and easy-to-customize Cable-driven Wrist Robotic Rehabilitor (CDWRR) has been developed for forearm and wrist motion training. This device can be potentially applied to rehabilitation of stroke patients for three degree-of-freedom (3-DOF) arm motion, including forearm supination/pronation, wrist flexion/extension and ulnar/radial deviation. The CDWRR can be customized for patients with...
High precision rotational alignment is of key importance in micro/nanopositioning or micromanipulating applications. This paper presents a novel rotary micropositioning stage with remote center of motion (RCM) characteristic. Compared with conventional rotary guiding mechanism, the proposed double-parallelogram mechanism (DPM) possesses pure rotational motion along with a compact structure. Based...
The research area of bio-inspired control methods for multi-legged robots and reptile robots has made significant development with the use of central pattern generators (CPGs) in recent years. However, there are still many problems to be solved to learn clearly the structure of CPG to adapt it to different applications. In this article, we use a method to configure CPG which makes the CPG have adaptive...
A human upper-limb endoskeleton has 7 degrees of freedom to achieve various tasks dexterously. Therefore, the biological structures of human arm are attractive to researchers, and in this paper, a 7-DOF (degree of freedom) humanoid arm with cable-driven is presented. For CDHA inheriting the human arm's natural features, it is expected to possess the remarkable advantages of a human arm. Then a critical...
In this paper, the research object is 3-DOF spherical joint robot driven by four cables, which imitates the motion of people's shoulder joint. The dynamic model of the 3-DOF cable-driven robotic shoulder joint is built by using Lagrange dynamics method so as to obtain the standard form of dynamic equation. Based on backstepping technique, the control law of the system model is designed for the robot...
This paper presents the control of a 3-DOF manipulator with joint angle feedback, the function of which was achieved by three mutually perpendicular joints intersecting at one point actuated by four parallel pulling force. Encoders were installed on each joint to obtain the control error caused by elasticity of cables and mechanism installation. Due to the output coupling problem of parallel mechanism,...
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