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This paper presents the prototype of a novel tethered pelvic assist device (T-PAD). This is a purely passive device, consisting of a set of elastic tethers with one end attached to a hip brace worn by a subject walking on a treadmill, and the other end attached to a fixed frame surrounding the subject. T-PAD offers the flexibility of varying the assistance required on the pelvis by changing the configuration...
Robots with hyper degrees of freedom motion are highly flexible, hence they are the ideal candidates to work in highly-confined spaces. These dexterous robotic arms are classified into two categories, i.e., discrete and continuum. As the weight of the discrete robots is a major concern, this paper discusses about the possibility of reducing their weight by replacing the heavy actuators with light...
In this paper, a comprehensive online error compensation approach using offline calibration results is proposed for industrial manipulators (with closed control architecture), in order to improve its accuracy. The contents in this paper include a calibration algorithm based on the product-of-exponential formula, an online error compensation procedure for implementing the calibration results on industrial...
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