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Reflexology is a kind of assisting physical care through massaging or applying pressure to parts of the feet where will reflect an image of the human body in order to improve general health of the human. Based on this principle, we propose a new application of 7-DOF(degree of freedom) redundant manipulator to do the massaging work for human feet with the tactile sensor equipped to the end-effector...
Considering the redundant degree of freedom (DoF) of open loop kinematic chain, the closed-loop inverse kinematics algorithm (CLIK) via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given and the constraints of joint limits are applied to modify the null space in order for some optimized solutions. The repetitive trajectories are tracked...
This paper presents a redundant manipulator with a new application to relaxing human-body muscle fatigue. The environment between human-body and the manipulator end-effector is modeled as a mass-spring-damper system. Then the generalized impedance control method is used to control the manipulator in the task space as well as the null space. To get the optimized solutions, the objective function is...
This paper presents a kind of method for the inverse kinematics of a seven degrees of freedom (DoF) arm installed on a mobile humanoid robot. Due to the redundancy of 7-DoF open-chain arm, the closed-loop inverse kinematics via pseudoinverse method is used to solve the corresponding joint trajectories if the end-effector trajectory is given. Because of the existence of the null space in the kinematically...
This paper addresses the multiple tasks performing issues for redundant nonholonomic mobile manipulators. An extended gradient projection redundancy resolution scheme is proposed which can determine the directions of self-motion to perform multiple secondary tasks. This scheme is easy to use and can avoid algorithm singularities. A general dynamic modeling method is presented in consideration of nonholonomic...
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