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There has been a growing interest of parallel mechanisms which offer a high degree of precision, stiffness and dexterity to name just a few of their benefits as opposed to their traditional serial counterparts. For the applications of parallel mechanisms in the field of sensor, previous work was focused on investigating the 6 degree-of-freedom force/torque sensors based on common Gough-Stewart platform...
In this paper, we intend to introduce a concept of power assist system-walking power assist leg (WPAL), which is designed for human power augmentation. There are several problems in this project. First, the system structure is studied using Ergonomics. Second, robot must understand the motion intention and planning of the legs. Then, a very important aspect of the control problem is investigated....
The wearable power assist leg (WPAL) has been developed with the goal of decreasing human inner force / increasing human strength during walking in daily life for special groups, such as the old and the disabled. This paper summarizes the mechanical design using Ergonomics and analyses the dynamic characteristic of the exoskeleton robot considering the friction impact of the joints. According to the...
In this paper, the topic studied comprehensively is based on the constant stiffness mechanism of a clamp plate installed on a Parawrist robot and the optimization of the manipulatorpsilas functionality. Currently situated at the Ryerson University, the Parawrist robot is used for mold polishing applications to provide a smooth surface for a finished product. The content of this research focuses on...
There is an increasing requirement, in a variety of fields, for the ability to make microscopic movements or to position items with high degree of accuracy. In this paper, a parallel mechanism with prismatic actuators which encompasses three degrees of freedom and can produce motion on a microscopic level is proposed and developed. In order to produce such motion, the mechanism is composed of compliant...
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