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Applying Screw Theory to Design the Turmell-Bot: A Cable-Driven, Reconfigurable Ankle Rehabilitation Parallel Robot

Vargas-Riaño, Julio; Agudelo-Varela, Óscar; Valera Fernández, Ángel (MDPI AG, 2023-12)

[EN] The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle ...
Kinematic analysis and dimensional optimization of a 2R2T parallel manipulator

Araujo-Gómez, Pedro; Díaz-Rodríguez, Miguel; Mata Amela, Vicente; González Estrada, Octavio A. (Springer-Verlag, 2019-10)

[EN] The need of a device providing two-translational and two-rotational movements led us to design a 3UPS-1RPU parallel manipulator. The manipulator consisted of a mobile platform connected to a base through one central ...
Representation of planar motion of complex joints by means of rolling pairs. Application to neck motion

Page Del Pozo, Alvaro Felipe; De Rosario Martínez, Helios; Galvez Griso, Jose Antonio; Mata Amela, Vicente (ELSEVIER SCI LTD, 2011-02-24)

[EN] We propose to model planar movements between two human segments by means of rolling-without-slipping kinematic pairs. We compute the path traced by the instantaneous center of rotation (ICR) as seen from the proximal ...

Mostrando ítems 1-3 de 3