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RISDynamic Modeling of Cable Driven Parallel Manipulators With Distributed Mass Flexible Cables
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A cabledriven parallel manipulator is an economic way to achieve manipulation over large workspace. However, unavoidable vibration in long cables can dramatically degenerate the positioning performance of manipulators. In ...
Real Time Estimation of Glenohumeral Joint Rotation Center With Cable Driven Arm Exoskeleton (CAREX)—A Cable Based Arm Exoskeleton
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: In the past few years, the authors have proposed several prototypes of a Cabledriven upper ARm EXoskeleton (CAREX) for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center ...
A Higher Order Method for Dynamic Optimization of Controllable Linear Time Invariant Systems
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This work describes a new procedure for dynamic optimization of controllable linear timeinvariant (LTI) systems. Unlike the traditional approach, which results in 2 n firstorder differential equations, the method proposed ...
Parameter Design in Optimal Control Problems for Linear Dynamic Systems Using a Canonical Form
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Control problems in dynamic systems require an optimal selection of input trajectories and system parameters. In this paper, a novel procedure for optimization of a linear dynamic system is proposed that simultaneously ...
Reducing Dynamic Loads From a Backpack During Load Carriage Using an Upper Body Assistive Device
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This paper presents studies of an upper body assistive device designed to aid human load carriage. The two primary functions of the device are: (i) distributing the backpack load between the shoulders and the waist and ...
Second Spine: Upper Body Assistive Device for Human Load Carriage
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This study presents the development of second spine, an upper body assistive device for human load carriage. The motivation comes from reducing musculoskeletal injuries caused by carrying a heavy load on the upper body. ...
MAXFAS: Mechatronic Arm Exoskeleton for Firearm Aim Stabilization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: This article details the design, fabrication, and application of a mechatronic arm exoskeleton for firearm aim stabilization (MAXFAS), which senses and damps involuntary tremors in the arm. Human subject experiments were ...
Optimal Design of Cable Driven Manipulators Using Particle Swarm Optimization
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The design of cabledriven manipulators is complicated by the unidirectional nature of the cables, which results in extra actuators and limited workspaces. Furthermore, the particular arrangement of the cables and the ...
Configuration Robustness Analysis of the Optimal Design of Cable-Driven Manipulators
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Designing an effective cable architecture for a cable-driven robot becomes challenging as the number of cables and degrees of freedom of the robot increase. A methodology has been previously developed to identify the optimal ...
Optimizing Stiffness and Dexterity of Planar Adaptive Cable-Driven Parallel Robots
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Adaptive cable-driven parallel robots are a special subclass of cable-driven systems in which the locations of the pulley blocks are modified as a function of the end-effector pose to obtain optimal values of given performance ...