Abstract: In this paper, the synthesis of any planar compliance with a six-component compliant mechanism is addressed. The mechanisms studied are either serial mechanisms with six elastic joints or parallel mechanisms with six ...

Abstract: In this article, the synthesis of any specified planar compliance with a serial elastic mechanism having previously determined link lengths is addressed. For a general n-joint serial mechanism, easily assessed necessary ...

Abstract: In this paper, the realization of any specified planar compliance with two 3R serial elastic mechanisms is addressed. Using the concept of dual elastic mechanisms, it is shown that the realization of a compliant behavior ...

Abstract: This paper presents an approach to passively realize any specified object spatial compliance using the grasp of a robotic hand. The kinematically anthropomorphic hands considered have multiple 4-joint fingers making hard ...

Abstract: This paper addresses the passive realization of any selected planar elastic behavior with a parallel or a serial manipulator. Sets of necessary and sufficient conditions for a mechanism to passively realize an elastic ...

Abstract: This paper presents methods for the realization of 2 × 2 translational compliance matrices using serial mechanisms having three joints, each either revolute or prismatic and each with selectable compliance. The geometry ...

Abstract: This paper addresses the passive realization of any selected planar elastic behavior with redundant elastic manipulators. The class of manipulators considered are either serial mechanisms having four compliant joints or ...

Abstract: Belowknee amputation is one of the most frequently performed types of amputation in the United States. This paper describes CamWalk, a novel passive ankle prosthesis that has mechanical behavior similar to that of a natural ...