Abstract: A broadly applicable formulation for determining the crossability of singular surfaces and curves in the workspace of serial robotic manipulators is presented. Singular surfaces and curves are ...

Abstract: A numerically controlled machining verification method is developed based on a formulation for delineating the volume generated by the motion of a cutting tool on the workpiece (stock). Varieties ...

Abstract: This paper presents the design and prototyping of an inherently compliant lightweight hand mechanism. The hand mechanism itself has 15 degrees of freedom and five fingers. Although the degrees ...

Abstract: Since humans can walk with an infinite variety of postures and limb movements, there is no unique solution to the modeling problem to predict human gait motions. Accordingly, we test herein ...