Abstract: Abstract. Tendon-driven continuum robots (TDCRs) offer exceptional dexterity and compliance, making them suitable for manipulation in constrained and complex environments. However, solving the inverse-kinematics (IK) problem ...

Abstract: This paper discusses the design of a new spherical parallel manipulator (SPM), which is used as a master device for medical tasks. This device is obtained by changing the kinematics of a classic SPM to eliminate the ...

Abstract: This paper presents the design and an experimental characterization of CADEL, a cable-driven elbow assisting device. The device design is presented to be portable and user-oriented solution and its kinematic model is ...

Abstract: Abstract. This paper presents a novel, compact four-degree-of-freedom (4DoF) integrated motion-tracking device (IMTD) designed for training and evaluation in laparoscopic surgery. The device's kinematics, mechanical design, ...

Abstract: Abstract. Rehabilitation robotics offers a promising approach to enhancing recovery in patients with musculoskeletal or cerebrovascular injuries. This article presents the development and validation of a novel variable ...

Abstract: Abstract. The rapid development of microsurgical robotics is increasingly challenging the adequacy of traditional remote center of motion (RCM) mechanisms. Their inherent rigidity, bulkiness, and limited kinematic flexibility ...

Abstract: This paper studies a structural–parametric synthesis of the four-bar and Stephenson II, Stephenson III A, and Stephenson III B six-bar function generators. A four-bar function generator is formed by connecting two coordinate ...