Robotics, Volume 11, Issue 2

This study aims to investigate the effects of the degree of freedom (DOF) and weight of the hand exoskeleton (HE) on hand joint mobility function (ease of movement, movement range) in fine hand use activities. A three-digit passive HE prototype was b...

Particle swarm optimisation (PSO) is a swarm intelligence algorithm used for controlling robotic swarms in applications such as source localisation. However, conventional PSO algorithms consider only the intensity of the received signal. Wavefield si...

This study proposes a performance index for the dimensional optimization of parallel manipulators with specific tasks. In particular, the index evaluates the dexterity of the mechanism to be designed and compares it with that of the required specific...

In a factory with different kinds of spatial atmosphere (warehouses, corridors, small or large workshops with varying sizes of obstacles and distribution patterns), the robot’s generated paths for navigation tasks mainly depend on the represent...

Straight-line needle insertion is a prevalent tool in surgical interventions in the brain, such as Deep Brain Stimulation and Convection-Enhanced Delivery, that treat a range of conditions from Alzheimer’s disease to brain cancer. Using a steer...

This paper aims to improve the positioning accuracy of serial industrial manipulators using force feedback in manufacturing processes by implementing an elasto-geometrical model-based control. Initially, the real-time position control strategy using...

Collaborative robots (or cobots) are robots that are capable of safely operating in a shared environment or interacting with humans. In recent years, cobots have become increasingly common. Compliant actuators are critical in the design of cobots. In...

Bin picking is a challenging problem that involves using a robotic manipulator to remove, one-by-one, a set of objects randomly stacked in a container. In order to provide ground truth data for evaluating heuristic or machine learning perception syst...

COVID-19 patients are strongly affected in terms of limb motion when imbedded during the acute phase of the infection, but also during the course of recovery therapies. Peculiarities are investigated for design requirements for medical devices in lim...

The foundation and emphasis of robotic manipulator control is Inverse Kinematics (IK). Due to the complexity of derivation, difficulty of computation, and redundancy, traditional IK solutions pose numerous challenges to the operation of a variety of...