Robotics, Volume 11, Issue 6

Modern electrical grippers have lower life-cycle costs compared to pneumatic ones. Furthermore, they provide force control, making it possible to grasp objects with different fragility using a single device. At the same time, electrical grippers have...

Cable robots are widely used in the field of rehabilitation. These robots differ from other cable robots because the cables are rather short and are usually equipped with magnetic hooks to improve the ease of use. The vibrations of rehabilitation rob...

Inspired by the reflective and deliberative control mechanisms used in cognitive architectures such as SOAR and Sigma, we propose an alternative decision mechanism driven by architectural appraisals allowing robots to overcome impasses. The presented...

In classical Cartesian space position control, KD, the end-effector follows the set-point trajectory with a stiffness expressed in the directions of the external coordinates through the stiffness matrix, K, and with a damping proportional to the firs...

Assessing the performance of exoskeletons in assisting human balance is important for their design process. This study proposes a novel testbed, the B.E.A.T (Balance Evaluation Automated Testbed) to address this aim. We applied the B.E.A.T to evaluat...

In the fields of control engineering and robotics, either the Lagrange or Newton–Euler method is generally used to analyze and design systems using equations of motion. Although the Lagrange method can obtain analytical solutions, it is difficu...

Many robotics systems carrying certain payloads are employed in manufacturing industries for pick and place tasks. The system experiences inefficiency if more or less weight is introduced. If a different payload is introduced (either due to a change...

In this work, we consider the autonomous object transportation problem employing a team of mobile manipulators within a compact planar workspace with obstacles. As the object is allowed to translate and rotate and each robot is equipped with a manipu...

There is a growing application of passive exoskeletons in the industrial sector with the purpose to reduce the incidence of work-related musculoskeletal disorders (MSDs). Nowadays, while many passive shoulder exoskeletons have been developed to suppo...

Soft robotic and medical devices will greatly benefit from stretchable and compliant pressure sensors that can detect deformation and contact forces for control and task safety. In addition to traditional 2D buckling via planar substrates, 3D bucklin...