This work analyses the effects of segmentation followed by parallel magnetization of ring-shaped NdFeB permanent magnets used in slotless cylindrical linear actuators. The main purpose of the work is to evaluate the effects of that segmentation on th...
This paper deals with a methodical design approach of fault-tolerant controller that gives assurance for the the stabilization and acceptable control performance of the nonlinear systems which can be described by Takagi–Sugeno (T–S) fuzzy...
We demonstrate extremely high-throughput microfluidic cell sorting by making a parallel version of the vortex-actuated cell sorter (VACS). The set-up includes a parallel microfluidic sorter chip and parallel cytometry instrumentation: optics, electro...
To develop a wrist robotic exoskeleton-type interface (REI) for force interaction, it should have a suitable range of motion similar to human wrist activities of daily living, large torque output performance, and low moving parts inertia for dynamic...
The paper presents novel models of reconfigurable parallel mechanisms (RPMs) with a single active degree-of-freedom (1-DOF). The mechanisms contain three to six identical kinematic chains, which provide three (for the tripod) to zero (for the hexapod...
Dual 6 degrees of freedom (6-DOF) series-parallel cooperative robot actuators are core execution components in modern intelligent manufacturing systems, which are widely used in high-end manufacturing scenarios such as aerospace precision assembly, l...
Redundant cascade manipulators actuated by pneumatic bellows actuators are passively compliant, rugged and dexterous, making them exceptionally well suited for application in agriculture. Unfortunately, the bellows are notoriously difficult to precis...
Our work introduces a new robotic solution named CochleRob, which is used for the administration of super-paramagnetic antiparticles as drug carriers into the human cochlea for the treatment of hearing loss caused by damaged cochlea. This novel robot...
Magnetic springs are a fatigue-free alternative to mechanical springs that could enable compliant actuation concepts in highly dynamic industrial applications. The goals of this article are: (1) to develop and validate a methodology for the optimal d...
Tilt vibrations inevitably have negative effects on some precise engineering even after applying horizontal and vertical vibration isolations. It is difficult to adopt a traditional passive vibration isolation (PVI) scheme to realize tilt vibration i...
This paper proposes an electromagnetic suspension with an electromagnetic actuator, which can improve the riding comfort and stability of the vehicle without changing the safety of traditional MacPherson suspension. First, the electromagnetic suspens...
Based on the advantages of redundancy, high stiffness, and strong load-bearing capacity of parallel mechanisms, they can be applied in the field of mobile robots. This paper proposes a novel three-platform parallel-coupled mobile robot and conducts m...
This work presents a comprehensive performance evaluation and optimum design of a novel symmetrical 4-PPR (P indicates the prismatic joint, R denotes the revolute joint, and the letter with underline represents an active joint) redundant planar paral...
Soft robotics, a recent advancement in robotics systems, distinguishes itself by utilizing soft and flexible materials like silicon rubber, prioritizing safety during human interaction, and excelling in handling complex or delicate objects. Soft pneu...
Cyber–physical testing has been applied for a decade in hydrodynamic laboratories to assess the dynamic performance of floating wind turbines (FWTs) in realistic wind and wave conditions. Aerodynamic loads, computed by a numerical simulator fed...
Neurological disorders like stroke are one of the main causes of motor dysfunction and gait function disabilities in humans. These disorders impact the mobility of patients often leading to weakened and impaired ankle joints which further compromise...
Cable-driven parallel robots (CDPRs) offer large workspaces with minimal infrastructure, but their control becomes difficult when the platform is under-constrained and sensing is limited. This paper investigates uncalibrated visual servoing (UVS) wit...
Cable-driven robotic systems are widely used in applications requiring lightweight structures, large workspaces, and accurate force regulation. In such systems, the mechanical behavior of cable-driven actuators is strongly influenced by the elastic p...
We introduce the notion of the Lie derivative in the context of dual quaternions that represent rigid motions and twists. First we define the wrench in terms of dual quaternions. Then we show how the Lie derivative helps understand how actuators affe...
We present a new tri-electrode topology for reducing the control voltage for electrostatic actuators. Conventional parallel plate actuators are dual-electrode systems, formed by the MEMS structure and the drive electrode. By placing a perforated inte...
The membrane-type air spring can be used to suppress lateral vibration of a vibration isolation table. However, compared to voice coil actuators, pneumatic actuators are difficult to use for precise vibration control, because servo valves have nonlin...
This paper presents the concept of a parallel medical robotic service system to assist in a surgical procedure involving precise exploratory trepanation holes in a patient’s skull. The target position and orientation of the trepanation tool in...
Cable-driven parallel robots with a redundant configuration have infinite solutions for their cable tension distribution to provide a specific wrench to the end-effector. Redundancy is commonly used to increase the workspace and stiffness or to achie...
Position estimation techniques for solenoid actuators are successfully used in a wide field of applications requiring monitoring functionality without the need for additional sensors. Most techniques, which also include standstill condition, are base...
Vectored thrusters can significantly improve the maneuverability of underwater vehicles. However, due to the harsh underwater environment and severe working conditions, the thrust-vectoring device needs to be designed with high stiffness and high rel...
In this paper, we investigate the design of pennate topology fluidic artificial muscle bundles under spatial constraints. Soft fluidic actuators are of great interest to roboticists and engineers, due to their potential for inherent compliance and sa...
In this paper, a novel photovoltaic-electrostatic hybrid actuator with a slant lower electrode based on the PLZT ceramic is proposed. The mathematical model of photovoltaic-electrostatic hybrid actuator is established. Then, based on the mathematical...
This article has as the main subject the exoskeleton devices used in rehabilitation applications of the wrist joint for patients who are in the recovery period after suffering a stroke. Exoskeleton devices have some advantages compared to classic the...
Preterm infants in neonatal intensive care units (NICUs) experience impaired neurodevelopment and dysregulated stress responses, partly due to a lack of tactile stimulation. Although massage therapy offers proven therapeutic benefits by stimulating C...
Several industrial robotic applications that require high speed or high stiffness-to-inertia ratios use parallel kinematic robots. In the cases where the critical point of the application is the speed, the compliance of the main mechanical transmissi...
This article presents a novel design for a double bend pneumatic muscle actuator (DB-PMA) inspired by snake lateral undulation. The presented actuator has the ability to bend in opposite directions from its two halves. This behavior results in horizo...
In this paper, we present different microelectromechanical systems based on electrostatic actuators, and demonstrate their capacity to achieve large and stepwise displacements using a cooperative function of the actuators themselves. To explore this,...
To address the limited grasping stroke (GS) of piezoelectric-actuated microgrippers, this paper proposes a novel symmetric microgripper configuration integrating reversed Scott Russell (S–R) mechanisms and differential lever amplification mecha...
A novel piezoceramic stack-based smart aggregate (PiSSA) with piezoceramic wafers in series or parallel connection is developed to increase the efficiency and output performance over the conventional smart aggregate with only one piezoelectric patch....
The EHRA (Electro-Hydraulic Rotary Actuator), using a vane rotary actuator, has the advantages of a high torque density and integration and is expected to become a joint actuator for robots. This research focuses on the sealing characteristics of var...
The kinematics of a two rotational degrees-of-freedom (DOF) spherical parallel manipulator (SPM) is developed based on the coordinate transformation approach and the cosine rule of a trihedral angle. The angular displacement, angular velocity, and an...
The parallel connection of technical and biological systems with a comparable mechanical behavior offers the possibility of reducing the interaction forces between those systems. Especially in the context of human–robot interaction (e.g., exosk...
This paper presents a hexapod-type reconfigurable parallel mechanism that operates from a single actuator. The mechanism design allows reproducing diverse output link trajectories without using additional actuators. The paper provides the kinematic a...
The strong coupling of the six-degree-of-freedom (6-DoF) electro-hydraulic Stewart parallel mechanism manifests as adjusting the elongation of one actuator potentially inducing motion in multiple degrees of freedom of the platform, i.e., a change in...
This paper presents a new MEMS varactor that uses repulsive actuation to achieve an ultra-linear capacitance-to-voltage response. The approach proposed involves actuating the moveable electrode away from the fixed electrode, instead of the convention...
Singularities are configurations where the number of degrees of freedom of a robot changes instantaneously. In parallel manipulators, a singularity could reduce the mobility of the end-effector or produce uncontrolled motions of the mobile platform....
A better understanding of how actuator design supports locomotor function may help develop novel and more functional powered assistive devices or robotic legged systems. Legged robots comprise passive parts (e.g., segments, joints and connections) wh...
This paper proposes a new shape memory alloy (SMA)-driven compliant rotary actuator that can perform both passive and self-actuated motions. This SMA actuator is suitable as a redundant actuation part in a parallel robot joint to assist with singular...
This paper presents a novel parallel dual-stage compliant nanopositioning system (PDCNS), aimed at nanoscale positioning for microscale manipulation. In the developed PDCNS, the coarse stage actuated by the voice coil motor and the fine stage driven...
A branch of robotics, variable impedance actuation, along with one of its subfields variable stiffness actuation (VSA) targets the realization of complaint robotic manipulators. In this paper, we present the modeling, identification, and control of a...
In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum arm is inspired by the twisting movements of the human upper limb. In this novel continuum arm, two contractor pneumatic muscle actuators (P...
Nowadays, electromagnetic linear oscillatory actuators are used as vibration control devices because of their high controllability. However, there is a problem that thrust and vibration are small at a wide drive frequency range. In order to improve t...
The design of many pneumatic soft actuators is based on multiple chambers in parallel alignment. The Cosserat beam theory is an established technique for modeling this kind of actuator, where existing approaches mainly differ in the parameters being...
In this paper, a general methodology for the dynamic study of electrostatically actuated droplets is presented. A simplified 1D transient model is developed to investigate the transient response of a droplet to an actuation voltage and to study the e...
Shape memory alloys (SMAs) are smart materials that change their crystalline structures when subjected to heat or tension, resulting in a macroscopic deformation. When applied to actuators, SMAs present a remarkable load–weight ratio and flexib...
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