30 Results Found

In response to the personalized and precise rehabilitation needs for motor injuries and stroke associated with population aging, this study proposes a design method for an intelligent rehabilitation trainer that integrates Bayesian information gain (...

The article proposes an approach for synthesizing hybrid (parallel-serial) manipulators with five degrees of freedom (5-DOF) using open kinematic chains. The method idea consists in taking an open kinematic chain, selecting a subchain within it, and...

The development of serial or parallel manipulator robots is constantly increasing due to the need for faster productivity and higher accuracy. Therefore, researchers have turned to combining both mechanisms, sharing the advantage from serial to paral...

With countless devices connected to the Internet of Things, trust mechanisms are especially important. IoT devices are more deeply embedded in the privacy of people’s lives, and their security issues cannot be ignored. Smart contracts backed by...

Serial-parallel hybrid manipulators featuring remote actuation via parallelogram mechanisms are highly valued for their low inertia and high stiffness. However, the complex nonlinear errors introduced by their multi-stage transmission chains pose sig...

Amid increasing demands for planetary exploration, wide-range autonomous exploration is still a great challenge for existing planetary rovers, which calls for new planetary rovers with novel locomotive mechanisms and corresponding control strategies....

In this work, the concept and mechanical design of a novel compact, lightweight, omnidirectional three-legged robot, featuring a hybrid serial–parallel topology including leg compliance is proposed. The proposal focusses deeply on the design as...

Ongoing interests in high-speed precision actuation continuously sparks great attention on developing fast amplified piezoelectric actuators (APAs) with compliant mechanisms. A new type of APA with enhanced resonance frequency is herein reported base...

Weld detection is vital to the quality of ship construction and navigation safety, and numerous detection robots have been developed and widely applied. Focusing on the current bottleneck of robot safety, efficiency, and intelligent detection, this p...

The ankle is a complex joint with a high injury incidence. Rehabilitation Robotics applied to the ankle is a very active research field. We present the kinematics and statics of a cable-driven reconfigurable ankle rehabilitation robot. First, we stud...

Parallel–serial (hybrid) manipulators represent robotic systems composed of kinematic chains with parallel and serial structures. These manipulators combine the benefits of both parallel and serial mechanisms, such as increased stiffness, high...

Traffic sign detection is a core function of autonomous driving systems, requiring real-time and accurate target recognition in complex road environments. Existing lightweight detection models struggle to balance accuracy, efficiency, and robustness...

In this paper, to effectively solve the joint motion planning of a nine-DOF redundant hybrid boarding system in the process of ocean wave active compensation, we present a multi-task motion planning (MTMP) method for the redundant hybrid boarding sys...

The extreme operating environment of the combined heat and power (CHP) engine is likely to cause anomalies and defects, which can lead to engine failure; thus, detecting engine anomalies is essential. In this study, we propose a parallel convolutiona...

This paper presents a novel walking hybrid-kinematics robot that can be reconfigured to have three, five, and six degrees of freedom (DOFs) for adsorption machining of large structures. A symmetric 3PRPR or 3PRRR parallel mechanism with three transla...

This paper deals with the mechanical design and kinematic analysis of an autonomous wrist for space assembly (AWSA) whose actuators are activated by DC motors and ball screw drives. This robotic wrist was developed and built as a prototype to investi...

A novel over-constrained XYθz nano-positioning stage with a high load-bearing capacity is proposed. This serially connected displacement stage adopts an embedded structural design that integrates a translation stage with a rotation stage in ser...

Parametric decay instability (PDI) generated in milliseconds is an important physical phenomenon in ionospheric heating. Usually, numerical simulations are used to study PDI mechanisms. They can intuitively investigate the generation and development...

The paper analyzes a planar three degrees of freedom manipulator with cable actuation. Such a system can be understood as a special type of hybrid parallel kinematic mechanism composed of the rigid serial chain and the additional auxiliary cable syst...

Compliance control strategies have been utilised for the ultraprecision polishing process for many years. Most researchers execute active compliance control strategies by employing impedance control law on a robot development platform. However, these...

Robot-assisted rehabilitation has demonstrated significant efficacy in improving motor function among patients with physical and neurological impairments. The development of effective rehabilitation robots requires careful integration of mechanical d...

This work systematically addresses the dual challenges of non-inertial dynamic coupling and kinematic constraint redundancy encountered in dynamic modeling of serial–parallel–serial hybrid robotic mechanisms, and proposes an improved Newt...

This article describes an apparatus developed by the authors as a substitution for physical therapists regarding mechanical movements in the rehabilitation of frozen shoulder. In particular, the performance of this apparatus is improved in comparison...

The Conformer enhanced Transformer by using convolution serial connected to the multi-head self-attention (MHSA). The method strengthened the local attention calculation and obtained a better effect in auto speech recognition. This paper proposes a h...

To overcome the time-consuming drawbacks of Computational Fluid Dynamics (CFD) numerical simulations, this paper proposes a hybrid model named PA-TLA (parallel architecture combining a TCN, LSTM, and an attention mechanism) based on the concept of in...

Prediction accuracy for complex flexible support systems is often limited by insufficiently characterized thermo-mechanical couplings and nonlinearities. To address this, we propose a multilevel hybrid parallel–serial model that integrates the...

Zenith Tropospheric Delay (ZTD) is a significant source of atmospheric error in the Global Navigation Satellite System (GNSS). Developing a high-accuracy ZTD prediction model is essential for both GNSS positioning and GNSS meteorology. To address the...

Flexure-based nanopositioning stages have emerged as indispensable tools in advanced fields such as nanotechnology, semiconductor manufacturing, and biomedical engineering, where nanometer-scale precision is paramount. This paper presents a comprehen...

Short-term passenger flow prediction provides critical data-driven support for optimizing resource allocation, guiding passenger mobility, and enhancing risk response capabilities in urban rail transit systems. To further improve prediction accuracy,...

Currently, there is an intensive development of bipedal walking robots. The most known solutions are based on the use of the principles of human gait created in nature during evolution. Modernbipedal robots are also based on the locomotion manners of...