Now showing items 1-6 of 6
Derivation of input/output relationships for the Bennett 6R linkages based on the method of decomposition
The Bennett overconstrained 6R linkages are the double-planar, the double-spherical and the plano-spherical 6R linkages. These mechanisms are obtained by combining simple planar and/or spher-ical mechanisms and then removing ...
Experimental evaluation of actuation and sensing capabilities of a haptic device
Haptic devices are used to increase the telepresence level by providing the sense of touch to the human operator. Simultaneously, they capture the targeted motion of the human operator to generate a motion demand for the ...
Physical human-robot interaction: Increasing safety by robot arm’s posture optimization
To have robot manipulators working alongside with humans is a necessity in service robots. Obviously, in these robotics applications, human safety has precedence over precision and repeatability, which are the most important ...
Design of a teleoperation scheme with a wearable master for minimally invasive surgery
Minimally invasive surgery is increasingly being preferred over conventional surgery, however many problems still persist in longer surgeries such as pituitary surgeries, where surgeons are still required to hold an endoscope ...
Viscoelastic modeling of human nasal tissues with a mobile measurement device
Modeling the dynamic of tool-tissue interaction for the robotic minimally invasive surgeries is one of the main issues for designing appropriate robot controllers. A mobile measurement device is produced in order to model ...
Mechanism design for haptic handwriting assistance device
One of the applications of haptic technology is in education and training. Handwriting for first year-elementary students has been included in the curriculum for some years in Turkey as the first and only writing skill to ...