Assistive robots in surgical applications should be gravity balanced due to safety considerations. This study presents a gravity balancing solution for a 3-degree-of-freedom parallel manipulator to be used as an endoscope ...

A kinesthetic haptic device’s performance relies on unpowered, powered and controlled system characteristics. In this paper, a critical review is carried out for the well-known metrics for kinematics, stiffness and dynamic ...

This study focuses on conceptual design alternatives for a planar high-speed/high-precision manipulator in terms of mechanism structure, control strate-gy, and drive system selection. These concepts are investigated ...