The demand for robots capable of performing collaborative tasks requiring interactions with
the environment is on the rise. Safe interactions with the environment require attributes such …

This study considers two-degree-of-freedom planar tensegrity-inspired manipulators
composed of anti-parallelogram (X) and revolute (R) joints containing springs and actuated …

In biological systems, the joints are actuated antagonistically by muscles that can be moved
coherently to achieve the desired displacement and coactivated with appropriate forces to …

In biological systems, the joints are actuated antagonistically by muscles that can be moved
coherently to achieve the desired displacement and co-activated with appropriate forces to …

Bio-inspiration can be used in the development of novel dextrous and energy-efficient
manipulators. This paper focuses on planar manipulators inspired by the bird neck, built …

This article analyzes three versions of a planar Compound Cable-Driven Parallel Robot
(CCDPR), which consists of a tensegrity mechanism mounted on the moving-platform (MP) …

A hybrid cable-driven parallel robot (CDPR) is being developed that expands the
capabilities of conventional CDPRs by replacing one of the cables with a linear actuator that …

With the rapid development of aerospace technology, many challenging aerospace
missions have been proposed. The assembly of large-scale space structures, such as solar …

This thesis studies tensegrity-inspired joints and manipulators equipped with springs and
redundantly actuated by antagonistic cables. The actuation redundancy is leveraged to …

Musculoskeletal diseases of the back and upper extremities are one of the main causes of
sick leave in Europe. Exoskeletons are one possible approach to preventive measures. The …