The collaborative effort between fundamental science, engineering and medicine provides
physicians with improved tools and techniques for delivering effective health care. Minimally …

This paper presents a new gravity compensation method for an upper extremity exoskeleton
mounted on a wheel chair. This new device is dedicated to regular and efficient …

Robotic rehabilitation for poststroke therapies is an emerging new domain of application for
robotics with proven success stories and clinical studies. New robotic devices and software …

Our experience with a Haptic Workstation/spl trade/has shown that this device is
uncomfortable to use during long sessions. The main reason is the uncomfortable posture of …

This paper presents the modelling and experimental evaluation of the gravity compensation
of a horizontal 3-UPU parallel mechanism. The conventional Newton-Euler method for static …

This paper discusses the Clavel's Delta parallelrobot and proposes an alternate solution to
its kinematics/dynamic model. We meant to integrate these models into ona small electrical …

This paper presents detailed design, analysis, prototyping, and testing of a novel force-
reflecting hand-controller allowing physicians to control a robotic wrist and perform …

Robotic surgery has been steadily growing, with many new platforms entering the field.
Research platforms, however, are limited in number, require a sizable capital expenditure or …

Among different interaction modalities, force feedback is one of the key technologies to
increase the interactivity and immersion of a virtual assembly process. This paper presents a …

Designing haptic devices with both high stiffness and low inertia is challenging. In this
paper, we propose a solution to overcome the difficulty. We present a new haptic device …