This article presents neural learning based adaptive impedance control for a lower limb
rehabilitation exoskeleton with flexible joints (LLREFJ). First, the full model consisting of both …

With the paradigm shift from hospital-centric healthcare to home-centric healthcare in
Healthcare 4.0, healthcare robotics has become one of the fastest growing fields of robotics …

The conventional scissor mechanism is used in modern engineering and robotic
applications due to its metamorphic ability. The folding configuration provides space-saving …

This article provides a general framework for the use of low-impedance displacement
sensors mounted on the links of a serial robot to provide an intuitive physical human–robot …

This paper presents the reconfigurable legged mobile lander (ReLML) with its modes from
adjusting, landing, to roving. Based on the invented metamorphic variable-axis revolute …

In this paper, the concept of underactuated redundancy is presented using a novel spatial
two-degrees-of-freedom (2-DoF) gravity-balanced rotational manipulator, composed of …

The rotational workspace of a parallel manipulator is mainly limited by type II singularities. In
this letter, we present an approach to synthesize three-legged planar and spatial degree-of …

Mechanism is a device to transmit and convert motion, force, and energy. However, for a
long time, the structural synthesis methodology using the instantaneity and continuity based …

Many applications of physical human–robot interaction (pHRI) seek to minimize the
impedance felt by the operator. For large-scale operations, such as industrial material …

This paper presents the mechanical design of a six-degree-of-freedom low-impedance
displacement sensor. The sensor is mounted around a link of a serial robot and used as an …