Parallel mechanisms are used increasingly often as modular subsystem units in various
robots and man-machine interfaces for their superior stiffness, payload-to-weight ratio and …

This paper presents the exhaustive review on the kinematic modeling of robotic
manipulators in a systematic manner. A lot of techniques are available in the literature for …

In this paper the active dual-arm upper body exoskeleton Capio, its application for the
teleoperation of a complex humanoid robot, as well as its use in a virtual environment are …

In this paper, the concept of an innovative exoskeleton for stroke rehabilitation in the
Recupera-Reha project is presented. By applying innovative electromechanical solutions …

Conventional kinematic studies of serial manipulators involve the proper selection of
coordinate frames of reference at appropriate positions. The standard practice, being used …

In this article, different conventions for specifying kinematics of mechanisms and their
properties are reviewed with emphasis on the convention developed by Sheth and Uicker in …

The design of various robots in industrial and academic contexts integrates closed loops to
improve the mechanical stiffness in comparison with purely serial or tree-type topologies. In …

The prime objective of this work is to deal with the kinematics of spatial hybrid manipulators.
In this direction, in 1955, Denavit and Hartenberg proposed a consistent and concise …

Design. An active exoskeleton is a human-machine-interface which records the movements
of its human operator and transfers force back to the human body. For example, it can be …

This paper introduces a methodology and a software framework intended to optimize and
speed up the design process of a haptic interface or a rehabilitation system. Starting from an …