New Advances in Mechanisms, Transmissions and Applications
Proceedings of the Sixth MeTrApp Conference 2023
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Chapter and Conference Paper
Analysis Study of Working Modes Within a Redundant Architecture for a Spherical Parallel Manipulator (SPM)
In this study, we focus on a 3DOF (RRR) spherical parallel manipulator (SPM) employed as haptic interface (HI) for teleoperation application. We started by presenting the kinematic model of the interface, its ...
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Chapter and Conference Paper
A Low-Cost System Concept for Initial Sonography Training
In this paper a concept of a low-cost system for initial training of sonography specialists is presented. The system consists of a 6 DOF haptic device equipped with force feedback, body phantom and a special s...
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Chapter and Conference Paper
Forward Kinematic Model Resolution of a Hybrid Haptic Device Using an Inertial Measurement Unit
This paper deals with the experimental validation of a novel hybrid haptic device (nHH) intended to be used in a robotic teleoperation platform for laparoscopic surgery. The contribution of this work is to cop...
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Book and Conference Proceedings
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Article
Cable-Driven Parallel Robot Workspace Identification and Optimal Design Based on the Upper Limb Functional Rehabilitation
An assessment of the human motion repeatability for three selected Activities of Daily Living (ADL) is performed in this paper. These exercises were prescribed by an occupational therapist for the upper limb r...
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Chapter and Conference Paper
Improved Resolution of a Forward Kinematic Model of Parallel Manipulators Using a Serial Approach
This paper presents an approach to improve the resolution of the forward kinematic model (FKM) of parallel manipulators. This approach is based on placing sensors on one leg of the manipulator rather than plac...
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Chapter and Conference Paper
Null-Space Compliance with Non-linear Behavior: Application to Spine Surgery Robotic Platform
In this paper, we develop a novel control strategy to constrain the internal motion of a robotic platform intended to assist surgeons in spine surgery. The targeted task consists in drilling into a specific re...
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Chapter and Conference Paper
Focus on Rehabilitation Exercises in View of Cable-Driven Parallel Robot Design
The traditional therapy, where the practitioner assists the patient’s affected member along prescribed tasks, presents some limitations such as the restricted number of the available therapists. Considering th...
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Chapter and Conference Paper
Kinematic Modelling of a Bioinspired Two Sections Serial Continuum Robot (SCR)
Designing and modelling bioinspired robots enables mimicking complex biomechanical process as snake swimming locomotion. Cable-driven compliant continuum robot made of separated modules was specifically design...
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Chapter and Conference Paper
Optimal Multi-robot Placement Based on Capability Map for Medical Applications
Multi-robot systems have become important in various applications. These robotic platforms consisting of several robotic arms collaborating in a common workspace are a suitable tool to perform complex tasks, s...
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Chapter and Conference Paper
Cable-Driven Parallel Robot Accuracy Improving Using Visual Servoing
A visual based control method based on coupling a camera with a cable-driven parallel robot (CDPR) is proposed in this paper. This work is motivated by the need of overcoming the robot uncertainties resulting ...
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Chapter and Conference Paper
Design Optimization and Dynamic Control of a 3-d.O.F. Planar Cable-Driven Parallel Robot for Upper Limb Rehabilitation
Assistive robotic rehabilitation can be classified into two groups, the passive mode where the robot moves the patient’s affected member along the desired movement, and the assisted as needed mode, where the subj...
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Chapter and Conference Paper
On the Optimal Design of LAWEX for a Safe Upper Arm Rehabilitation Exercising
This paper addresses the optimal synthesis problem of a cable driven parallel robot: LAWEX. A formulation of an optimization problem with 3 different objective functions for a specific task is proposed and the...
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Chapter and Conference Paper
A Reconfigurable 6-DoF Cable-Driven Parallel Robot with an Extended Rotational Workspace
Despite their large translational workspace, cable-driven parallel robots (CDPRs) are known to have limited rotational degrees of freedom, due to the unidirectional characteristic of cables and the potential c...
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Chapter and Conference Paper
Robotic-Assisted Platform for Spinal Surgery: A Preliminary Study
This paper presents a preliminary study for the design of a robotic-assisted platform dedicated to minimally invasive spinal surgery (MISS) with two possible human-robot collaboration modes: co-manipulation an...
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Chapter and Conference Paper
Daily Life Activities Analysis for Rehabilitation Purposes
A comparative survey of different subjects’ gestures is presented in this paper. Based on the use of a motion capture system, 3 activities of daily living were recorded and analyzed to study each movement kine...
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Chapter and Conference Paper
Design of an 8-DoF Redundant Robotic Platform for Medical Applications
Redundant robots can provide improved kinematic performances compared to non-redundant robots, becoming suitable to perform complex tasks in several areas of application. Improved manipulability or dexterity a...
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Chapter and Conference Paper
Real-Time Resolution of the Forward Kinematic Model for a New Spherical Parallel Manipulator
This paper discusses the comparison between three methods used to solve the Forward Kinematic Model (FKM) of a New Spherical Parallel Manipulator (New SPM). The three methods are: a classical method (Classica...
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Chapter and Conference Paper
Autonomous Robot-Assistant Camera Holder for Minimally Invasive Surgery
In this paper we present an autonomous camera holder robotic system for minimally invasive surgery (MIS). The proposed system is composed of a 7-DoF collaborative robot, i.e. Franka robot, holding the surgical...
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Chapter and Conference Paper
Novel Safety Criterion for Synthesis of Cable Driven Parallel Robots
This paper deals with the synthesis of a cable driven parallel robot intended for rehabilitation tasks. The objective is essentially to enhance the safety of patients using rehabilitation robotic devices. A n...
