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Showing 1 to 7 of 7 for “"robotic wrist"”.
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DexWrist: A Robotic Wrist for Constrained and Dynamic Manipulation
DexWrist is a compliant robotic wrist designed to advance robotic manipulation in highly-constrained environments, enable dynamic tasks, and speed up data collection. DexWrist is designed to be close to the functional capabilities of the human wrist and achieves mechanical compliance and a greater …
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Development of the Carpal Wrist; a Symmetric, Parallel-Architecture Robotic Wrist
… device that is ideally suited as a robotic wrist or platform manipulator. Because of its similarity to the human wrist, this invention has been named the "Carpal Wrist." Much like its natural counterpart, the Carpal Wrist has eight primary links, corresponding to the eight carpal …
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The design of a compact actuator system for a robotic wrist/hand
Thesis (M.S.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 1992.
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Mechanical design of the Carpal wrist: a parallel-actuated, singularity-free robotic wrist
Parallel robotic manipulators offer potential advantages over the more conventional serial manipulators, such as a higher stiffness-to-weight ratio and more precise control. However, their use as base manipulators and robotic wrists has been limited by their more complicated kinematic solutions …
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Error modeling of the carpal wrist
… of parallel-architecture mechanisms for use as robotic manipulators. Parallel robots offer the benefits of higher load-carrying capacity, greater positioning accuracy and lower weight when compared to serial devices. However, robotic wrist development has traditionally focused on serial …
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Towards the development of a dynamic device for the evaluation of hypertonia of the upper extremity
… NeuroFlexor device. These assess combined wrist and finger flexor tone by monitoring wrist joint torque during passive wrist extension. Wrist flexor tone evaluations made by manipulation of the wrist joint alone, however, could be affected by possible hypertonia of the finger flexors due to …
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Observer based velocity and environment force estimation for rigid body control
… in this work. A magnetically levitated robotic wrist is here modelled as a rigid body subjected to both control and environment forces. All the algorithms presented here were implemented on the Maglev wrist for experimental verification. A good inertial model of the rigid body was needed …