This paper introduces a novel dexterous overconstrained 2-DOF parallel wrist with a large
singularity-free range of motion. This mechanism produces a 2-DOF sphere on sphere pure …

Building humanoid robots with properties similar to those of humans in terms of strength and
agility is a great and unsolved challenge. This work introduces a compact and lightweight …

Developing a prosthetic system that emulates the complexity of the human upper limb is a
formidable challenge. Unfortunately, abandonment rates for such devices remain high …

This paper presents the design of a new lightweight, full-size bipedal robot developed in the
Humanoid Robotics Laboratory at Nazarbayev University. The robot, equipped with 12 …

The increasing presence of high density logistic warehouses demands the deployment of
fast and flexible robotic solutions. One of the open challenges toward this objective is …

The cases of musculoskeletal diseases in workplaces like industrial warehouses and
healthcare units is rapidly increasing. The ergoCub project aims to introduce a new …

This paper fits into the field of research concerning robotic systems for rehabilitation. Robotic
systems are going to be increasingly used to assist fragile persons and to perform …

This study aims to develop a novel decoupling method for the independent control of the
position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to …

This article presents a kinematic analysis and modification of a wrist mechanism of the DLR
robot arm, which is based on antiparallelogram linkages. This mechanism is modified to …

Abstract The Omni-Wrist III, invented by Ross-Hime Designs, Inc.(Rosheim, 1999, 2002), is a
well known two-degree of freedom wrist mechanism that incorporates parallel links with …