This paper presents the enhanced stiffness modeling and analysis of robot manipulators,
and a methodology for their stiffness identification and characterization. Assuming that the …

Dextrous manipulation involves a variety of subjects in robotics, including kinematics, rolling
and sliding, contact mechanics, grasping planning and optimization, dynamics, and control …

This extensive review paper, which involves 204 papers, discusses comprehensively a
number of performance indices that are instrumental in the design of parallel kinematics …

In this paper, we develop the theoretical work on the properties and mapping of stiffness
matrices between joint and Cartesian spaces of robotic hands and fingers, and propose the …

The paper presents a methodology to enhance the stiffness analysis of serial and parallel
manipulators with passive joints. It directly takes into account the influence of external and …

A grasped object is defined to be in equilibrium if the sum of all forces and moments acting
on a body equals zero. An equilibrium grasp may be stable or unstable. Force closed grasps …

The paper presents an advanced stiffness modeling technique for perfect and non-perfect
parallel manipulators under internal and external loadings. Particular attention is paid to the …

We identify the space of spatial compliant behavior that can be achieved through the use of
simple springs connected in parallel to a single rigid body. Here, the expression" simple …

To adapt to many different objects and tasks, hands are very complex systems with many
degrees of freedom (DoFs), sensors, and actuators. In robotics, such complexity comes at …

This paper presents an alternative decomposition of spatial stiffness matrices based on the
concept of compliant axes. According to the congruence transformation of spatial stiffness …