This paper studies the problem of planar four-bar motion approximation from the viewpoint
of extraction of geometric constraints from a given set of planar displacements. Using the …

In an earlier work, we have presented an efficient method for synthesizing crank-rocker
mechanisms that are capable of generating perceptually simple and smooth low harmonic …

This research aims to design and implement a novel task-based knee rehabilitation strategy
through kinematic synthesis, assist-as-needed control strategy, and recovery tracking …

To evaluate the kinematic performance of designed mechanisms, a statistical-variance-
based metric is proposed in this article to measure the “distance” between two discrete …

This dissertation deals with the problem of task centered design of mechanisms and robotic
systems via novel concept of variational kinematic geometry. The results can be extended to …

This thesis aims to design a novel task based knee rehabilitation exoskeleton device
through kinematic synthesis. In contrast to prevailing research efforts, which attempt to mimic …

This paper presents a method for fine-tuning a geometrically constrained planar motion in
the context of motion approximation. It builds on the recent work that seeks to identify and …

This research aims to design and implement a novel task-based knee rehabilitation strategy
through kinematic synthesis, assist-as-needed control strategy, and recovery tracking …

This dissertation deals with the problem of task driven design of mechanisms and robotic
systems via Fourier and Kinematic Mapping schemes. Task driven design requires that the …

This dissertation deals with the classical problem of designing planar and spherical
mechanisms for motion generation from a new, task driven perspective. The field of …