Abstract Emerging fields like Compact Compliant Mechanisms have created newer/novel
situations for application of straight line mechanisms. Many of these situations in Automation …

This paper studies the problem of geometric constraint acquisition from a given planar
motion task using Fourier descriptor. In the previous work, we established a computational …

Dimensional synthesis is a type of inverse problem in linkage kinematics where the
objective is to calculate the linkage dimensions required to achieve prescribed linkage …

Compared to manual therapy, robot therapy can provide more intensive and accurate
rehabilitation training. However, most current devices are built on bulky and complex multi …

In the last two decades robotic rehabilitation research provided significant insight regarding
the human-robot interaction, helped understand the process by which the impaired nervous …

The interaction between human and passive, constraint-based path generating mechanisms
has been scarcely studied. When it comes to rehabilitation robots, output trajectories and/or …

This dissertation presents a kinematic synthesis method developed to achieve a mechanical
system that guides a natural ankle trajectory for a human walking gait. This methodology …

This paper deals with the dimensional synthesis of a novel parallel manipulator for medical
applications. This parallel mechanism has a novel 2T2R mobility derived from the targeted …

This paper examines the problem of geometric constraints acquisition of planar motion
through a line-geometric approach. In previous work, we have investigated the problem of …

This thesis focuses on finding solutions for the design and the technological bottlenecks
involving development of a slave robotic assistant for needle insertion procedures. The …