The concept of remote center of motion (RCM) is pivotal in a myriad of robotic applications,
encompassing areas such as medical robotics, orientation devices, and exoskeletal …

Compliant mechanisms (CMs) exhibit some excellent mechanical properties and provide
numerous innovative solutions for many existing mechanical applications. Among them …

Passive compliance plays an important role in robot pick-and-place manipulation where
large interaction force will be produced in response to small misalignments. In this paper …

In precision assembly, a peg is guided into a hole with a tolerance smaller than the position
accuracy. Although force/torque sensing can estimate the relative position between the peg …

An isosceles-trapezoidal flexural pivot can be of great use for practical designs, especially in
the cases that a pure rotation about a virtual pivot is required. The analysis of rotational …

When considered in two-dimensional space, a cylindrical peg being withdrawn from a
clearance-fit hole can exhibit one of four contact states: no contact, one-point contact, two …

Thanks to their absence of play, absence of contact friction and possible monolithic
fabrication, flexure pivots offer advantages over traditional bearings in small-scale, high …

Devices with variable stiffness are drawing more and more attention with the growing
interests of human-robot interaction, wearable robotics, rehabilitation robotics, etc. In this …

Fine assembly tasks, such as electrical connector insertion have tight tolerances and
sensitive components, requiring compensation of alignment errors while applying sufficient …

The cylindrical peg–hole system is a popular model in the study of assembly and
disassembly operations. The analysis of peg–hole systems is customarily performed using …