When developing robotic exoskeletons, the design of physical connections between the
device and the human limb to which it is connected is a crucial problem. Indeed, using an …

In this paper, a computing method for the higher-order acceleration vector field properties in
general rigid body motion and multibody system is proposed using algebraic properties of …

The design and analysis of multi-loop metamorphic mechanisms are challenging in the
research of metamorphic mechanisms. Inspired by the parallelogram mechanism, this paper …

In this contribution the higher order analyses equations for a kinematic chain are deduced
by successive derivation of the velocity analysis equation. In order to simplify the process, a …

This paper for the first time reveals a set of special plane-symmetric Bricard linkages with
various branches of reconfiguration by means of intersection of two generating toroids, and …

A mechanics-based model of flexible needle insertion into soft tissue is presented in this
paper. Different from the existing kinematic model, a new model has been established …

In the analysis of robots and mechanisms, the computation of velocities and accelerations is
frequently needed. In other cases, higher-order kinematic formulas such as the jerk and the …

Reconfiguration identification of a mechanism is essential in design and analysis of
reconfigurable mechanisms. However, reconfiguration identification of a multiloop …

Kinematic chains are obtained from the helicoid–helicoid intersections applying the method
of surfaces generated by kinematic dyads. Some local properties of the helicoids are used to …

The design of a robotic exoskeleton often focuses on replicating the kinematics of the human
limb that it is connected to. However, human joint kinematics is so complex that in practice …