Ara es mostren els items 7-26 de 53

    • Bennet's Linkage and the Cylindroid 

      Pérez Gracia, Alba; McCarthy, John Michael (2002)
      Article
      Accés obert
      Bennett’s linkage is a spatial 4R closed chain that can move with one degree of freedom. The set of relative displacement screws that form the one-dimensional workspace of this device defines a ruled surface known as a ...
    • Clifford Algebra Representation of Grasping and Manipulative Hand Actions for Kinematic Synthesis 

      Pérez Gracia, Alba; Thomas, Federico (Facultat d'Informàtica de Barcelona (UPC), 2015)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      The dimensional synthesis of wristed, multi-fingered hands for simultaneous tasks of all fingertips is an active field of research. When defining unconstrained positions for the fingers, this problem is solved by equating ...
    • Coupling Mechanisms for Multi-Fingered Robotic Hands with Skew Axes 

      Deemyad, Taher; Hassanzadeh, Neda; Pérez Gracia, Alba (Springer, 2018)
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      The design of wristed, multi-fingered robotic hands for specific tasks usually leads to solutions in which the position of the joint axes have little to do with those of anthropomorphic hands. Joint axes tend to be skewed, ...
    • De tierra firme a la nube en un salto: Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la ETSEIB 

      Jordi Nebot, Lluïsa; Puig Ortiz, Joan; Zayas Figueras, Enrique Ernesto; Pérez Gracia, Alba (2021)
      Comunicació de congrés
      Accés restringit per política de l'editorial
      Este trabajo expone las medidas adoptadas en el cambio de docencia presencial a no presencial en las asignaturas de Teoría de Máquinas y Mecanismos y Vibraciones Mecánicas en la Escuela Técnica Superior de Ingeniería ...
    • Design method for a reconfigurable mechanism for finger rehabilitation 

      Sands, Davin; Pérez Gracia, Alba; McCormack, Jay; Wolbrecht, Eric T. (2010)
      Text en actes de congrés
      Accés obert
      This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link ...
    • Design of a Dexterous Hand for a Multi-Hand Task 

      Hassanzadeh, Neda; Movassagh-Kaniki, Reza; Pérez Gracia, Alba (Springer, 2016)
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      Kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Dexterous multi-fingered robotic hands can be designed to perform collaborative ...
    • Design of a Multi-palm Robotic Hand for Assembly Tasks 

      Movassagh-Kaniki, Reza; Hassanzadeh, Neda; Makhal, Abhijit; Pérez Gracia, Alba (2016)
      Text en actes de congrés
      Accés restringit per política de l'editorial
      Some robotic tasks, especially those in which there are interactions between manipulated objects, require the collaborative work of two robotic arms equipped with end-effector grippers or robotic hands. Most of the current ...
    • Design of a Prosthetic Hand with Remote Actuation 

      Scott, K.; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2013)
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      One of the main issues of prosthetic hands is to be able to fulfill all the specifications about speed, torque, weight and inertia while placing all the components within the prosthetic hand. This is especially true when ...
    • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
      Text en actes de congrés
      Accés obert
      This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
    • Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Pérez Gracia, Alba (ASME PRESS, 2010)
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      This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength ...
    • Design of an Exoskeleton as a Finger-Joint Angular Sensor 

      Pérez Gracia, Alba; Yihun, Yimesker; Rahman, M.S. (2012)
      Text en actes de congrés
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      Estimation of joint angles for human joints is important for many applications in bioengineering. Most of the existing angular joint sensors rely on the approximate assumption of the knowledge of the type of motion and ...
    • Design of non-anthropomorphic robotic hands for anthropomorphic tasks 

      Simó Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba (2011)
      Text en actes de congrés
      Accés obert
      In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the ...
    • Dimensional Synthesis of Bennett Linkages 

      Pérez Gracia, Alba; McCarthy, John Michael (2000)
      Text en actes de congrés
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      This paper presents a synthesis procedure for a spatial 4R linkage, known as Bennett’s linkage. It is known that the two solutions of the RR chain synthesis equations form a Bennett linkage. While analytical solutions to ...
    • Dimensional Synthesis of CRR Serial Chains 

      Pérez Gracia, Alba; McCarthy, John Michael (American Society of Mechanical Engineers (ASME), 2003)
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      This paper presents the kinematic synthesis of a CRR serial chain. This is a four-degree-of-freedom chain constructed from a cylindric joint and two revolute joints in series. The design equations for this chain are obtained ...
    • Dimensional Synthesis of One-Jointed Multi-Fingered Hands 

      Pérez Gracia, Alba (Springer, 2015)
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      Wristed, multi-fingered hands can be designed for specific tasks, leading to an optimized performance and simplicity. In this work we present the design of the simplest family of multi-fingered hands, with one revolute ...
    • Dimensional Synthesis of RPC Serial Robots 

      Pérez Gracia, Alba; McCarthy, John Michael (2003)
      Text en actes de congrés
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      This paper presents a synthesis methodology for the RPC serial robot. This robot has a four dimensional configuration space that can be generated by specifying a finite set of goal positions. The methodology uses the ...
    • Dimensional Synthesis of Wristed Binary Hands 

      Hassanzadeh, Neda; Pérez Gracia, Alba (2016-04)
      Article
      Accés obert
      The kinematic synthesis applied to tree topologies is a tool for the design of multi-fingered robotic hands, for a simultaneous task of all fingertips. Even though traditionally wrists and hands have been designed separately, ...
    • Dual Quaternion Synthesis of a Parallel 2-TPR Robot 

      Pérez Gracia, Alba; McCarthy, John Michael (2002)
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      This paper presents the dual quaternion synthesis methodology for constrained parallel robots. This methodology uses the dual quaternion form of the kinematics of supporting serial chains as design equations. Given a set ...
    • Dual Quaternion Synthesis of Constrained Robots 

      Pérez Gracia, Alba; McCarthy, John Michael; Bennet, Bruce (Springer, 2002)
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      This paper presents a synthesis methodology for robots that have less than six degrees of freedom, termed constrained robots. The goal is to determine the physical parameters of the chain that fit its workspace to a given ...
    • Exact Workspace Synthesis for RCCR Linkages 

      Batbold, Batchimeg; Yihun, Yimesker; Wolper, James S.; Pérez Gracia, Alba (Springer, 2013)
      Text en actes de congrés
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      A tool for the exact kinematic synthesis of a given workspace may be of interest when designing closed linkages. In these cases, finite-position synthesis cannot ensure smoothness of motion between task positions. In order ...