Exploració per autor "Pérez Gracia, Alba"
Ara es mostren els items 32-51 de 53
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Kinematic synthesis for smart hand prosthetics
(IEEE Press. Institute of Electrical and Electronics Engineers, 2006)
Text en actes de congrés
Accés obertThe dream of a bionic replacement appendage is becoming reality through the use of mechatronic prostheses that utilize the body’s myoelectric signals. This paper presents a process to accurately capture the motion of ... -
Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks
(Springer, 2012)
Text en actes de congrés
Accés obertIn this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain ... -
Link-based Performance Optimization of Spatial Mechanisms
(2014-12)
Article
Accés restringit per política de l'editorialIn the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joint axes, i.e., a set of lines in space. However, most of the tasks have additional requirements regarding motion ... -
Link-based performance optimization of spatial mechanisms
(American Society of Mechanical Engineers (ASME), 2013)
Text en actes de congrés
Accés restringit per política de l'editorialIn the design of spatial linkages, the finite-position kinematics is fully specified by the position of the joints in space. However, most of the tasks have additional requirements regarding motion smoothness, obstacle ... -
Mixed Position and Twist Space Synthesis of 3R Chains
(MDPI AG, 2022)
Article
Accés obertMixed-position kinematic synthesis is used to not only reach a certain number of precision positions, but also impose certain instantaneous motion conditions at those positions. In the traditional approach, one end-effector ... -
On Cayley's factorization of 4D rotations and applications
(2017-03-01)
Article
Accés restringit per política de l'editorialA 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ... -
On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices
(2019-05-09)
Article
Accés obertA real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ... -
On Cayley’s Factorization of 3D Rotations and Applications
(Facultat d'Informàtica de Barcelona (UPC), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialA 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ... -
Quantification of Upper-body Synergies: a Case Comparison for Stroke and non-Stroke Victims
(2016)
Text en actes de congrés
Accés restringit per política de l'editorialMotion synergies are principal components of the movement, obtained as combinations of joint degrees of freedom, that account for common postures of the human body. These synergies are usually obtained by capturing the ... -
Quaternions and Clifford Algebras
(Springer, 2021)
Capítol de llibre
Accés restringit per política de l'editorialQuaternions are a type of hypercomplex numbers. Unit quaternions, which describe rotations, were called versors by Hamilton. The concept of versor can be generalized as the product of invertible vectors in the Clifford ... -
Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation
(2011)
Text en actes de congrés
Accés obertThis paper presents the kinematic design of a single degree-of-freedom exoskeleton mechanism: a planar eight-bar mechanism for finger curling. The mechanism is part of a fingerthumb robotic device for hand therapy that ... -
Singularity Design for RRSS Mechanisms
(2020)
Text en actes de congrés
Accés restringit per política de l'editorialThis paper explores the design of RRSS mechanisms with specified singular positions. The ultimate goal is to find an SS chain to couple a previously synthesized RR chain and to force the mechanism to become singular at ... -
Singularity-free computation of quaternions from rotation matrices in E4 and E3
(2018)
Text en actes de congrés
Accés obertA real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ... -
Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials
(2005)
Text en actes de congrés
Accés restringit per política de l'editorialIn this paper we formulate the “generalized inverse kinematics problem” for a spatial serial chain, where the goal is to determine values for structural parameters as well as for the joint parameters. The kinematics equations ... -
Solvable Multi-Fingered Hands for Exact Kinematic Synthesis
(Springer, 2014)
Text en actes de congrés
Accés restringit per política de l'editorialMulti-fingered hands are kinematic chains with a tree topology, that is, with a set of common joints that span several branches and end-effectors. When performing dimensional kinematic synthesis with simultaneous tasks for ... -
Structural Synthesis of Hands for Grasping and Manipulation Tasks
(Springer, 2016)
Text en actes de congrés
Accés restringit per política de l'editorialIn the kinematic synthesis of multi-fingered robotic hands for a specific task, the selection of the hand topology is an important step. Considerable research efforts have been directed to the structural synthesis of hand ... -
Synthesis of Multi-fingered Robotic Hands
(International Centre for Numerical Methods in Engineering (CIMNE), 2015)
Text en actes de congrés
Accés restringit per política de l'editorialWristed, multi-fingered hands have recently been the target of rigid body guidance dimensional synthesis, for simultaneous tasks of all the fingertips. Solvability conditions have been derived for general hand topologies, ... -
Synthesis of Spatial 3R Chains with Configuration-Specific Twist System
(American Society of Mechanical Engineers (ASME), 2017)
Text en actes de congrés
Accés restringit per política de l'editorialMixed-position synthesis of linkages has been used to define local contact conditions and for better adjusting a mechanism to its desired trajectory. In this work, multiple velocities are defined at a configuration in order ... -
Synthesis of spatial RPRP closed linkages for a given screw system
(ASME PRESS, 2011-04-11)
Article
Accés obertThe dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not ... -
Synthesis of spatial RPRP loops for a given screw system
(Springer, 2010)
Text en actes de congrés
Accés obertThe dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield ...
