Browsing by Author "Yihun, Yimesker"

Now showing items 1-5 of 5

    • A Task-based Design Methodology for Robotic Exoskeletons 

      Heidari, Omid; Wolbrecht, Eric; Pérez Gracia, Alba; Yihun, Yimesker (Sage Publications, 2018-11)
      Article
      Open Access
      This study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given ...

    • Design of an Exoskeleton as a Finger-Joint Angular Sensor 

      Pérez Gracia, Alba; Yihun, Yimesker; Rahman, M.S. (2012)
      Conference report
      Restricted access - publisher's policy
      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 ...

    • Exact Workspace Synthesis for RCCR Linkages 

      Batbold, Batchimeg; Yihun, Yimesker; Wolper, James S.; Pérez Gracia, Alba (Springer, 2013)
      Conference report
      Restricted access - publisher's policy
      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 ...

    • Link-based Performance Optimization of Spatial Mechanisms 

      Yihun, Yimesker; Bosworth, Kenneth; Pérez Gracia, Alba (2014-12)
      Article
      Restricted access - publisher's policy
      In 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 

      Yihun, Yimesker; Bosworth, Kenneth; Pérez Gracia, Alba (American Society of Mechanical Engineers (ASME), 2013)
      Conference report
      Restricted access - publisher's policy
      In 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 ...