Zobrazeno 1 - 10 of 225 pro vyhledávání: '"Philippe Wenger"'
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Akademický článek
Design and motion control scheme of a new stationary trainer to perform lower limb rehabilitation therapies on hip and knee joints
Autor: Parvathi Sunilkumar, Santhakumar Mohan, Jayant Kumar Mohanta, Philippe Wenger, Larisa Rybak
Publikováno v: International Journal of Advanced Robotic Systems, Vol 19 (2022)
Limb disability is one of the serious problems and rehabilitation of lower limb requires an assistive force to the patient. A new design for stationary trainer for performing rehabilitation therapies for lower limb at the knee as well as hip joints i
Externí odkaz: https://doaj.org/article/72cce8e93d0645939ca8d961eb419c4c
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2
Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
Autor: Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Publikováno v: Journal of Mechanisms and Robotics
Journal of Mechanisms and Robotics, 2023, 15 (3), ⟨10.1115/1.4062302⟩
This paper discusses stiffness and antagonistic actuation in light-weight cable-driven bio-inspired manipulators suitable for safe interactions. Manipulators under study are built upon arranging in series several tensegrity joints, called “modules.
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::9e397cadc390351b8dd6c8132eb1fc44
https://hal.science/hal-04087448/file/Variable_stiffness_and_antagonist_actuation_for_a_robot_manipulator_inspired_by_the_bird_neck-3.pdf
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6
Modeling intervertebral articulation: The rotule à doigt mechanical joint (RAD) in birds and mammals
Autor: Anick Abourachid, Benoît Gagnier, Philippe Wenger, Arnaud Delapre, Rémi Hackert, Raphaël Cornette, Matthieu Furet
Publikováno v: Journal of Anatomy. 239:1287-1299
The vertebrate skeleton is composed of articulated bones. Most of the articulations are classically described using mechanical joints, except the intervertebral joint. The aim of this study was to identify a joint model with the same mechanical featu
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::2e0bf5ea4c885eb9136d3b35619de34b
https://doi.org/10.1111/joa.13517
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7
Deciding Cuspidality of Manipulators through Computer Algebra and Algorithms in Real Algebraic Geometry
Autor: Damien Chablat, Rémi Prébet, Mohab Safey El Din, Durgesh H. Salunkhe, Philippe Wenger
Publikováno v: ISSAC '22: Proceedings of the 2022 International Symposium on Symbolic and Algebraic Computation
ISSAC 2022-47th International Symposium on Symbolic and Algebraic Computation
ISSAC 2022-47th International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
47th International Symposium on Symbolic and Algebraic Computation
2022 International Symposium on Symbolic and Algebraic Computation
2022 International Symposium on Symbolic and Algebraic Computation, Jul 2022, Lille, France. ⟨10.1145/3476446.3535477⟩
Cuspidal robots are robots with at least two inverse kinematic solutions that can be connected by a singularity-free path. Deciding the cuspidality of generic 3R robots has been studied in the past, but extending the study to six-degree-of-freedom ro
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::3b0aa3b02023698f0750e2364f59f419
https://hal.science/hal-03596704v3/document
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8
Necessary and sufficient condition for a generic 3R serial manipulator to be cuspidal
Autor: Durgesh Haribhau Salunkhe, Christoforos Spartalis, Jose Capco, Damien Chablat, Philippe Wenger
Publikováno v: Mechanism and Machine Theory
Mechanism and Machine Theory, 2022, 171, pp.104729. ⟨10.1016/j.mechmachtheory.2022.104729⟩
International audience; Cuspidal robots can travel from one inverse kinematic solution to another without meeting a singularity. The name cuspidal was coined based on the existence of a cusp point in the workspace of 3R serial robots. The existence o
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::99d6a75a6b0915453f4cec6c738f60ee
http://arxiv.org/abs/2202.08686
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9
Geometry Based Analysis of 3R Serial Robots
Autor: Durgesh Salunkhe, Jose Capco, damien chablat, Philippe Wenger
Publikováno v: Advances in Robot Kinematics 2022 ISBN: 9783031081392
18th International Symposium on Advances in Robot Kinematics, 2022
18th International Symposium on Advances in Robot Kinematics, 2022, 2022, Bilbao, Spain
HAL
International audience; Cuspidal robots can travel from one inverse kinematic solution (IKS) to another without meeting a singularity. This property can be analyzed by understanding the inverse kinematic model (IKM) as well as the singularities in th
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::a1d444c4061c4715e730e3850993f181
https://doi.org/10.1007/978-3-031-08140-8_8
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10
A review of cuspidal serial and parallel manipulators
Autor: Philippe Wenger, Damien Chablat
Publikováno v: Journal of Mechanisms and Robotics
Journal of Mechanisms and Robotics, 2022, pp.1-37. ⟨10.1115/1.4055677⟩
Cuspidal robots can move from one inverse or direct kinematic solution to another without ever passing through a singularity. These robots have remained unknown because almost all industrial robots do not have this feature. However, in fact, industri
Externí odkaz: https://explore.openaire.eu/search/publication?articleId=doi_dedup___::d490ed6fdc90e1995f74ace7ad010d66
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