By Marco Ceccarelli, Victor A. Glazunov

This complaints quantity includes papers which were chosen after evaluate for oral presentation at ROMANSY 2014, the twentieth CISM-IFToMM Symposium on thought and perform of Robots and Manipulators. those papers disguise advances on a number of facets of the vast box of Robotics as touching on thought and perform of Robots and Manipulators.

ROMANSY 2014 is the 20 th occasion in a chain that began in 1973 as one of many first convention actions on the planet on Robotics. the 1st occasion was once held at CISM (International Centre for Mechanical technological know-how) in Udine, Italy on 5-8 September 1973. It was once additionally the 1st subject convention of IFToMM (International Federation for the advertising of Mechanism and laptop technology) and it was once directed not just to the IFToMM community.

Proceedings volumes of ROMANSY were continually released to be to be had, additionally after the symposium, to a wide public of students and architects with the purpose to offer an outline of recent advances and tendencies within the thought, layout and perform of robots.

This court cases quantity, like past ones of the sequence, comprises contributions with achievements masking many fields of Robotics as idea and perform of Robots and Manipulators that may be an concept for destiny developments.

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6. The spring constant and initial length of each spring were therefore determined as shown in Table 4. The negative sign in the table indicates the direction of the spring force. 05 m longer and shorter ones than the original value in Table 2. The obtained ankle load in case of three different dy is plotted in Fig. 7. 34 D. Matsuura et al. Fig. 25 -20 -30 Table 4 Properties of the springs Translation of jointδ2[m] No. 0 N/m Fig. 20 -10 [ ] 0 10 Fload[N] 40 30 20 10 0 -50 -40 -30 -20 -10 0 10 θ1[° ] 20 30 40 50 The effectiveness of each configuration on the load reduction was evaluated by an index, N ffi P g¼1À _ ^ load;j Fload;j À F j¼1 N Á Fload Á ; ð12Þ where Fload and F load are the ankle load with and without the springs at the j-th sampling and N is the number of acquired data.

In: IEEE International Conference on Rehabilitation Robotics, 2011 2. : Mathematical models of passive motion at the human ankle joint by equivalent spatial parallel mechanisms. Med. Biol. Eng. Compu. 45(3), 305–313 (2007) 3. : Ergonomic considerations for anthropomorphic wrist exoskeletons: a simulation study on the effects of joint misalignment. In: Proceedings of the IEEE International Conference on Intelligent Robots and Systems, pp. 4905–4910 (2011) 4. : Kinematic and dynamic performance of prosthetic knee joint using six-bar mechanism.

1 The special rehabilitation mechanism and given coordinate system M J1 1(input) e1( y1 J2 J3 z1 7 (Output) o7 z7 J4 d76 J5 z6 y2 o2 1) 2 J7 y7 O x6 z6 X Z l 76 o6 y6 x3 z2 y3 o3 z3 y4 x4 x7 a76 Y J6 x2 x1 o1 y5 x5 o4 z4 o5 z5 l 56 r3 ¼ d2 e1 þ r1 ; r5 ¼ ðr6 À r7 Þ þ l56 z6 ; ð2Þ where d2, l56, e1 and z6 denote the displacement of joint J2, distance between J5 and J6, a unit vector toward J3 from J1, and a unit vector toward J5 from J6. The coordinate rotation from O1 - x1y1z1 to O7 - x7y7z7 is written as: 2 cos c sin c cos u cos u Rx ðcÞRz ðuÞ ¼ 4 0 À sin c cos c sin u 3 sin c cos u À sin u 5: cos c cos u ð3Þ From the relationships between certain links, J2 J3 ?

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