In this paper an approach to improve the calculation of the forward kinematic model (FKM) of
a spherical parallel manipulator (SPM) is presented and tested experimentally. This …

Analysis of entropy generation in mixed convection flow over a vertically stretching sheet
has been carried out in the presence of variable thermal conductivity and energy dissipation …

This paper presents a linkage system designed to guide a natural ankle trajectory with the
corresponding foot orientation. A six-bar linkage was designed to coordinate the joint angles …

An optimal torque distribution approach for a redundant 3-RRR spherical parallel
manipulator (SPM) with haptic capabilities is presented. The redundancy increases the …

This article explores the integration of a hapto-visual digital twin on a master device used for
bilateral teleoperation. The device, known as a quasi-spherical parallel manipulator, is …

This paper focuses on develo** a novel hybrid-haptic (nHH) device with a remote center
of rotation with 4 DOFs (degrees of freedom) intendant to be used as a haptic device. The …

This paper discusses the design of a new spherical parallel manipulator (SPM), which is
used as a master device for medical tasks. This device is obtained by changing the …

This paper discusses an optimal torque distribution for a redundant 3-RRR spherical parallel
manipulator (SPM). The SPM has parallel singular configurations within its workspace. The …

In this paper, a method for solving the forward kinematic model of a new spherical parallel
manipulator is presented. This method is based on applying the cosine law of spherical …

This paper deals with the experimental validation of a novel hybrid haptic device (nHH)
intended to be used in a robotic teleoperation platform for laparoscopic surgery. The …