Synthesis of Inherently Moment Balanced Robotic Manipulators

In robotics, machine elements are accelerated in order for the machine to perform certain tasks, such as picking and placing objects. These accelerations result in inertia forces and inertia torques on the machine elements and on the base of the machine. These reaction forces and reaction torques on the base are called shaking forces and shaking...

Ergonomic Exoskeleton Synthesis: Application to a Wearable Passive Exoskeleton for the Shoulder

The human machine-interface is more important than ever in the field of exoskeletons. Current design approaches lack a way of systematically designing the ergonomics of exoskeletons. Methods with a more pro active approach to ergonomics have to be developed. This thesis extends existing methods by which self aligning mechanisms are created with...