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A non-overconstrained three-DOF parallel orientation mechanism that is kinematically equivalent to the Agile Eye is presented in this paper. The output link (end-effector) of the mechanism is connected to the base by one spherical joint and by another three identical legs. Each leg comprises of, in turns from base, a revolute joint, a universal joint, and three prismatic joints. The three lower revolute joints are active joints, while all other joints are passive ones. Based on a special configuration, some three projective angles of the end-effector coordinates are fully decoupled with respect to the input actuated joints, that is, by actuating any revolute joint the end-effector rotates in such a way that the corresponding projective angle changes with the same angular displacement. The fully decoupled motion is analyzed geometrically and proved theoretically. Besides, the inverse and direct kinematics solutions of the mechanism are provided based on the geometric reasoning and theoretical proof. [ABSTRACT FROM PUBLISHER]

An original method for the static calibration of robots using the pose matching approach is presented. Three algorithms for the identification of the structural parameters are investigated. The procedure includes a methodology to automatically remove the unnecessary parameters for the robot under analysis. After a theoretical introduction, the methodology is practically applied to an actual 5 DOF measuring robot used in a shoe manufactory industry. The accuracy of the robot is increased up to its repeatability. © 2001 John Wiley & Sons, Inc. [ABSTRACT FROM AUTHOR]

Bioelectric prosthesis are those mechatronical devices able to substitute the total or partial loss of a limb or a system, and controlled by the patient thanks to wilful bioelectric signals, such as muscular contractions (electromyographic signals, EMG) or activation of specific encephalic areas (which can be revealed by encephalogram, EEG). At the end of an analysis of the devices currently in literature and on the market, the present paper collects and synthesize the possible classification strategies of these prosthetic devices, paying particular attention also to the classification obtained by possible control strategies of the prosthesis. This summary aims to support and sustain physicians and patients along the identification of the most appropriate prosthesis, for the specific subject, the choice of the "optimal" device, must consider also patient needs and expectations, possible pathological constraints and technological complexity of the system. This paper presents, after a brief theoretical introduction about the background, a short description of materials and methods implemented in order to identify classification typologies; the main results, collected in 2 tables, will be then described, and commented highlighting advantages and limbs of the proposed classifications.