A Spherical Active Joint for Humanoids and Humans.
IEEE Robotics and Automation Letters(2019)
摘要
Both humanoid robotics and prosthetics rely on the possibility of implementing spherical active joints to build dexterous robots and useful prostheses. There are three possible kinematic implementations of spherical joints: serial, parallel, and hybrid, each one with its own advantages and disadvantages. In this letter, we propose a hybrid active spherical joint, that combines the advantages of pa...
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关键词
Humanoid robots,Shoulder,Prosthetics,Kinematics,Wrist
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