Design of Passive Reconfigurable Manipulation Assistive Aids
Bibliographic record
Abstract
Abstract Multi-jointed mechanical systems typically possess excess degrees-of-freedom, which often are neither required nor used in performing typical manipulation tasks. These excessive degrees of freedom then need to be reduced by application of constraints, either actively by suitable control or passively in hardware, prior to task performance. Our interest is in creating articulated manipulation assistive aids, which combine the motion flexibility due to the multiple articulations with the simplicity of reduced degree-of-freedom control and actuation due to the presence of hardware mechanical constraints. Specifically we investigate the process of design and prototyping of such reduced-degree-of-freedom manipulators to closely approximate desired planar paths. We then examine design enhancements to permit easy reconfiguration for different sets of paths. Finally, special attention is paid to the creation of a prototype with the ability to be reconfigured for multiple sets of paths, by a controlled variation of the principal structural parameters.
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How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.000 | 0.000 |
| Meta-epidemiology (narrow) | 0.000 | 0.000 |
| Meta-epidemiology (broad) | 0.000 | 0.000 |
| Bibliometrics | 0.000 | 0.000 |
| Science and technology studies | 0.000 | 0.000 |
| Scholarly communication | 0.000 | 0.000 |
| Open science | 0.000 | 0.000 |
| Research integrity | 0.000 | 0.000 |
| Insufficient payload (model declined to judge) | 0.001 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; a candidate call from one teacher head, not a consensus.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".