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A backdrivable kinematically redundant (6+ 3)-degree-of-freedom hybrid parallel robot for intuitive sensorless physical human–robot interaction
K Wen, TS Nguyen, D Harton, T LalibertÚ, C Gosselin
IEEE Transactions on Robotics 37 (4), 1222-1238, 2020
562020
Kinematically redundant (6+ 3)-dof hybrid parallel robot with large orientational workspace and remotely operated gripper
K Wen, D Harton, T LalibertÚ, C Gosselin
2019 International Conference on Robotics and Automation (ICRA), 1672-1678, 2019
382019
Forward kinematic analysis of kinematically redundant hybrid parallel robots
K Wen, CM Gosselin
Journal of Mechanisms and Robotics 12 (6), 061008, 2020
242020
Kinematically redundant hybrid robots with simple singularity conditions and analytical inverse kinematic solutions
K Wen, C Gosselin
IEEE Robotics and Automation Letters 4 (4), 3828-3835, 2019
192019
A geometric approach for singularity analysis of 3-DOF planar parallel manipulators using Grassmann–Cayley algebra
K Wen, TW Seo, JW Lee
Robotica 35 (3), 511-520, 2017
132017
Stiffness synthesis of 3-DOF planar 3RPR parallel mechanisms
K Wen, CB Shin, TW Seo, JW Lee
Robotica 34 (12), 2776-2787, 2016
122016
Static Model-Based Grasping Force Control of Parallel Grasping Robots With Partial Cartesian Force Measurement
K Wen, C Gosselin
IEEE/ASME Transactions on Mechatronics 27 (2), 999-1010, 2021
92021
Modeling and analysis of tendon-driven parallel continuum robots under constant curvature and pseudo-rigid-body assumptions
K Wen, J Burgner-Kahrs
Journal of Mechanisms and Robotics 15 (4), 041003, 2023
82023
Exploiting redundancies for workspace enlargement and joint trajectory optimization of a kinematically redundant hybrid parallel robot
K Wen, C Gosselin
Journal of Mechanisms and Robotics 13 (4), 040905, 2021
72021
Transferability in an 8-DoF parallel robot with a configurable platform
R Dahmouche, K Wen, C Gosselin
2020 IEEE/RSJ International Conference on Intelligent Robots and Systemsá…, 2020
42020
Statics, instantaneous kinematics and singularity analysis of planar parallel manipulators via grassmann-cayley algebra
KF Wen, JW Lee
Applied Mechanics and Materials 532, 378-381, 2014
42014
Singularity analysis of 3-DOF planar parallel continuum robots with constant curvature links
S Lilge, K Wen, J Burgner-Kahrs
Frontiers in Robotics and AI 9, 1082185, 2023
22023
Inverse statics analysis of planar parallel manipulators via Grassmann-Cayley algebra
K Wen, JW Lee, TW Seo
International Journal of Control, Automation and Systems 14 (5), 1389-1394, 2016
22016
Parallel mechanism with kinematically redundant actuation
C Gosselin, K Wen, D Harton, T Laliberte
US Patent 11,945,111, 2024
12024
Parallelmechanismus mit kinematisch redundanter Betńtigung
C Gosselin, K Wen, T Laliberte, D Harton
2021
Kinematic analysis and synthesis of kinematically redundant hybrid parallel robots
K Wen
2020
A Kinematically Redundant Hybrid Robot for Low-Impedance Physical Human-Robot Interaction
K Wen, TS Nguyen, D Harton, T LalibertÚ, C Gosselin
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