... to develop a dual-motor neck-shoulder massage robot featuring kinematic optimization and a hierarchical adaptive control architecture to achieve compliant force tracking and high-precision motion coordination. Design/methodology/approach A crank-rocker mechanism, synthesized via kinematic optimization...

... Robotics Design Computer software Adaptive grasping Underactuated finger Kinematic optimization Software‐assisted design Finally, all the previously discussed criteria are combined into a global performance index defined by: Equation 7 and w = [w₁...