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Related Concept Videos

Machines01:19

Machines

Machines are complex structures consisting of movable, pin-connected multi-force members that work together to transmit forces. One example of a machine is the cutting plier, which is used to cut wires by applying forces to its handles. When equal and opposite forces are exerted on the handles of the cutting plier, they cause the cutting edges to come together and apply equal and opposite reaction forces on the wire, which are greater than the applied forces.
A free-body diagram of the...
Support Reactions in Three Dimensions01:27

Support Reactions in Three Dimensions

Support reactions in three dimensions help maintain the stability and equilibrium of various structures and systems. These reactions prevent the system from translating and rotating, ensuring the design can withstand external forces and perform its intended function efficiently and safely. Some of the supports providing support reactions in three dimensions are discussed below:
Ball and Socket Joint is one of the supports allowing free rotation about any axis. This freedom of rotation is...
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Manipulation and Analysis01:21

Manipulation and Analysis

GIS manipulation and analysis functions are vital for decision-making and planning. These activities range from data retrieval tasks, such as selecting information based on specific criteria, to advanced analytical techniques that address complex spatial problems.One critical GIS analysis method is overlaying, which combines multiple data layers to examine impacts. For example, overlaying a river-dammed lake boundary with road networks can identify affected infrastructure. Another common...
Conservative Site-specific Recombination and Phase Variation02:53

Conservative Site-specific Recombination and Phase Variation

Because the DNA segments are cut and reorganized in a direction-specific manner, site-specific recombination has emerged as an efficient genetic engineering technique. Flippase and Cyclization recombinases or Flp and Cre, respectively, are two members of the tyrosine recombinase family derived from bacteriophages, that are used to mediate site-specific DNA insertions, deletions, and targeted expression of proteins in mammalian cell lines.
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Wedges01:24

Wedges

A wedge is a simple machine that serves various purposes, such as adjusting the elevation of structural or mechanical parts, providing stability for heavy objects, and splitting a body into two parts. This versatile tool can amplify an applied force, making it easier to manipulate large or heavy objects.
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Design and Fabrication of an Elastomeric Unit for Soft Modular Robots in Minimally Invasive Surgery
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Enabling extended tool manipulation through redundancy-driven contact exploitation.

Jan Šifrer1,2, Tadej Petrič3,4

  • 1Department of Automatics, Biocybernetics and Robotics, Jožef Stefan Institute, Jamova cesta 39, 1000, Ljubljana, Slovenia. jan.sifrer@ijs.si.

Scientific Reports
|July 3, 2026
PubMed
Summary

Robotic manipulators can now perform extended tool tasks by using environmental support. This method resolves challenges from amplified joint torques, enhancing dynamic feasibility for complex robotic manipulations.

Keywords:
Compliance and impedance controlForce controlManipulationPhysical interactionRedundant robots

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Area of Science:

  • Robotics
  • Control Systems
  • Mechanical Engineering

Background:

  • Extended tool manipulation challenges torque-limited robotic systems due to amplified joint torques from lever-arm effects.
  • Dynamic feasibility is often compromised even for kinematically admissible tasks.

Purpose of the Study:

  • To present a control methodology enabling extended-tool tasks by inducing environmental support contact.
  • To enhance torque feasibility in robotic manipulation through redundancy resolution.

Main Methods:

  • Integrating motion and force control in task space with null-space objectives.
  • Using redundancy resolution to promote environmental support contact without explicit environment modeling.
  • Employing force feedback for adaptive configuration to establish and maintain support.

Main Results:

  • Demonstrated the feasibility of redundancy-driven support exploitation in moderate-force extended-tool manipulation.
  • Comparative experimental study on a 7-DOF manipulator performing wall-painting with a 1.4m tool.
  • Analyzed the influence of null-space strategies on contact consistency, load redistribution, and motion-force interaction.

Conclusions:

  • Redundancy-driven support contact is a viable mechanism for extending torque feasibility in extended-tool manipulation.
  • The proposed framework enables robots to adaptively establish and maintain support, counteracting lever-arm-induced loading.
  • Future work can extend this approach to higher operational loads and more complex contact scenarios.