Jinwook Kim

TL;DR: In this article, the authors presented a coordinate-invariant differential geometric analysis of kinematic singularities for closed chains containing both active and passive joints, and classified closed chain singularities into three basic types: (i) those corresponding to singular points of the joint configuration space, (ii) those induced by the choice of actuated joints (actuator singularities), and (iii) those configurations in which the end effector loses one or more degrees of freedom of available motion (end-effector singularities).

TL;DR: The Eclipse case study demonstrates how diverse analytical tools originally developed in a robotics context can be synthesized into a practical design methodology for parallel mechanisms.

TL;DR: In this paper, the authors studied the kinematic sensitivity of the 3-UPU parallel mechanism, a mechanism consisting of a fixed base and a moving platform connected by three serial UPU chains.

TL;DR: Results indicate that HIV-1 subtype A is composed of two subsubtypes (A1 and A2), both of which appear to have a widespread geographic distribution.

TL;DR: The learned two layer model is a realistic full-body avatar that generalizes to novel motions and external forces and supports the retargeting of physical properties from one avatar when they share the same topology.