Abstract: The present invention relates to an optical fiber curvature sensor for measuring body motion and its adhesive method. More particularly, it relates to an optical fiber curvature sensor for measuring body motion and its adhesive method having an improved sensitivity for measuring body motions such as motions of fingers, arms, or legs, which is able to measure curving direction and curved degree of a subject simultaneously and applicable for subjects of which the surface areas are varying such as waist or shoulders, by adhering an optical fiber to a subject in curved-state.

Abstract: A six-degrees-of-freedom parallel mechanism for micro-positioning work is disclosed. This mechanism freely performs a desired motion of translation and rotation of a moving platform using internal and external links actuated by linear actuators capable of precisely controlling the link positions, thus being effectively used as a 6d of parallel mechanism required to carry out a variety of micro-positioning works within a limited workspace. In the mechanism of this invention, a moving platform 10 is placed at an upper position, with a multiaxial spherical joint 40 mounted to the central portion of the moving platform 10. A base platform 20 is placed at a lower position of the mechanism. Three external links 30 couple the moving platform 10 to the base platform 20, while three internal links 50 couple the multiaxial spherical joint 40 to the base platform 20. In this mechanism, the internal links 50 are commonly coupled to the multiaxial spherical joint 40 so as to form a tetrahedral structure.

Abstract: An apparatus for performing a task in a confined space having an access port. The apparatus comprise: a confinement box securable to the access port of the confined space; a shell extending from the confinement box; a teleoperated arm movable between a retracted position, in which the teleoperated arm is disposed within the shell, and a deployed position, in which the teleoperated arm extends through the access port and into the confined space to perform the task; and a control system for commanding the teleoperated arm.

Abstract: A multiaxial spherical joint, which precisely couples three or more links together at one point while allowing the links to be freely movable relative to each other within a predetermined range of motion without allowing any interference between them, is disclosed. This spherical joint has a central ball 10, a hollow spherical body 30 movably covering the central ball 10 without allowing a removal of the ball 10 from the spherical body 30, with a plurality of upper and lower link insertion openings 31 and 32 formed at the upper and lower portions of the spherical body 30. An upper link 20 is inserted into the spherical body 30 through the upper link insertion opening 31, and is coupled to the top surface of the ball 10. A plurality of link support discs 40 are set within the gap between the ball 10 and the spherical body 30 such that the discs 40 are not removable from the spherical body 30 through the lower link insertion openings 32.