An Angle–Axis Space-Based Orientability Index Characterizing Complete Orientations

The development of new materials/actuators in robotics leads to the rapid growth of new types of robots, including soft/continuum robots, reconfigurable robots, exoskeleton robots, haptic master devices, and so on. When designing a new robot, orientability is an important performance index to evaluate its dexterity. However, a theoretical investigation of the orientability is still lacking. The ex...