Background: Palmaris longus (PL) is a muscle with marked variations. It is harvested as a tendon graft in many surgical proceduresin which a certain length of tendon is required. The aims of the present study were to determine the variations of this tendon in Iranian population and to find whether the length of PL tendon could be estimated by measuring the forearm length and height. Methods: We...

In this paper, a task-space controller for electrically driven robot manipulators is developed using a robust control algorithm. The controller is designed using voltage control strategy. Based on the nominal model of the robotic arm, the desired signals for motor currents are calculated and then the voltage control law is proposed based on the current errors and motor nominal electrical model....

Background: Lateral epicondylitis (LE) most commonly affects the Extensor Carpi Radialis Brevis (ECRB) tendon andpatients are generally treated with injection therapy. For optimal positioning of the injection, as well as an estimation ofthe surface area and content of the ECRB tendon to determine the volume of the injectable needed, it is important toknow the exact location of...

quadruped robots have unique capabilities for motion over uneven natural environments. this article presents a stable gait for a quadruped robot in such motions and discusses the inverse-dynamics control scheme to follow the planned gait. first, an explicit dynamics model will be developed using a novel constraint elimination method for an 18-dof quadruped robot. thereafter, an inverse-dynamics...

Based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. In this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. Owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. The state space representatio...

objective: tendon never returns to its complete biological and mechanical properties after repair. bone marrow and, recently, adipose tissue have been used as sources of mesenchymal stem cells which have been proven to enhance tendon healing. in the present study, we compared the effects of allotransplantation of bone marrow derived mesenchymal stromal cells (bmscs) and adipose derived stromal ...

Due to high compliance and adaptiveness, soft robots show more advantages than traditional rigid in grasping irregularly shaped or fragile objects. Moreover, attract increasing attention as are adopted unstructured human–robot interaction environments. However, during the process, most need constant input stimuli maintain configurations, which directly induces low energy efficiency. This articl...

This paper describes the development of a novel humanoid robot foot/ankle based on an orientation Parallel Kinematic Mechanism for intelligent and flexible control. With three identical Universal-Prismatic-Spherical prismatic-actuated limbs and a central Universal-Revolute passive limb, the PKM can perform three degrees of freedom rotation motions. In order to enable the humanoid robot safely t...

In this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. To this end, the dynamics model of the considered wheeled mobile robot is derived using Lagrange equations of motion. Then, using ADAMS multi-body simulation software, the obtained dynamics of the wheeled system in MATLAB software is verified. After that, ...

In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...