Controllable bending stiffness and damping has significant applications in soft robotics, especially for soft slender manipulator arms inspired by octopus tentacles. The bending moment on a solid slender beam is balanced by the sum of moments generated by internal stresses. Resulting stresses are not controllable and decided by the bending curvature, area moment of inertia and elastic modulus o...

The purpose of this paper is to present a new modified parametric algebraic model for MR damper in controlling the semi-active suspension system. Except for its accuracy, modified algebraic model is additionally more preferable in terms of its low computational expenses compared to differential modified Bouc-Wen’s model that is extremely computationally demanding. The control part consists of t...

This investigation is concerned with application of nonlinear fluid viscous dampers for asymmetric-plan systems. For this purpose, the behavior of nonlinear fluid viscous dampers is summarized first followed by the effects of damper nonlinearity on seismic response of asymmetric systems. It is shown that the peak force in nonlinear damper tends to be smaller compared to linear damper. However, ...

Abstract In the present paper, dynamical response of a cantilever beam with fractional damping excited by moving mass load is studied. First, vibration equation established adopting Euler-Bernoulli theory. Then, discretized using Galerkin discretization. The discrete difficult to solve due damping. Based on generalized harmonic function technology, force approximated and conservative force. an ...

OBJECTIVES To assess the linearity and sex-specificity of damping coefficients used in a single-damper-model (SDM) when predicting impact forces during the worst-case falling scenario from fall heights up to 25 cm. METHODS Using 3-dimensional motion tracking and an integrated force plate, impact forces and impact velocities were assessed from 10 young adults (5 males; 5 females), falling from...

Force control implemented by a passive mechanical device (perhaps a wrist) has inherent advantages over active implementations. A passive mechanical device can regain some of the versatility of its active counterpart if it incorporates mechanical elements with programmable parameters, e.g. damping coefficients or spring stiffnesses. We wish to characterize the range of accommodation matrices th...

Vibration characteristics were recorded for the soft tissues of the triceps surae, tibialis anterior, and quadriceps muscles. The frequency and damping of free vibrations in these tissues were measured while isometric and isotonic contractions of the leg were performed. Soft tissue vibration frequency and damping increased with both the force produced by and the shortening velocity of the under...

Haptics-enabled virtual reality technologies allow users to sense force feedback and tactile feedback while manipulating 3D objects. This paper proposes a haptic gaming system which can contribute to improve the ability for discerning tactile textures and 3D shapes by using force and tactile feedbacks of the users’ fingers. Our haptic gaming system consists of three games: “Haptic Puzzle” for t...

Mass-spring systems simulations rely on the numerical integration method used for solving the resulting ordinary differential equations. Implicit schemes, which solve such equations, are unconditionally stable and are thus widely used. Part of this stability is due to force filtering which is inherent to the implicit formulation and is referred to artificial damping. We extract this artificial ...