The vibration environment is a common man-made artificial surrounding with which humans have a limited tolerance to cope due to their body dynamics. This research studied the dynamic characteristics of a seated human body/seat system in a vibration environment. The main result is a multi degrees of freedom lumped parameter model that synthesizes two basic dynamics: (i) global human dynamics, th...

This paper overviews the whole-body force control framework implemented on the iCub humanoid platform. This framework consists in a hierarchy of two tasks, where the highest priority task is a force control task, and the lowest one a postural task. The force task achieves the stabilization of a desired centroidal dynamics, i.e., a desired linear and angular momentum of the multi body system. Th...

Bond graphs have established themselves as a reliable tool for modeling physical systems. Yet, they are highly abstract due to their domain independence. Wrapping techniques allow the modeler to preserve the better of two worlds: the flexibility and reliability of bond graphs on the one hand, and the intuitive appeal and familiarity offered by a domain-specific modeling methodology on the other...

the aim of this study is to show that the measures derived from electrocardiogram (ecg) signals many a time perform better than the same measures obtained from heart rate (hr) signals. a comparison was made to investigate how far the nonlinear symbolic dynamics approach helps to characterize the nonlinear properties of ecg signals and hr signals, and thereby discriminate between normal and cong...

We present a rigid-body simulation for multi-contact haptic interaction. The simulation is designed to make use of modern multiprocessor machines and the framework for this is discussed. An existing haptic rendering algorithm is extended to: facilitate simple implementation on a number of object types, enable the use of arbitrary objects as haptic cursors and allow multiple object contacts on t...

The power of the new equations of motion developed in part I of this paper is illustrated using three examples from multi-body dynamics. The first two examples deal with the problem of accurately controlling the orientation of a rigid body, while the third example deals with the synchronization of two rigid bodies so that their relative orientations are ‘locked’ through prescribed dynamical rel...