in this paper a novel direct adaptive fuzzy system is proposed to control flexible-joints robot including actuator dynamics. the design includes two interior loops: the inner loop controls the motor position using proposed approach while the outer loop controls the joint angle of the robot using a pid control law. one novelty of this paper is the use of a pso algorithm for optimizing the contro...

STUDY DESIGN A roentgen stereophotogrammetric analysis study of patients with sacroiliac joint dysfunction. OBJECTIVES To investigate whether manipulation can influence the position between the ilium and the sacrum, and whether positional tests for the sacroiliac joint are valid. SUMMARY OF BACKGROUND DATA Sacroiliac joint dysfunction is a subject of controversy. The validity of different s...

After a sufficiently long training phase, the network described in the preceding chapters can provide the required joint angles for any desired arm position. However, setting the joints to these angles is left to the joint servo motors of the arm. Such motors achieve the target position by changing their torque in opposite direction to any angular deviation from the target joint settings. For s...

Motor abundance is an essential feature of adaptive control. The range of joint combinations enabled by motor abundance provides the body with the necessary freedom to adopt different positions, configurations, and movements that allow for exploratory postural behavior. This study investigated the adaptation of postural control to joint immobilization during multi-task performance. Twelve healt...

OBJECTIVE In part, the believed effectiveness of taping in preventing injuries may be in the increased proprioception that it provides through stimulation of cutaneous mechanoreceptors. The objective of this study was to examine the effectiveness of strips of athletic tape applied over the skin of the ankle in improving ankle joint movement and position perception. DESIGN AND SETTING The stud...

Joint position sensors are necessary for most robot control systems. A single position sensor failure in a normal robot system can greatly degrade performance. This paper presents a method to obtain position information from Cartesian accelerometers without integration. Depending on the number and location of the accelerometers. the proposed system can tolerate the loss of multiple position sen...