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...

in this paper, three-dimensional modeling of the fatigue crack growth profiles was performed in a simple riveted lap joint. simulation results showed that mode i was dominated on the one side of the plates and the crack straightly grew on this side, while the other side of the plates was in a mixed-mode condition and the crack propagation path was not straight on this side. afterward, the fract...

We measured the load-displacement behavior of both single and paired sacroiliac (SI) joints in fresh cadaver specimens obtained from eight adults between the ages of 59 and 74 years. With both ilia fixed, static test loads were applied to the center of the sacrum along and about axes parallel and normal to the superior SI endplate. Test forces up to 294 N were applied in the superior, inferior,...

In this investigation, we obtained data that support the hypothesis that afferent signals associated with hip flexion play a role in initiating the swing-to-stance transition of the hind legs in walking cats. Direct evidence came from observations in walking decerebrate cats. Assisting the flexion of the hip joint during swing advanced the onset of activity in ankle extensor muscles, and this a...

Being a carpal bone scaphoid has an important role in wrist movements. Wrist joint is a synovial modified ellipsoid joint where movements like flexion, extension and adduction, abduction take place around two axes (transverse and anteroposterior). These movements at the wrist joint are associated with considerable range of movements at the midcarpal joint, as same group of muscles act on both o...

This paper presents a rigorous mathematical formulation for modelling the upper extremity that is capable of considering a relatively large number of degrees of freedom, thus yielding a realistic model and associated envelope. Kinematic models are used to determine the reach envelope in closed form and to better understand human motion. Joint ranges of motion are taken into account by transform...

This paper presents the modeling and dynamic parameter identification of the 6-DoF SCHUNK Powerball LWA 4P robotic arm. Precise positioning, zero backlash and compact design of the joints which integrate two perpendicular axes, make this robot ideal for service robotics applications and human-robot interaction. Due to the significant effect of the lubricant temperature on the behavior of viscou...

Spherical linkages, having rotational joints whose axes coincide in a common center point, are sometimes used in multi-degree-of-freedom robot manipulators and in onedegree-of-freedom mechanisms. The forward kinematics of parallel-link robots, the inverse kinematics of serial-link robots and the input/output motion of single-degree-offreedom mechanisms are all problems in displacement analysis....