it will be going the path of respect to uphold the prophet’s words over other arab words in prose and poetry in syntactic quotations. after the eloquent language of qur’an, no other arab word found itself more saying in eloquence than that of the prophet’s, nor had it the depth of effect and balance of meaning of his. but this had not been welcomed by antecedent grammarians to the extent that i...

Theoretical control algorithms are developed and an experimental system is described for 6-dof kinesthetic force/moment feedback to a human operator from a remote system. The remote system is a common six-axis slave manipulator with a force/torque sensor, while the haptic interface is a unique, cable-driven, seven-axis, force/moment-reflecting exoskeleton. The exoskeleton is used for input when...

This paper looks at the control of mechanical impedance of the so-called G’ough-Stewart class of parallel platforms. Two methods of compliance control are presented. One is based on global potential energy functions that have previously been applied to controlling serial manipulators and electrodynamically levitated platforms. The second uses the exponential map to associate finite displacement...