Interactions between microorganisms and solid boundaries play an important role in biological processes, such as egg fertilization, biofilm formation, and soil colonization, where microswimmers move within a structured environment. Despite recent efforts to understand their origin, it is not clear whether these interactions can be understood as being fundamentally of hydrodynamic origin or hing...

This paper gives a review of existing models used by other authors aiming at modeling micromanipulation tasks. It introduces the distinction between surface forces, which act even at distance (van der Waals (VDW), capillary and electrostatic forces) and contact forces, which are closely related to deformation and adhesion. Moreover, it presents our work on VDW and capillary forces: compared to ...

35 Background. Preclinical durability testing of hip replacement implants is standardised by 36 ISO-14242-1 (2002) which is based on historical inverse dynamics analysis using data 37 obtained from a small sample of normal healthy individuals. It has not been established 38 whether loading cycles derived from normal healthy individuals are representative of loading 39 cycles occurring in patien...

While walking with fast speed aims to promote health and fitness of individuals, the potential risk on lower limb joint loading across walking speed is still unknown. In order to determine the joint contact force loading associated with different walking speeds, fifteen young male and fifteen female participants performed barefoot walking across different speeds (regular = 1.1 m/s, medium = 1.4...

In this paper we present experimental results that investigate the integration of two disparate sensing modalities, force and vision, for sensor-based microassembly. By integrating these sensing modes, we are able to provide feedback in a task-oriented frame of reference over a broad range of motion with an extremely high precision. An optical microscope is used to provide visual feedback down ...

We present a novel approach to handle collisions of deformable objects represented by tetrahedral meshes. The scheme combines the physical correctness of constraint methods with the efficiency of penalty approaches. For a set of collided points, a collision-free state is computed that is governed by the elasticities and impulses of the collided objects. In contrast to existing constraint method...

OBJECTIVE This study calculated knee contact forces (KCF) and its relations with knee external knee adduction moments (KAM) and/or flexion moments (KFM) during the stance phase of gait in patients with early osteoarthritis (OA), classified based on early joint degeneration on Magnetic Resonance Imaging (MRI). We aimed at assessing if altered KCF are already present in early structural degenerat...

The human fingertip is exquisitely sensitive to touch. Tactile information sensed by the mechanoreceptors of the fingertip make it possible to deduce information such as the location of contact and the normal forces, shear forces and torques being applied to the skin. Humans use this information to grasp and handle objects with great dexterity. Robotic systems seeking to obtain similar performa...

In this paper, we present the results from our work in the development of a robotic arm with minimal impedance. The development of such an arm is useful for gentle exploration of unknown objects in unstructured environments. Similar to a human, the robotic arm should minimize the contact forces in the event of unanticipated contact with unknown objects in the absence of visual feedback. To acco...

This study investigated the effects of modifying contact finger forces in one direction-normal or tangential-on the entire set of the contact forces, while statically holding an object. Subjects grasped a handle instrumented with finger force-moment sensors, maintained it at rest in the air, and then slowly: (1) increased the grasping force, (2) tried to spread fingers apart, and (3) tried to s...