To perform advanced manipulation of remote environments such as grasping, more than one finger is required implying higher requirements for the control architecture. This paper presents the design and control of a modular 3finger haptic device that can be used to interact with virtual scenarios or to teleoperate dexterous remote hands. In a modular haptic device, each module allows the interact...

In the present paper, we describe the mechanical design and working principle of a haptic device to be used during minimally invasive single port access cardiac surgeries. The details to hardware/software design and implementation to electronically actuate the device will be also presented. The viability of the design will be demonstrated by integrating the virtual representation of the left ve...

A novel design of a low cost non-powered orthosis device for home-based upper limb stroke rehabilitation is proposed. The design allows the device to be integrated with a dual robotic and electrical stimulation control scheme, to thereby enable full exploitation of the motor relearning principles which underpin both robotic therapy and Functional Electrical Stimulation (FES) based stroke rehabi...

This paper presents the design, control and performance of a high fidelity four degree-of-freedom wrist exoskeleton robot, RiceWrist, for training and rehabilitation. The RiceWrist is intended to provide kinesthetic feedback during the training of motor skills or rehabilitation of reaching movements. Motivation for such applications is based on findings that show robot-assisted physical therapy...

A new semiactive independently variable damper, SAIVD, is developed and shown to be effective in achieving response reductions in smart base isolated buildings in near fault earthquakes. The semiactive device consists of four linear visco-elastic elements, commonly known as Kelvin–Voigt elements, arranged in a rhombus configuration. The magnitude of force in the semiactive device can be adjuste...

the intervention of urban design in irans architectural structures has been for many years a challenging issue for architects and urban designers over their professional realm. the preservation of architectural structures in iran has always resorted to extremes. this control and direction has sometimes resulted in exclusion of architecture position and has sometimes, once faced with lack of pro...

background  & aim: case-crossover  studies are the case-control  version of crossover studies. in these studies, cases and controls are the same subjects. the term crossover is applied for designs that all subjects pass through both treatment (exposure) and placebo (non-exposure) phases. in fact they are  crossover  of  subjects  between  periods  of  exposure  and  non-exposure.  this  design ...

due to the changes which may occur in their parameters, systems are usually demonstrated by some subsystems for different conditions. this paper employs modified petri nets (mpn) to model theses subsystems and makes it simple to analyze them. in this method, first, the continuous transfer function is converted to a discrete transfer function and then, by mpn, system is modeled and analyzed. all...

Compared with the conventional solutions to control and data acquisition, the device based on the embedded system offers the widest range of features and flexibility, with an overall design for reliability, durability and ease of installation. The design and development of embedded data acquisition and control is presented along with alert system inclusion by the integration of GSM module. Usin...