Natural vibration analysis of plates represents an important issue in engineering applications. In this paper, a new and simplify method for vibration analysis of circular and rectangular plates is presented. The design of an effective robust controller, which consistently attenuates transverse vibration of the plate caused by an external disturbance force, is given. The dynamics of the plate i...

The aim of this paper is to investigate possibilities for controlling a four-legged walking robot (ALDURO) with a force feedback joystick. A way to filter motion induced errors out of the input data is shown, as well as ways to prevent them by using force feedback. Force feedback can also be used to supply the operator with information about the workspace of ALDURO. A linearised approximation o...

Besides realistic haptic rendering of objects, haptic feedback can also be used to provide an abstract feedback channel. This can either be realised by a tactile or a force feedback stimulus. When using forces, care has to be taken that the user’s performance is not influenced in a negative way. However, as it is not obvious to determine a suitable force, and currently not many guidelines exist...

The implementation of telemanipulator systems for cardiac surgery enabled heart surgeons to perform delicate minimally invasive procedures with high precision under stereoscopic view. At present, commercially available systems do not provide force-feedback or Cartesian control for the operating surgeon. The lack of haptic feedback may cause damage to tissue and can cause breaks of suture materi...

Whereas vision and force feedback – either at the wrist or at the joint level – for robotic manipulation purposes has received considerable attention in the literature, the benefits that tactile sensors can provide when combined with vision and force have been rarely explored. In fact, there are some situations in which vision and force feedback cannot guarantee robust manipulation. Vision is f...

The ability to manipulation of biological cells while having reflective-force information from the cells is a key technology necessary for many new applications in Bio-MEMS, but is currently lacking in all cellular manipulators. We will report on our preliminary experimental work in using an Ionic Conducting Polymer Film (ICPF) to develop a biological cell robotic gripper with force sensing cap...

During bouncing gaits (running, hopping, trotting), passive compliant structures (e.g. tendons, ligaments) store and release part of the stride energy. Here, active muscles must provide the required force to withstand the developing tendon strain and to compensate for the inevitable energy losses. This requires an appropriate control of muscle activation. In this study, for hopping, the potenti...