A computationally fast inverse kinematic scheme is derived which solves robot's end-effector (EE) trajectories in terms of joint trajectories. The inverse kinematic problem (IKP) is cast as a control problem for a simple dynamic system. The resulting closed-loop algorithms are shown to guarantee satisfactory tracking performance. Differently from previous first-order schemes which only solve fo...

Do neurons in primary motor cortex encode the generative details of motor behavior, such as individual muscle activities, or do they encode high-level movement attributes? Resolving this question has proven difficult, in large part because of the sizeable uncertainty inherent in estimating or measuring the joint torques and muscle forces that underlie movements made by biological limbs. We circ...

* Corresponding author ABSTRACT Achieving the dimensional integrity for a complex structural assembly is a demanding task due to the manufacturing variations of parts and the tolerance relationship between them. While assigning tight tolerances to all parts would solve the problem, an economical solution is taking advantage of small motions that joints allow, such that critical dimensions are a...

Achieving the dimensional integrity for a complex structural assembly is a demanding task due to the manufacturing variations of parts and the tolerance relationship between them. Although assigning tight tolerances to all parts would solve the problem, an economical solution is taking advantage of small motions that joints allow, such that critical dimensions are adjusted during assembly proce...

Abstract. A mathematical model for studying the passive kinematics of condylartype total knee prostheses can be useful in planning and performing total joint replacement. If the insertion location and neutral length of knee ligaments is known, the passive kinematics of the knee can be calculated by minimizing the strain energy stored in the ligaments in any angular configuration of the knee. Th...

BACKGROUND Dynamic joint motion recording combined with CT-based 3D bone and joint surface data is accepted as a helpful and precise tool to analyse joint. The purpose of this study is to demonstrate the feasibility of these techniques for quantitative motion analysis of the interphalangeal joint in 3D. MATERIALS AND METHOD High resolution motion data was combined with an accurate 3D model of...

Prosthetic replacement in the hand must address such unique challenges as preservation of the collateral ligaments, tendon balancing, and stability. Some recently developed implant arthroplasties of the metacarpophalangeal and proximal interphalangeal joints have anatomically designed articular components; others have non-cemented, press-fit, carefully contoured intramedullary stems. The ration...

Traditional egomotion estimation algorithms have largely depended on deterministic feature correspondences to infer information about the camera and have been oblivious to the scene geometry by treating scenes with varying projectivities uniformly. This paper builds on the statistical framework of the joint feature distribution (JFD) which models the joint probability distributions of the posit...