Abstract We investigate the optimality of configurations a tentacle-like soft manipulator ensuring planar force-closure condition. In particular, optimization is performed with respect to both control strategies and set contact points planar, frictionless, first-order target. The case an elliptic target object discussed in detail, numerical simulation are presented.

statement of the problem addition of metallic nano-particles to composite resins can change their water contact angle purpose the aim of this study was to evaluate the effect of addition of nano-particles of silver and zinc oxide to composite resins on their water contact angle materials and methods this in vitro study was performed on 60 composite resin samples. nano-silver and nano-zinc oxide...

Strokes resulting from cardiac diseases, and cardiac abnormalities associated with neuromuscular disorders are examples of the many points of contact between neurology and cardiology. Approximately 20-30% of strokes are related to cardiac diseases, including atrial fibrillation, congestive heart failure, bacterial endocarditis, rheumatic and nonrheumatic valvular diseases, acute myocardial infa...

We present a planner for underactuated hyper-redundant robots, such as humanoid robots, for which the movement can only be initiated by taking contacts with the environment. We synthesize our previous work on the subject and go further into details to give an in-depth description of the contact planning problem and the mechanisms of our contact planner. We highlight the structure of the problem...

We show that for every convex body K in R, there is a convex body H such that H ⊂ K ⊂ c ·H with c = 2.24 and H has at most O(n) contact points with the minimal volume ellipsoid that contains it. When K is symmetric, we can obtain the same conclusion for every constant c > 1. We build on work of Rudelson [5], who showed the existence of H with O(n log n) contact points. The approximating body H ...