In this work, redundancy resolution and impedance modulation strategies have been employed to enhance intuitiveness and stability in physical human-robot interaction during co-manipulation tasks. An impedance strategy to control a redundant manipulator is defined in the Cartesian space. Different modulation laws for the impedance parameters are tested in combination with different strategies to...

Abstract This paper proposed the microcontroller based vector impedance meter, which can be used to measure unidentified impedance of the system. The microcontroller read only four samples from two voltage signals, the first voltage is proportional to the voltage across the impedance while the second voltage is proportional to the current passing through it. A novel algorithm is then used to ge...

A number of techniques can be used to eliminate reflections when the characteristic impedance of the line and the load impedance are mismatched. Impedance matching techniques can be designed to be effective for a specific frequency of operation (narrow band techniques) or for a given frequency spectrum (broadband techniques). The purpose of this paper is to make a comparative study on bandwidth...

background: prolongation of qt interval is one of the most important abnormalities in cardiovascular system of cirrhotic patients. the aim of this survey was determination of propranolol effect on frequency adjusted qt interval (qtc). materials and methods: thirty six cirrhotic patients (m/f=20/16, mean age:56 â± 3.8 years) and 40 healthy age and sex matched controls (m/f=25/15, mean age: 58 â±...

This paper proposes a new bilateral control scheme to ensure both transparency and robust stability under unknown constant time delay in stiff environment. Furthermore, this method guaranties suitable performance and robust stability when transition occurs between soft and stiff environments. This framework is composed of an adaptive sliding mode controller and an adaptive impedance controller,...

ramadan fasting is one of the most important religious duties of muslims, that its effect on the heart has not been determined yet. our objective was to evaluate the effect of ramadan fasting on ventricular repolarization as assessed by qt interval, corrected qt interval, qt dispersion or corrected qt dispersion. sixthy healthy subjects aged 20 to 35 years were dispersion included in this study...

Intraluminal impedance, a nonradiological method for assessing bolus flow within the gut, may be suitable for investigating pharyngeal disorders. This study evaluated an impedance technique for the detection of pharyngeal bolus flow during swallowing. Patterns of pharyngoesophageal pressure and impedance were simultaneously recorded with videofluoroscopy in 10 healthy volunteers during swallowi...