Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requir...

Control of underactuated mechanisms is one of major research topics in control engineering and robotics. A manipulator with free joints is one of such the systems and its control is di cult via ordinary nonlinear control methods. In this paper, we discuss control of free-joint manipulators whose rst joint is only actuated and the others are free joints. We apply the averaging method to analysis...

This paper presents a Gaussian radial basis function neural network based on sliding mode control for trajectory tracking and vibration control of a flexible joint manipulator. To study the effectiveness of the controllers, designed controller is developed for tip angular position control of a flexible joint manipulator. The adaptation laws of designed controller are obtained based on sliding m...

 Background: Generalized joint hyper mobility predisposes some individuals to a wide variety of musculoskeletal complaints. Given the critical role of scapular position in function of shoulder, the aim of this study was to compare scapular position between persons with and without general joint hyper mobility. Methods: By nonprobability sampling 30 hyper mobile persons at average of 22.86 ±2.77...

Purpose: Most studies have examined the effect of stretching and strength exercises on the glenohumeral joint (shoulder joint), on the other hand, due to the importance of the relationship between core stability and pectoral girdle, especially in archery athletes, the aim of this study was to investigate the effect of six weeks of core stability exercises on the glenohumeral joint internal rota...

abstract introduction: in this study the role of pge2 as an important inflammatory mediator in indomethacine and theophylline effects on joint diameter and vascular response of chronically inflamed rat knee joint to saphenous nerve stimulation was investigated. methods: inflammation was induced by intraarticular injection of 0.2 ml freund,s complete adjuvant (fca) and 3, 7, 14, 21 days post inj...

In this paper standing balance control of a biped with toe-joint is presented. The model consists of an inverted pendulum as the upper body and the foot contains toe-joint. The biped is actuated by two torques at ankle-joint and toe-joint to regulate the upper body in upright position. To model the interaction between foot and the ground, configuration constraints are defined and utilized. To s...