A passive velocity field control (PVFC) approach is proposed to achieve simultaneous contour following, and force profile tracking control. The approach has the unique features that 1) it is energetically passive so that when it physically interacts with an object, safety and contact stability properties are enhanced; 2) contour following task is coded using a velocity field instead of the a ti...

in recent years, need to increase the convenience of trips in railway vehicles causes that train operators and manufacturers focus on reducing the noise level which is sensed by passengers. in this paper, first the state of modeling acoustic noise in cab train is discussed and natural frequencies and acoustic mode shapes are derived and then formulation of acoustic pressure in the cab will be o...

Factors shaping joint coordination during multijoint movements were studied using a one-handed ball-catching task. Typically developing (TD) boys between 9 and 12 yr of age, at which catching becomes consistently successful, and boys with developmental coordination disorder (DCD) of the same age participated in the study. The arm was initially stretched down. Catching was performed by flexing t...

A new, intrinsically passive controller for hydraulic human power amplifier is presented. The hydraulic human power amplifier is a tool that amplifies (or attenuates) the force that the human exerts on it. The control objective is to cause the system to behave like a passive mechanical tool when interacting with the human and with the work environment with a specified power scaling factor. Alth...

Postural control may be an ideal physiological motor task for elucidating general questions about the organization, diversity, flexibility, and variability of biological motor behaviors using nonlinear dynamical analysis techniques. Rather than presenting "problems" to the nervous system, the redundancy of biological systems and variability in their behaviors may actually be exploited to allow ...

Three experiments are reported which clarify the role of movement-produced changes in visual stimulation for the acquisition of visually controlled behaviors. The first study shows that exposure during passive transport, which provides an asystematic relation between self-produced movements and visual stimulation, delays the acquisition of visual-motor coordination when a kitten is subsequently...

The hydraulic human power amplifier is a tool that uses hydraulic actuation to amplify the force that the human exerts on it. Our control objective and framework are to make the system behave like a passive mechanical tool when interacting with the human and with the work environment with a specified power scaling factor. A virtual velocity coordination control approach casts the human power am...

In this paper we investigate a passivity approach to collective coordination and synchronization problems in the presence of quantized measurements and show that coordination tasks can be achieved in a practical sense for a large class of passive systems.