This paper presents an approach to planning compliant grasps and fixtures in which the object exhibits minimal deflection under external disturbances. The approach, which applies to general twoand threedimensional grasps and fixtures represented by any quasirigid compliance model, employs a quality measure that characterizes the grasped or fixtured object’s worst-case deflection caused by distu...

The wrench feasibility and twist are the workspace conditions that indicate whether mobile-platform (MP) of cable-driven parallel robots (CDPRs) can provide a sufficient amount twist. Traditionally, these two quantities evaluated independently from actuator's torque speed limits, which assumed to be fixed in literature, but they are, indeed, coupled. This results conservative usage actuator cap...

introduction: some clinicians use a handheld screw driver instead of a torque wrench to definitively tighten abutment screws. the aim of this study was to compare the removal torque of one-piece and two-piece abutments tightened with a handheld driver and a torque control ratchet. methods: 40 iti implants were placed in acrylic blocks and divided into 4 groups. in groups one and two, 10 iti one...

The Naturally-Transitioning Rate-to-Force Controller (NTRFC) is presented for teleoperation of manipulators. Our goal is to provide a single controller which handles free motion, constrained motion, and the transition in-between without any artificial changes. In free motion the displacement of the master device (via the human operator’s hand) is proportional to the commanded Cartesian rate of ...

The Naturally-Transitioning Rate-to-Force Controller (NTRFC) is presented for remote teleoperation of manipulators. Our goal is to provide a single controller which handles free motion, constrained motion, and the transition in-between without any artificial changes. In free motion the displacement of the master device (via the human operator’s hand) is proportional to the commanded Cartesian r...

This work presents a re-derivation of relative Jacobian matrix for parallel manipulators, expressed in terms of the individual manipulator Jacobians and multiplied by their corresponding transformation matrices. This is particularly useful when the individual manipulator Jacobians are given, such that one would not need to derive an entirely new expression of a relative Jacobian but will only u...

aAssociate Professor, Department of Clinical Sciences, School of Dental Medicine, University of Nevada Las Vegas. bProfessor, Restorative and Prosthetic Dentistry, College of Dentistry, The Ohio State University, Columbus, Ohio. (J Prosthet Dent 2012;108:401-403) 1 Instrument kit with available inserts, from left to right: 0.050in. hexagon straight (Zimmer part # HX1.25D), 0.048-in. 24 mmL hex ...