This paper proposes a new method for real-time rigid body simulations for haptic interactions based on a penalty method regarding contact volume. Analytical methods for calculation of contact forces require too much time to maintain fast update rates for haptic controls. In addition, they prohibit direct connection of haptic interfaces. Penalty methods, which employ spring-damper models for cal...

The purpose of the present paper is identification optimal trajectories quadruped robots through genetic algorithms. method based on time history forces and torques exchanged between ground body, without any constraints leg kinematics. solutions show how it possible to obtain similar those a horse’s walk but obtaining better performance in terms energy cost. Finally, map gaits found according d...

A new systematic iterative analytical procedure is presented to predict the dynamic response of composite sandwich plates subjected to low-velocity impact phenomenon with/without initial in-plane forces. In this method, the interaction between indenter and sandwich panel is modeled with considering the exponential equation similar to the Hertzian contact law and using the principle of minimum p...

This research characterizes grasping by multifingered robot hands through an investigation of the space of contact forces between fingers and the grasped object. By decomposing the space of contact forces into four subspaces, we develop a method to determine the dimensions of the subspaces with respect to the connectivity of the object. The relationship we obtain reveals the diflkrences between...

In haptic-feedback teleoperation, the operator experiences forces and torques applied to the slave manipulator. These forces, however, consist of two components: on the one hand, forces and torques due to environmental contact, and on the other hand, non-contact forces, i.e., inertial forces, centrifugal forces, Coriolis forces, and associated torques. For several reasons, eliminating these non...

We implanted an electronic knee prosthesis to measure tibial forces in vivo during activities of daily living after total knee arthroplasty. We used tibial forces and knee kinematic data collected in vivo to calculate contact stresses using finite element analysis. The polyethylene insert was modeled as an elastoplastic material, and predicted contact stresses were validated using pressure sens...