Accurate dynamic models of human hands grasping haptic devices can help to inform stability analyses, control algorithms, device design, and technology development efforts. The current study develops and tests a lumped second-order dynamic model for nine subjects holding a haptic knob in a simple pinch grasp. Results include steadily increasing damping and stiffness parameters with increasing g...

The problem of robust control of a wind turbine is considered in this paper. A set of controllers are designed based on a 2 degrees of freedom linearized model of a wind turbine. An extended Kalman filter is used to estimate effective wind speed and the estimated wind speed is used to find the operating point of the wind turbine. Due to imprecise wind speed estimation, uncertainty in the obtain...

Experiments were performed using commercially available, self-contained, multilayer polypyrrole (PPy) actuators to develop low-order lumped parameter models of actuator electrical, mechanical, and electromechanical behavior. Experimental data were processed using system identification techniques. Both grey box and black box models were identified. The grey box model consisted of a first order e...

Over-constraint is an important concern in mechanism design because it can lead to a loss in desired mobility. In distributed-compliance flexure mechanisms, this problem is alleviated due to the phenomenon of elastic averaging, thus enabling performance-enhancing geometric arrangements that are otherwise unrealizable. The principle of elastic averaging is illustrated in this paper by means of a...

Flexible pins eliminate the need for straddle mounting, and therefore enable the maximum possible number of planets to be used for any particular epicyclic ratio of power transmission systems. Having more planet gears will significantly increase the input torque density. In this type of design, the pin stiffness and position tolerances are important parameters as they affect the dynamic perform...

The free vibration characteristics of a dual split torque transmission are studied in this work. A transversetorsional coupling dynamic model is developed using lumped parameter method. The natural frequencies and mode shapes are calculated by solving the eigenvalue problem of the differential equations of motion. The vibration modes of the system are classified into translational mode and rota...

background and objective: cerebral arteriovenous malformation (cavm) hemodynamic is disease condition, results changes in the flow and pressure level in cerebral blood vessels. measuring flow and pressure without catheter intervention along the vessel is big challenge due to vessel bifurcations/complex bifurcations in arteriovenous malformation patients. the vessel geometry in cavm patients are...

This paper presents a symbolic and recursive calculation of the stiffness and mass matrices of parallel robots. In order to reduce the computational time required for simulating the elastodynamic behavior of robots, it is necessary to minimize the number of operators in the symbolic model expression. Some algorithms have been proposed for the rigid case or for parallel robots with lumped spring...

Quarter vehicle model is the simplest representation of a vehicle that belongs to lumped-mass vehicle models. It is widely used in vehicle and suspension analyses, particularly those related to ride dynamics. However, as much as its common adoption, it is also commonly accepted without quantification that this model is not as accurate as many higher-degree-of-freedom models due to its simplicit...