In this paper, we review and compare four algorithms for the identification of contact stiffness and damping during robot constrained motion. The intended application is dynamics modeling and simulation of robotic assembly operations in space. Accurate simulation of these tasks requires contact dynamics models, which in turn use contact stiffness and damping to calculate contact forces. Hence, ...

When humans are exposed to external forces while performing arm movements, they adapt by compensating for these novel forces. The basis of this learning process is thought to be a neural representation that models the relation between all forces acting upon the system and the kinematic effects they produce, called inverse dynamic model (IDM). The present study investigated whether and how the p...

Rotating machinery support design with the aim of reducing the force transmitted to the foundation has significant importance regarding the various applications of these machineries. In this paper presents a rapid approximate method for calculating the optimum support flexibility and damping of flexible rotors to minimize force transmissibility in the vicinity of the rotor first critical speed....

We present theoretical and experimental results on the mechanical damping of an atomic force microscope cantilever strongly coupled to a self-assembled InAs quantum dot. When the cantilever oscillation amplitude is large, its motion dominates the charge dynamics of the dot which in turn leads to nonlinear, amplitude-dependent damping of the cantilever. We observe highly asymmetric line shapes o...

This study makes use of an energy balance to identify damping parameters in mechanical vibration systems. By balancing the energy input as registered in the force-displacement relationship of the real system against the energy lost theoretically in a damping model with unknown parameters, the identification algorithms are developed. We apply the estimation equations to both numerical and experi...

The theory of damping finds its roots in Newton’s Principia [1] and has been exhaustively tested in objects as disparate as the Foucault pendulum, mirrors used in gravitational-wave detectors, and submicron mechanical resonators. Owing to recent advances in nanotechnology it is now possible to explore damping in systems with transverse dimensions on the atomic scale. Here, we study the damping ...

We propose to use the damping signal of an oscillating cantilever in dynamic atomic force microscopy as a noninvasive tool to study the vibrational structure of the substrate. We present atomically resolved maps of damping in carbon nanotube peapods, capable of identifying the location and packing of enclosed Dy@C_{82} molecules as well as local excitations of vibrational modes inside nanotubes...

To determine the stiffness and damping of computer keyboard keys, a computercontrolled test rig that can measure computer key displacement, velocity, and contact force has been designed. The test rig, consisting of a single-axis stage carrying a probe for contacting keys, has been used to collect contact force and motion data as computer keys are depressed and released at constant velocities up...