This paper presents a robust controller design for second-order dynamic systems. The controller is model independent and is a virtual second-order dynamic system. The conditions for actuator and sensor placements are identified for controller designs that guarantee overall closed-loop stability. The dynamic controller can be viewed as a virtual passive damping system that serves to stabilize th...

This paper proposes a novel modelling approach for heavy-duty manipulator with parallel$-$serial structures connected in series. Each considered structure contains revolute segment rigid links by passive joint and actuated linear hydraulic actuator, thus forming closed kinematic loop. In addition, prismatic segments, consisting of joints driven actuators, also are considered. Expressions actuat...

In this paper, the observation technique on the miCTO environments with a real-time virtual reality camera system, whitch is constructed with a dynamic focusing lens and a smart vision sensor using the “depth from focus” criteria, has been discussed In the operation with a microscope, such as the micro-surgery, DNA operation and etc., the small depth of a focus makes bad controllability to actu...

Haptic interfaces enable us to interact with virtual objects by sensing our actions and communicating them to a virtual environment. A haptic interface with force feedback capability will provide sensory information back to the user thus communicating the consequences of his/her actions. The quality and complexity of these interactions is dependent on how the interface is designed. When designi...

A unified control framework is proposed for the control of fluid powered human power amplifiers. Human power amplifiers are mechanical tools that humans operate directly and the human force is amplified hydraulically or pneumatically. The tool and the environment forces would therefore appear to the human as having been scaled down. Ideally, the assistive force is transparent to the human such ...

The transformation from high level task specification to low level motion control is a fundamental issue in sensorimotor control in animals and robots. This thesis develops a control scheme called virtual model control which addresses this issue. Virtual model control is a motion control language which uses simulations of imagined mechanical components to create forces. which are applied throug...

Distributed manipulation systems induce motions on objects through the application of many external forces. An actuator array performs distributed manipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although...

Distributedmanipulation systems inducemotions on objects through the application of many external forces. An actuator array performs distributedmanipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although in...