background: palmaris longus (pl) is a muscle with marked variations. it is harvested as a tendon graft in many surgical proceduresin which a certain length of tendon is required. the aims of the present study were to determine the variations of this tendon in iranian population and to find whether the length of pl tendon could be estimated by measuring the forearm length and height.   methods: ...

A simple easy to implement algorithm is proposed to address wall tracking task of an autonomous robot. The robot should navigate in unknown environments, find the nearest wall, and track it solely based on locally sensed data. The proposed method benefits from coupling fuzzy logic and Q-learning to meet requirements of autonomous navigations. Fuzzy if-then rules provide a reliable decision maki...

In this study, a novel variable impedance control for a lower-limb rehabilitation robotic system using voltage control strategy is presented. The majority of existing control approaches are based on control torque strategy, which require the knowledge of robot dynamics as well as dynamic of patients. This requires the controller to overcome complex problems such as uncertainties and nonlinearit...

Background: Delayed tendon healing and tendon adhesions are still found to be among the complications that occur most often after tendon repair. Pistacia khinjuk is one of the three species of Pistacia growing in Iran. Objective: In this study, the role of local injection of ethanolic extract of P. khinjuk was evaluated in healing of the experimental Achilles tendon injury in rabbits. Metho...

Pose estimation is one of the vital issues in mobile robot navigation. Odometry data can be fused with absolute position measurements to provide better and more reliable pose estimation. This paper deals with the determination of better relative localization of a two wheeled differential drive robot by means of odometry by considering the influence of parameters namely weight, velocity, wheel p...

Human-inspired musculoskeletal design of bipedal robots o ers great potential towards enhanced dynamic and energy-e cient locomotion but imposes also major challenges on their control. In this paper we present an analytical model-based controller that takes into account the system's complex musculoskeletal actuation dynamics in order to fully exploit the intrinsic dynamics. The e ectiveness of ...

Controlling a tendon-driven robot like the humanoid Ecce is a difficult task, even more so when its kinematics and its pose are not known precisely. In this paper, we present a visual motion capture system to allow both real-time measurements of robot joint angles and model estimation of its kinematics. Unlike other humanoid robots, Ecce (see Fig. 1A) is completely molded by hand and its joints...

In this paper we focus on the application of reinforcement learning to obstacle avoidance in dynamic Environments in wireless sensor networks. A distributed algorithm based on reinforcement learning is developed for sensor networks to guide mobile robot through the dynamic obstacles. The sensor network models the danger of the area under coverage as obstacles, and has the property of adoption o...