in this study, the problem of navigation in dynamic and unknown environment is investigated and a navigation method based on force field approach is suggested. it is assumed that the robot performs navigation in unknown environment and builds the map through slam procedure. since the moving objects' location and properties are unknown, they are identified and tracked by kalman filter. kalm...

Gait control of bipeds has been a key challenge in robot locomotion for decades. A key component toward controller design is a good model of the robot and its interactions with the environment. For systems with highly compliant and complex actuation, however, deriving the models for the essential system components is quite tedious. In this paper, we propose to learn non-parametric models for a ...

Dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. Since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. Hence, importance of the efficiency of the algorithm and the CPU time of the workspace computatio...

background: despite the importance of hamstring tendon autograft, one major disadvantage in applying this technique in the surgical reconstruction of anterior cruciate ligament is individual variability in the tendon diameter. hence, the purpose of the present study was to use anthropometric parameters such as gender, height and body mass index to predict 4-strand (quadruple) hamstring tendons ...

Locomotive robot based on tensegrity has recently drawn much attention due to its lightweight and flexibility. This article presents an improved numerical model for locomotive tensegrities. The previously used bar element struts is replaced by beam element, rigid joint consider more details of the tendon–strut connections. vector form intrinsic finite (VFIFE) method adopted formulate carry out ...

Efficient skill acquisition is crucial for creating versatile robots. One intuitive way to teach a robot new tricks is to demonstrate a task and enable the robot to imitate the demonstrated behavior. This approach is known as imitation learning. Classical methods of imitation learning, such as inverse reinforcement learning or behavioral cloning, suffer substantially from the correspondence pro...

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Distal biceps tendon (DBT) conditions are relatively common in middle-aged males. The number of reported DBT tears seems to have increased over the last few years, likely related to better understanding and improved diagnostic methods.1 While some individuals may maintain reasonable function after non-operative treatment of a ruptured DBT, biomechanical and clinical studies suggest that most in...

The goal of this study was to evaluate the influence of wrist tendon vibration on a multijoint elbow/shoulder tracking task. We hypothesized that tendon vibration applied at the wrist musculature would improve upper arm tracking performance in chronic stroke survivors through increased, Ia-afferent feedback to the central nervous system (CNS). To test this hypothesis, 10 chronic stroke and 5 ne...