abstract background: musculoskeletal disorders (msds) are a serious problem among the nursing staff. mental workload is the major cause of msds among nursing staff. the aim of this study was to investigate the mental workload dimensions and their association with msds among nurses of alzahra hospital, affi liated to isfahan university of medical sciences. materials and methods: this descriptive...

This paper presents a task-level control methodology for the general class of holonomically constrained multibody systems. As a point of departure, the general formulation of constrained dynamical systems is reviewed with respect to multiplier and minimization approaches. Subsequently, the operational space framework is considered and the underlying symmetry between constrained dynamics and ope...

In this paper, we propose a new approach to compliant taskspace control for high degree-of-freedom manipulators driven by positioncontrolled actuators. The actuators in our approach are back-drivable and allow to limit the torque used for position control. Traditional approaches frequently achieve compliance through redundancy resolution. Our approach not only allows to adjust compliance in the...

We extend the task-space multi-objective controllers that write as quadratic programs (QP) to handle multi-robot systems as a single centralized control. The idea is to assemble all the ‘robots’ models and their interaction task constraints into a single QP formulation. By multi-robot we mean that whatever entities a given robot will interact with (solid or articulated systems, actuated or not ...

A scheme for dynamic hybrid control of robot manipulators is presented. The design is directly achieved in task space coordinates. In this way, the inherent orthogonality between force and velocity description of tasks is preserved and overspecification is avoided in the control synthesis. A nonlinear decoupling and linearizing feedback law is obtained which yields invariant control performance...