The planar spring-mass model is frequently used to describe bouncing gaits (running, hopping, trotting, galloping) in animal and human locomotion and robotics. Although this model represents a rather simple mechanical system, an analytical solution predicting the center of mass trajectory during stance remains open. We derive an approximate solution in elementary functions assuming a small angu...

A hybrid physical-based deformation modeling (HPDM) technique for our laparoscopic surgery simulation system is proposed. The proposed technique consists of three components: (i) approximate continuum free-form deformation modeling, (ii) efficient collision detection for non-rigid objects, and (iii) mass-spring modeling for force feedback implementation. Three physical-based deformation modelin...

a new base isolation method for reducing the destructive effect of earthquake is proposed in this method mushroom shaped basements are used under structures as base isolation. these basements have spherical surface and are located on foundations. basements have pinned arms that are connected. when the length of the arm is less then the radius of spherical surface, the action of them is similar ...

The objective of this study is to propose control strategies for legged robots to walk and run naturally like humans and animals. To achieve this goal, we use the spring-mass model for the legged robots to be able to create the same dynamics in the leg as humans and animals. In this way, understanding the natural dynamics of the system plays the central role and the strategy is to manipulate th...

the main rock mass classification systems make use of similar rock mass parameters. due to lack of comprehensive estimation systems, determining the real specifications of jointed rocks faces some difficulties. a vast number of parameters with various degrees of impact are involved in such definitions. combination impact of all the effective parameters is to be figured out in order to come up w...

Abstract. This paper proposes a spring efficiency assessment of statically spring-balanced planar serial manipulator. The admissible configurations for the static balancing manipulators without auxiliary links have been determined in past. Gravity is balanced by configuration systematically; however, also contains counter-effects between springs. Conceptually, with fewer springs, there less bur...

The development and control of XY stage driven by ultrasonic linear motor is presented. In this paper, the stage is driven by the hybrid-bolt clamped Langevin-type (Hybrid BLT) ultrasonic motor which consists of a longitudinal and a lateral PZT. The hybrid BLT is excited by its matched natural frequency without a discordance between natural frequency of a 3rd longitudinal mode and a 6th lateral...

A number of studies and researches have been conducted on Virtual Surgery Planning. More specifically, topics on interactive virtual surgery using haptic device have been discussed in [1][2] and so on. Due to the nature of high demand in physical accuracy, many researchers adapted Finite Element Method(FEM) for the simulation. In this paper, I propose simplified massspring model for the interac...