Hunting hinges for air manipulators

An Adaptive Impedance Controller for Robot Manipulators

A desired dynamic behavior of constrained manipulators can be achieved by means of impedance control and various implementations of fixed controllers have been proposed. In this paper, and adaptive implementation is presented as an alternative to reduce the design sensitivity due to manipulator mismatch. The adaptive controller globally achieves the impedance objective for the nonlinear dynamic...

Adaptive RBF network control for robot manipulators

TThe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. This paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. As a novelty, the proposed controller employs a simple Gaussian Radial-Basis-Function Network as an uncertainty estimator. The proposed netw...

Flexible antibodies with nonprotein hinges

There is a significant need for antibodies that can bind targets with greater affinity. Here we describe a novel strategy employing chemical semisynthesis to produce symmetroadhesins: antibody-like molecules having nonprotein hinge regions that are more flexible and extendible and are capable of two-handed binding. Native chemical ligation was carried out under mild, non-denaturing conditions t...

Elastica with Hinges

Tape-Spring Rolling Hinges

This paper presents a new design of a low cost, unlubricated, self-deploying, self-locking hinge whose properties can be easily modified to meet different requirements. A particular implementation is considered, providing a hinge that is 135 mm long, 30 mm high and 45 mm wide, with a deployment moment varying between 0.1 and 0.3 Nm and a locking moment of 13 Nm. Stiffness tests have been carrie...