A Method to Compute the Interaction Force during Imposed Motions
نویسنده
چکیده
We present a method to compute the interaction force during an imposed movement. First, we show how to incorporate a kinematic constraint into the equation of motion of a simple but realistic model of the arm. Second, we apply this method to predict the interaction force during an imposed movement of the arm. The results of these simulations are compared to the interaction force recorded when a robot moved the hand of blindfolded subjects according to a predetermined trajectory. The most salient characteristics of the interaction force could be reproduced by assuming that the subjects supported the weight of their arm without attempting to anticipate or resist the imposed movement.
منابع مشابه
Evaluation of structural analysis of tunnel segmental lining using beam-spring method and force-method (Case study: Chamshir water conveyance tunnel)
The joints between segmental rings can withstand a certain amount of bending moment as well as axial and shear forces. Generally, in the structural analysis of tunnel segmental lining, the joints can be modeled as elastic hinges or rotational springs, and their rigidity should be demonstrated in terms of the rigidity of the joints or their rotational stiffness. Therefore, the bending moment act...
متن کاملInfluence of Seismic Pounding on RC Buildings with and without Base Isolation System Subject to Near-Fault Ground Motions
Building pounding occurs between two adjacent buildings with small gap or without sufficient separation distance. It leads to damage buildings during earthquake due to impact. Many researchers have investigated building pounding based on impact force reduction and energy dissipation increase, when two buildings collide with each other. In numerical investigations, using specific link element, i...
متن کاملA New Wavelet Based Spatio-temporal Method for Magnification of Subtle Motions in Video
Video magnification is a computational procedure to reveal subtle variations during video frames that are invisible to the naked eye. A new spatio-temporal method which makes use of connectivity based mapping of the wavelet sub-bands is introduced here for exaggerating of small motions during video frames. In this method, firstly the wavelet transformed frames are mapped to connectivity space a...
متن کاملMechanical Simulation of the Extension and Flexion of the Elbow Joint in Rehabilitation
Objective: The goal of the present study was to improve the extension and flexion of the elbow joint for rehabilitation purposes, in terms of energy dissipation and of injuries caused by stress imposed on connective tissue by exercise equipments during force transfer , by investigation of viscoelastic property variations during change in speed of motion. Materials & Methods: A sample of five...
متن کاملSynthesis of human facial expressions based on the distribution of elastic force applied by control points
Facial expressions play an essential role in delivering emotions. Thus facial expression synthesis gain interests in many fields such as computer vision and graphics. Facial actions are generated by contraction and relaxation of the muscles innervated by facial nerves. The combination of those muscle motions is numerous. therefore, facial expressions are often person specific. But in general, f...
متن کامل