Control of a multi-body system in both robots and humans may face the problem of destabilizing dynamic coupling effects arising between linked body segments. The state of the art solutions in robotics are full state feedback controllers. For human hip-ankle coordination, a more parsimonious and theoretically stable alternative to the robotics solution has been suggested in terms of the Eigenmov...

The characterization of fundamental performance bounds of many-to-many communication systems in which participating nodes are active in an intermittent way is one of the major challenges in communication theory. In order to address this issue, we introduce the multiple-input multiple-output (MIMO) three-way channel (3WC) with an intermittent node and study its degrees-of-freedom (DoF) region an...

An accurate dynamic model is a prerequisite for realizing precise control of industrial robots. The dynamics research multi-degree freedom (DOF) robots relatively unexplored and needs to be solved urgently. In this paper, modeling method multibody system 6-DOF robot proposed based on the screw theory. established has more concise unified mathematical form, modular matrix expression convenient r...

This paper describes an interactive dynamic simulator for virtual environments which allows user interaction via a haptic interface. The interactive simulation is performed in our testbed dynamic simulator I-GMS, which has been developed in an object-oriented framework for simulating motions of free bodies and complex linkages such as those needed for robotic systems or human body simulation. U...

Simultaneous and proportional myocontrol of dexterous hand prostheses is to a large extent still an open problem. With the advent of commercially and clinically available multi-fingered hand prostheses there are now more independent degrees of freedom (DOFs) in prostheses than can be effectively controlled using surface electromyography (sEMG), the current standard human-machine interface for h...

In this paper, a new inverse kinematics (IK) solver is introduced which can solve a multiple constrained 12-DOF human limb analytically with the joint limits taken into account. By combining the IK solver with multilevel curve fitting technique, we enable the user to specify constrains on few keyframes through a mouse or keyboard, then the joint angles of the figure at each keyframe are automat...

We describe a whole-body dynamic walking controller implemented as a compact, convex quadratic program. The controller minimizes an optimal control condition on a simple model of the walking system while respecting the dynamic, input, and contact constraints of the full robot dynamics. By exploiting sparsity and temporal structure in the optimization with an active-set algorithm, we surpass the...

In this paper we present a multi-criteria optimization of element partition trees and resulting orderings for multi-frontal solver algorithms executed for two dimensional h adaptive finite element method. In particular, the problem of optimal ordering of elimination of rows in the sparse matrices resulting from adaptive finite element method computations is reduced to the problem of finding of ...

Kinematic and dynamic models of a human body are presented. The models intend to represent paraplegics wearing a powered exoskeleton. The proposed exoskeleton fully controls the motion of the hip and knee joints, i.e., each lower extremity contains four actuators, three at the hip joint and one at the knee joint. A spring-loaded ankle-foot orthosis completes the exoskeleton. The kinematic model...