This article presents a performance measure, the actuation eficiency, which describes the imbalance between the end-effector accelerations achievable in different directions of non-redundant robotic manipulators. A key feature of the proposed measure is that in its development the unitam differences between linear and angular accelerations are treated in a physically meaningful manner. The memu...

This paper evaluates state-of-the-art contact models at predicting the motions and forces involved in simple in-hand robotic manipulations. In particular it focuses on three primitive actions—linear sliding, pivoting, and rolling—that involve contacts between a gripper, a rigid object, and their environment. The evaluation is done through thousands of controlled experiments designed to capture ...

In this paper we explore state-of-the-art underactuated, compliant robot gripper designs through looking at their performance on a generic grasping task. Starting from a state of the art open gripper design, we propose design modifications, and importantly, evaluate all designs on a grasping experiment involving a selection of objects resulting in 3600 object-gripper interactions. Interested in...

Robotica / Volume 33 / Issue 04 / May 2015, pp 747 767 DOI: 10.1017/S0263574714000538, Published online: 13 March 2014 Link to this article: http://journals.cambridge.org/abstract_S0263574714000538 How to cite this article: Masayuki Shimizu (2015). Analytical inverse kinematics for 5-DOF humanoid manipulator under arbitrarily specied unconstrained orientation of end-effector. Robotica, 33, pp ...

This article presents a new performance meamre, the actuation eficiency, which describes isotropy in acceleration capability for non-redundant manipulators. It measures the imbalance between the end-effector accelerations achievable in different directions. Prior to this, no measurre of this characteriStic was adequate for a six dem-of-freedom manipulator, because its endeffector motions are re...

Can you tell where your child has been by the soccer balls, rubber band bracelets, unmatched socks, and other stuff scattered around? Much like children, some pathogens leave telltale traces of their presence, including proteins and carbohydrates, such as fragments from the fungal cell wall. Indeed, the plant immune system, like an exasperated parent, might ask, “Who left all these chitin fragm...

Cardiovascular disease remains the leading cause of morbidity and mortality in the United States and Europe. In recent years, the understanding that regenerative processes exist at the level of the myocardium, has placed stem cell research at center stage in cardiology. A stem cell is a cell that has the ability to divide (self replicate) for indefinite periods often throughout the life of the ...

Cancer immunotherapy has gained a lot of interest over the past few years due to the success of immune checkpoint inhibitors in treating cancer (1, 2). Immune checkpoint inhibitors, such as monoclonal antibodies against cytotoxic T-lymphocyte–associated antigen 4 (CTLA-4) and programmed death 1 (PD-1), have been shown to increase survival of patients with advanced cancers (1, 2). These in...

the objective of this study was to determine the protein pattern and antigenic structure of bhv-1. ten viral isolates from cows with clinical signs of respiratory infections were selected for this study and confirmed by sn test. all samples were cultured on cell cultures and purified by ultracentrifugation. purified isolates were electerophorsed using sds-page method and immunoblotted. viral an...

In this contribution we focus on a method which is able to reduce an unwanted oscillation in a mechatronic drive system. A mechatronic drive consists of a motor, a gear-box, electronics and control joint to one module. When now applying the method of harmonic modulation, i.e. the modulation of the set-point signal used within the mechatronic drive, oscillations of the system (at e.g. the end-ef...