T HE benefits of lightweight space robotic manipulators are gained at the expense of higher elasticity in the joints. This leads to a more complex dynamic behavior. The additional flexible dynamics introduce two more state variables for each joint, which implies that the description of the complete dynamics model (including joint elasticity) requires four states for each joint: position and vel...

The passive dynamics of bipedal limbs alone are sufficient to produce a walking motion, without need for control. Humans augment these dynamics with muscles, actively coordinated to produce stable and economical walking. Present robots using passive dynamics walk much slower, perhaps because they lack elastic muscles that couple the joints. Elastic properties are well known to enhance running g...

The critical role played by adhesive bonds in lap joints is well known. A good knowledge of the mechanical properties of adhesive bonds in lap joints is a prerequisite to the design and reliable prediction of the performance of these bonded structures. Furthermore, the lap joint may be subject to high-temperature environments in service. Early detection of the degree of thermal degradation in a...

Knuckle pads are rare harmless subcutaneous nodules that must be differentiated from joint disease of the proximal interphalangeal or rarely of the metacarpophalangeal joints as well as from other masses of the paraarticular tissues. We present a case of an otherwise healthy 36-year-old woman presenting with bilateral knuckle pads located at the dorsal aspect of the proximal interphalangeal joi...

Structural optimisation currently relies heavily on methods based on discretisation. In simpler cases like the simulation of frames and trusses, where discretisation is not necessary, only the elongation or compression is considered and the joints are free, like ball and socket joints, in order to avoid bending the trusses. In this dissertation a discretisation free method for the modelling and...