During micro-assembly processes, surface forces influence the behavior of micro-objects more than volumic forces. Generally contacts happen between a microgripper and a micro-objet or a substrate and a micro-object. The pull-off force which represents the force required to break a contact is one of the predominant problem in micro-assembly. Now, current force measurements are mostly focused on ...

This paper deals with a new adaptive force-position control of a robotic manipulator based on force estimation. First, an adaptive position controller is derived with contact force component as estimated parameters. Second, a supervisory external loop is added in order to regulate the contact force to the desired value. Extensive simulations with 2-DOF manipulator illustrate the followed approach.

Musculoskeletal models are currently the primary means for estimating in vivo muscle and contact forces in the knee during gait. These models typically couple a dynamic skeletal model with individual muscle models but rarely include articular contact models due to their high computational cost. This study evaluates a novel method for predicting muscle and contact forces simultaneously in the kn...

In this study, the method of multiple scales is used to perform a nonlinear vibration analysis of a mechanical system in two cases; with dry and lubricated clearance joints. In the dry contact case, the Lankarani-Nikravesh model is used to represent the contact force between the joined bodies. The surface elasticity is modeled as a nonlinear spring-damper element. Primary resonance is discussed...

Force guided robot control is a control scheme based on the interpretation of measured force acting on the robot end effector. A functional map relating the correction of motion to force measurements is generated based on the geometry of the workpiece and its kinematic behavior in interacting with the environment. In the traditional force-guided control schemes, the contact force measured by a ...

Knee osteoarthritis (OA) commonly occurs in the medial compartment of the knee and has been linked to overloading of the medial articular cartilage. Gait modification represents a non-invasive treatment strategy for reducing medial compartment knee force. The purpose of this study was to evaluate the effectiveness of a variety of gait modifications that were expected to alter medial contact for...

This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...

The initial stage of fretting fatigue crack growth is significantly influenced by tangential force induced by fretting action along the contact surface where a mixed-mode crack growth is involved. Fretting crack behavior of aluminum alloy 2024 was studied, taking into account the problem of contact asperities. Finite element was used for the determination of the stress field near the contact su...