In this paper, we develop an adaptive decentralized compliant control of robot manipulator. The robot manipulator is in contact with the environment and the contact force is normal to the contact plane. When the environment stiffness is given, an adaptive decentralized compliant controller is designed based on a Lyapunov based method such that both the force tracking error and the complementary...

BACKGROUND CONTEXT Vertebral end plate support is necessary for successful lumbar total disc replacement (TDR) surgery. Failure to achieve anterior column support as a result of lumbar TDR device undersizing could lead to implant subsidence and fracture. PURPOSE The purpose of the study was to examine the compressive biomechanical behavior of the vertebral end plate with varying sizes of disc...

Prostate cancer is the most frequent type of cancer in men in Europe and the USA. The methods presently used to detect and diagnose prostate cancer are inexact, and new techniques are needed. Prostate tumours can be regarded as harder than the surrounding normal healthy glandular tissue, and therefore it is of interest to be able to reliably measure prostate tissue stiffness. In this dissertati...

BACKGROUND Lumbosacral fusion is a relatively common procedure that is used in the management of an unstable spine. The anterior interbody cage has been involved to enhance the stability of a pedicle screw construct used at the lumbosacral junction. Biomechanical differences between polyaxial and monoaxial pedicle screws linked with various rod contours were investigated to analyze the respecti...

OBJECTIVE To investigate possible injury mechanisms in the eyes of elderly individuals and the effects of lens stiffness on model outputs indicative of injury as a function of age. METHODS Three separate frontal impact scenarios, a foam particle (30 m/s), steering wheel (15 m/s), and air bag (67 m/s), were simulated with a validated finite-element model to determine the effects of changing le...

The current development of safety systems within the automotive industry heavily relies on the ability to perceive the environment. This is accomplished by using measurements from several different sensors within a sensor fusion framework. One important part of any system of this kind is an accurate model describing the motion of the vehicle. The most commonly used model for the lateral dynamic...

This paper presents a method for the impedance control of a pneumatic manipulator for peg-in-hole tasks without using a load cell. The control methodology presented contains a sliding mode force controller and an adaptive pressure summation relationship, which enforces the controllable natural stiffness of the pneumatic actuator. This is accomplished by utilizing two three-way proportional spoo...

In this study, a low degree-of-freedom mechanical model of a rolling tire is constructed, in which the lateral deformation of the contact patch and tire carcass is considered. The so-called delayed contact patch model is implemented and combined with a simple tire carcass model. The interaction between the contact patch and the carcass together with the lateral mode of the attached suspension s...

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The dynamical properties of an oscillating tip–cantilever system are now widely used in the field of scanning force microscopy. The aim of the present work is to get analytical expressions describing the nonlinear dynamical properties of the oscillator in noncontact and intermittent contact situations in the tapping mode. Three situations are investigated: the pure attractive interaction, the p...