Several interaction control algorithms have been proposed for physical human-robot interaction (pHRI) with the aim of assisting human movements. Some example are “path control” [4], “virtual model control” [7], “clime” [9] or gravity compensation [5], [3]. This class of algorithms is often built upon a force/torque controller that is supposed to be ideally fast. However when the algorithm is im...

We report the development, implementation, and evaluation of a novel application of robot force control called position based force scaling. Force scaling employs position based force control algorithms to augment human haptic feedback during human-robot co-manipulation tasks. We report the first results in the implementation of asymptotically exact force scaling, as well as the first results i...

The control objective of exoskeleton for human performance augmentation is to minimize the human machine interaction force while carrying external loads and following human motion. This paper addresses the dynamics and the interaction force control of a 1-DOF hydraulically actuated joint exoskeleton. A spring with unknown stiffness is used to model the humanmachine interface. A cascade force co...

recently, economists have attention to the brain drain as emigration of skilled and educated labor force from developing countries. in this case, we are dealing with one main question is: how brain drain can affect the human capital of source countries? based on existing theories, brain drain can affect the economy of source countries in different ways such as; direct reduction of human capital...

The purpose of this study is to identify human walking vertical force by using FFT power spectrum density from the experimental acceleration data of the human body. An experiment on human walking is carried out on a stationary floor especially paying attention to higher components of dynamic vertical walking force. Based on measured acceleration data of the human lumbar part, not only in-phase ...

Cardiomyopathies due to mutations in human β-cardiac myosin are a significant cause of heart failure, sudden death, and arrhythmia. To understand the underlying molecular basis of changes in the contractile system's force production due to such mutations and search for potential drugs that restore force generation, an in vitro assay is necessary to evaluate cardiac myosin's ensemble force using...