The paper presents an advanced method for solving contradictory problems of hybrid position-force control of the movement of walking robots by applying a 2D Extension Set. Using the linear and non-linear attraction point principle and the network of attraction curves, there is determined the 2D space Dependent Function generated by position and force in order to solve the robot real time contro...

Muscle forces can be selected from a space of muscle recruitment strategies that produce stable motion and variable muscle and joint forces. However, current optimization methods provide only a single muscle recruitment strategy. We modelled the spectrum of muscle recruitment strategies while walking. The equilibrium equations at the joints, muscle constraints, static optimization solutions and...

Straight elastically supported beams of variable width under the action of a periodic axial force are considered. Two shape optimization problems for reducing parametric resonance zones are studied. In the first problem, the range of resonant frequencies is minimized for a given parametric resonance zone and a fixed amplitude of excitation. In the second problem, the minimal (critical) amplitud...

This paper presents a new type of haptic device using spherical geometry. The basic idea of haptic devices is to provide users with feedback information on the motion and/or force that he or she generates. Haptic devices have several potential applications, such as for example, fine compliant assembly, VR environment simulation and high precision teleoperation, especially in hazardous or hostil...

The axial force measurement plays important role in tool designing and identification of its restrictions. Also, it is vital in design of machine mechanism and optimization of welding process parameters. In this study, a friction stir welded butt join on AA7075-T651 aluminum alloy plate is investigated. With change of some parameters, factors including axial force, mechanical properties, microh...

BACKGROUND Predictions of the forces transmitted by the redundant force-bearing structures in the knee are often performed using optimization methods considering only moment equipollence as a result of simplified knee modeling without ligament contributions. The current study aimed to investigate the influence of model complexity (with or without ligaments), problem formulation (moment equipoll...