When a human operator performs a task via a bilateral manipulator, the “feel” of the task is embodied in the mechanical impedance of the manipulator. ’Ikaditiody, a bilateral manipulator is designed for transparency; i.e., so that the impedance reflected through the manipulator closely approximates that of the task. “Impedance shaping bilateral control,” introduced here, differs in that it trea...

Efficient human motor control is characterized by an extensive use of joint impedance modulation, which is achieved by co-contracting antagonistic muscles in a way that is beneficial to the specific task. While there is much experimental evidence available that the nervous system employs such strategies, no generally-valid computational model of impedance control derived from first principles h...

This paper investigates simple implicit force control algorithms realizable with industrial robots. A lot of approaches already published are difficult to implement in commercial robot controllers, because the access to the robot joint torques is necessary or the complete dynamic model of the manipulator is used. In the past we already deal with explicit force control of a position controlled r...

this paper presents a theoretical approach to implementation of the “multi-realization of nonlinear mimo systems”. this method aims to find state-variable realization for a set of systems, sharing as many parameters as possible. in this paper a special nonlinear multi-realization problem, namely the multi-realization of feedback linearizable nonlinear systems is considered and an algorithm for ...

perioperative stress and anesthesia are risk factors for exacerbation of multiple sclerosis (ms) attacks. infection, emotional labiality and hyperpyrexia are also known to increase the risk of postoperative ms attacks. appropriate preoperative evaluation, administration of a good premedication, control of fever, selection of the anesthetic agents and effective postoperative pain control can pre...