We study grasps of multiinger dexterous hands under the point contact model. Speciically, we are interested in high-quality force closure grasps. We abstract the problem into the space of force/torque wrenches where the quality is proportional to the magnitude of the largest wrench expressed as a non-negative combination of the grasp wrenches. This abstraction enables us to solve the problem by...

Despite prevention efforts, burn injuries among auto mechanics are described in the literature. Electrothermal ring burns from car batteries occur by short-circuiting through the ring when it touches the open terminal or metal housing. This article describes a 34-year-old male auto mechanic who was holding a wrench when his gold ring touched the positive terminal of a 12-volt car battery and th...

The mathematical approach presented allows main features of kinematics and force transfer in the loaded natural tibiofemoral joint (TFJ) or in loaded knee endoprostheses with asymmetric condyles to be deduced from the spatial curvature morphology of the articulating surfaces. The mathematical considerations provide the theoretical background for the development of total knee replacements (TKR) ...

S we introduced the Distal Jet* to the pro­ fession more than six years ago, it has achieved worldwide acceptance as an esthetic fixed appliance that can produce consistently reliable distal molar movement without the need for unusual patient compliance.1-22 Our experience with hundreds of Distal Jet cases has helped us identify key components of the appliance that could possibly be upgraded an...

The legalization of physician assisted suicide (PAS) in Oregon and physician assisted death (PAD) in The Netherlands has revitalized the debate over whether and under what conditions individuals should be able to determine the time and manner of their deaths, and whether they should be able to enlist the help of physicians in doing so. Although the change in the law is both dramatic and recent,...

The maximum cable tension is a crucial parameter in the design of cable-driven parallel robot (CDPR) since various mechanical components CDPR must be designed to safely withstand loads induced by this tension. For CDPRs having number cables at least equal its degree freedoms (DOFs), article deals with determination smallest vectors allowing required wrench set feasible. problem formulated as mi...

—In this paper, the failure of wire­actuated parallel manipulators is examined considering their failure modes. A methodology for investigating the effect of actuator/wire failures on the force/moment capability of manipulators is presented, and the criteria for full and partial recovery from these failures are established. The methodology is also applicable for the cases that the minimum norm ...