Temporal flow control of a jet has been widely studied in the past to enhance jet mixing or reduce jet noise. Most of this research, however, has been done using small diameter low Reynolds number jets that often have little resemblance to the much larger jets common in real world applications because the flow actuators available lacked either the power or bandwidth to sufficiently impact these...

Force controlled series elastic actuators (SEA’s) are widely used components of novel physical human-robot interaction applications such as assistive and rehabilitation robotics. These systems are characterized by the presence of the “human in the loop” so that control response and stability depend on uncertain human dynamics. A common approach to guarantee stability is to use a passivity-based...

This paper presents a horizontal rehabilitation robot based on parallel mechanism used after the femoral shaft fracture of hip. It can help patients to do passive exercises of hip. The system consist of three degrees of freedom actuated with linear actuators. The kinematics and dynamics of the mechanism is analyzed. The mechanical design of the robot is described. The forward and inverse kinema...

A new approach to the design of light manipulator arms with long links is proposed in this paper. In contrast with traditional schemes, a flexible link is provided with a special force unloading system (FUS) having electrohydraulic drives. As a result, the static and dynamic errors caused by link structural deflections are minimized. Strategy of control the unloading actuators with measuring st...

The dynamical equations for a spinning top are derived in which the orientation is speciied by a complex variable using stereographic projection of Poisson's equations. Necessary and suucient conditions for Lyapunov stability of the uncontrolled motion of the spinning top are derived using the Energy-Casimir method. Control laws that globally asymptotically stabilize the spinning top to the sle...

Walking is a complex behavior that emerges from interaction between the agent body and the terrain. To realize adaptive dynamic walking by an artificial agent, therefore, not only its body and control dynamics but also the dynamics of the terrain should be taken into account. This paper describes a biped walker with pneumatic actuators and a ballistic controller that only applies driving force ...

Hydraulic machinery is a mechatronic system that widely used in various industries such as the mining, forest, and construction industries. Computer simulation of hydraulic crucial because it can be to affect almost everything from operational activities designs features. The objective this article monolithically couple multibody dynamics actuators by utilizing semianalytical numerical methods ...

Creating insect-scale flapping flight at the 0.1 gram size has presented significant engineering challenges. A particular focus has been on creating miniature machines which generate similar wing stroke kinematics as flies or bees. Key challenges have been thorax mechanics, thorax dynamics, and obtaining high powerto-weight ratio actuators. Careful attention to mechanical design of the thorax a...

Distributedmanipulation systems inducemotions on objects through the application of many external forces. An actuator array performs distributedmanipulation using a planar array of many small stationary elements (which are called cells) that cooperate to manipulate larger objects. Typically, highly dense actuator arrays are modeled as spatially continuous, programmable force fields, although in...