In this article, we aim to achieve manual guidance of a robot manipulator perform tasks that require strict path following and would benefit from collaboration with human guide the motion. The can be used as tool increase accuracy operator while remaining compliant instructions. We propose dual-loop control structure where outer admittance loop allows along considering projection external force...

Immunological aging remodels the immune system at several levels. This has been documented in particular for the T-cell receptor (TCR)αβ+ T-cell compartment, showing reduced naive T-cell outputs and an accumulation of terminally differentiated clonally expanding effector T-cells, leading to increased proneness to autoimmunity and cancer development at older age. Even though TCRαβ+ and TCRγδ+ T-...

0957-4158/$ see front matter 2012 Elsevier Ltd. A doi:10.1016/j.mechatronics.2012.01.010 ⇑ Corresponding author. Tel.: +1 416 979 5000x709 E-mail addresses: [email protected], eissa.nemato Nematollahi), [email protected] (A. V (F. Janabi-Sharifi). 1 Present address: Rotman School of Management, U This work presents a novel method for the visual servoing control problem based on second...

A direct visual-servoing algorithm for control of a space-based two-arm manipulator is proposed in this paper. The can be utilized manipulators configuration, where one the arms performs manipulation and second arm dedicated to observation target zone manipulation. utilizes both visual features extracted from onboard cameras force torque measured at manipulator's end-effector movements during o...