The objective of our study is to build a precise model by applying the technique of system identification for the model-based control of a nonlinear robot arm, taking joint-elasticity into consideration. This paper proposes a systematic identification method, called “decoupling identification”, for a serial two-link robot arm with elastic joints caused by the Harmonic drive R © reduction gears....

Robotic systems can benefit from the introduction of properly chosen joint elasticity. Besides their robustness against rigid impact, the energy saving capabilities may increase the system dynamics. In this paper, a method applicable for robots with serial elastic joints is presented, which embodies a desired oscillatory behavior into the hardware and thereby leads to improved performance. This...

We report a 28-year-old female who presented with severe joint pain, chronic muscle weakness, Raynaud's phenomenon, and hypermobility. She was found to have a 6074A > T nucleotide transition in the TNXB gene causing an amino acid protein change at Asp2025Val classified as likely pathogenic. We add this clinical report to the literature and classical human disease gene catalogs to identify this ...

While cloud computing has enabled applications to be designed as elastic cloud services, there is a lack of tools and techniques for monitoring and analysing their elasticity at multiple levels, from the service level to the underlying virtual infrastructure. In this paper, we focus on monitoring and evaluating elasticity of cloud services, crucial for supporting users and automatic elasticity ...

This paper presents a state observer for an elastic joint with nonlinear friction via the information from acceleration sensor. In order to avoid discontinuities, of motor, which includes static, coulomb, and viscous terms, is considered smooth function. addition, it uses sensor obtain about link high uncertainty. The proposed guarantees that estimation error position velocity connected contain...

Synovial plicae represent inward folds of the synovial lining of the knee joint capsule, which are considered vestiges of a membranous knee joint partition present during foetal development. Three such folds are found with regularity in the human knee, but most are asymptomatic and of little clinical consequence. Plicae are more commonly seen in young adults, and can be an important cause of an...

The objective of the study was to evaluate sex differences in the pattern of innominate motion about the sacroiliac joint (SIJ) during hip movement. Although the magnitude of intrinsic SIJ motion is influenced by joint congruence and ligament elasticity sex differences in pelvic joint kinematics are under-investigated. Forty healthy and active males and females between the ages of 18 and 35 wer...

Applications with physical human-robot interaction require a high level of safety even in case of software or hardware failures. This paper highlights the advantages of combining tendon actuation with transmission elasticity to maximize safety for robotic arms sharing workspaces with humans. To this end, the collision behavior of combinations of tendon or joint and elastic or stiff actuation wi...

PURPOSE We aimed to determine the correlations between the elasticity values of solid breast masses and histopathological findings to define cutoff elasticity values differentiating malignant from benign lesions. MATERIALS AND METHODS A total of 115 solid breast lesions of 109 consecutive patients were evaluated prospectively using shear wave elastography (SWE). Two orthogonal elastographic i...

We evaluate the aggregate effects of expansions credit supply in environments where subsistence self-employment is prevalent. extend a standard macro development model to include unemployment risk, which becomes key driver selection into self-employment. The consistent with joint distribution earnings and occupations, reaction wages labor demand shocks, small microloans on self-employed. find t...