High performance robust motion and force tracking control of robot manipulators in contact with sti surfaces is considered in this paper. The robot parameters and the sti ness of the contact surface may not be known. The system may also be subjected to uncertain nonlinearities coming from the joint friction of the robot, external disturbances, the contact surface friction model, and the unknown...

In this paper we derive a new dynamic friction force model for the longitudinal road/tire interaction for wheeled ground vehicles. The model is based on a dynamic friction model developed previously for contact-point friction problems, called the LuGre model [1]. By assuming a contact patch between the tire and the ground we develop a partial differential equation for the distribution of the fr...

Validation is critical if clinicians are to use musculoskeletal models to optimize treatment of individual patients with a variety of musculoskeletal disorders. This paper provides an update on the annual Grand Challenge Competition to Predict in Vivo Knee Loads, a unique opportunity for direct validation of knee contact forces and indirect validation of knee muscle forces predicted by musculos...

The purpose of this study was to test the hypothesis that patella alta leads to a less favourable situation in terms of patellofemoral contact force, contact area and contact pressure than the normal patellar position, and thereby gives rise to anterior knee pain. A dynamic knee simulator system based on the Oxford rig and allowing six degrees of freedom was adapted in order to simulate and rec...

This study aimed to compare and analyse rubber-dome desktop, spring-column desktop and notebook keyboards in terms of key stiffness and fingertip typing force. The spring-column keyboard resulted in the highest mean peak contact force (0.86N), followed by the rubber dome desktop (0.68N) and the notebook (0.59N). All these differences were statistically significant. Likewise, the spring-column k...

To manipulate an object, we must simultaneously control the contact forces exerted on the object and the movements of our hand. Two alternative views for manipulation have been proposed: one in which motions and contact forces are represented and controlled by separate neural processes, and one in which motions and forces are controlled jointly, by a single process. To evaluate these alternativ...

A method is presented for the force controlled interaction tasks and intuitive teaching of a pneumatic actuator without using a load cell for force feedback. A sliding mode force controller is designed to provide high bandwidth actuator force tracking using a four-way proportional valve. A unified velocity (free space) and contact force (constrained environment) controller is designed. A novel ...

The micromanipulation of objects of size between 10 μm and 1 mm is often disturbed by the adhesion between the contacting surfaces. The electrostatic force in the contact alone can significantly perturb the micromanipulation by its important adhesion effect. The electrostatic adhesion force is influenced by many factors, i.e., the materials of the contacting bodies and the topography of the con...

A study of the operator contact force influence on the performance of Articulated Arm Coordinate Measuring Machines (AACMMs) is presented in this paper. After developing a sensor capable of measuring the contact force applied by an operator, a ring gauge has been used to analyse the relationship between the contact force and diameter and form errors measured with the AACMM. As a result, contact...

Previous research has shown that an increase in hamstring activation may compensate for anterior tibial transalation (ATT) in patients with anterior cruciate ligament deficient knee (ACLd); however, the effects of this compensation still remain unclear. The goals of this study were to quantify the activation of the hamstring muscles needed to compensate the ATT in ACLd knee during the complete ...