in this paper, trajectory generation for the 4 dof arm of surena iii humanoid robot with the purpose of optimizing energy and avoiding a moving obstacle is presented. for this purpose, first, kinematic equations for a seven dof manipulator are derived. then, using the lagrange method, an explicit dynamics model for the arm is developed. in the next step, in order to generate the desired traject...

background patients who have shoulder pain usually have compensatory or contributory deviation of shoulder motion during arm elevation. in the traditional scapulohumeral rhythm, the share of the acromioclavicular (ac) and the sternoclavicular (sc) joint movements and also the role of ac internal rotation angle are unknown. objectives the main purpose of this study was to measure and compare the...

Chromosomal defects are relatively frequent in infertile men however, translocations between the Y chromosome and autosomes are rare and less than 40 cases of Y-autosome translocation have been reported. In particular, only three individuals has been described with a Y;21 translocation, up to now. We report on an additional case of an infertile man in whom a Y;21 translocation was associated wi...