This paper presents a lightweight and low-inertia cable-driven upper-limb exoskeleton powerful enough to meet the requirements for activities of daily living. It mechanical design, kinematic structure,the underlying actuation system, sensors, other electronic components as well controller exoskeleton. The extensive effect friction on designs, such one presented in this paper, requires proper ma...

This paper presents a Closed Loop Input Error (CLIE) approach for on-line parametric estimation of a continuous-time model of a DC servomechanism functioning in closed loop. A standard Proportional Derivative (PD) position controller stabilizes the loop without requiring knowledge on the servomechanism parameters. The analysis of the identification algorithm takes into account the control law e...

The mismatched perturbations and system chattering are the two main challenging problems in sliding mode control. This paper tries to solve these problems by deriving the invariant sets created by the sliding mode controller where the present work is devoted to a second order nonlinear affine system. If the state started in these sets it will not leave it for all future time. The first invarian...

Rigid-body dynamics with unilateral contact is a good approximation for a wide range of everyday phenomena, from the operation of car brakes to walking to rock slides. It is also of vital importance for simulating robots, virtual reality, and realistic animation. However, correctly modeling rigid-body dynamics with friction is difficult due to a number of discontinuities in the behavior of rigi...

The problem of a steady-state slip pulse of (nite size between dissimilar materials is studied. It is shown that for a Coulomb friction law, there is a continuous set of possible solutions for any slip propagation velocity and any slip length. These solutions are, however, nonphysical because they show a singular behaviour of the slip velocity at one extremity of the pulse, which implies a crac...

Granular packings of hard disks are investigated by means of contact dynamics which is an appropriate technique to explore the allowed force realizations in the space of contact forces. Configurations are generated for given friction coefficients, and then an ensemble of equilibrium forces is found for fixed contacts. We study the force fluctuations within this ensemble. In the limit of zero fr...

We study the seismic response of two adjacent structures connected with a dry friction damper. Each of them consists of a viscoelastic rod and a rigid block, which can slide without friction along the moving base. A simplified earthquake model is used for modeling the horizontal ground motion. Energy dissipation is taken by the presence of the friction damper, which is modeled by the set-valued...

Abstract The incorporation of the saturation tangential contact stress with increase normal is required for analysis friction phenomenon solids and structures subjected to a high stress, which cannot be described by Coulomb condition, in increases linearly stress. In this article, subloading-friction model, capable describing smooth elastic—plastic transition, static—kinetic recovery static dur...

This paper presents the application of a new method for interfacial modeling utilizing a merger of continuous Galerkin and discontinuous Galerkin concepts to simulate the behavior of mechanical joints. The interfacial flux terms arising naturally from the discontinuous Galerkin treatment provide a mechanism to embed friction models in a variationally consistent fashion. Due to the unbiased impl...

Modeling of coupled plastic flows and strain-induced phase transformations (PTs) under high pressure in a diamond anvil cell is performed with the focus on the effect of the contact sliding between sample and anvils. Finite element software ABAQUS is utilized and a combination of Coulomb friction and plastic friction is considered. Results are obtained for PTs to weaker, equal-strength, and str...