Theoretically, parallel kinematics machine tools should be very accurate and rigid due to their closed loop structure and no error accumulation characteristics. Unfortunately, these theoretical presumptions have not been confirmed in practice, due to manufacturing and assembly errors, kinematic errors in the actuators and joints, elastic deformations due to the gravity, thermal deformations, li...

This paper proposes a model for predicting dynamic motions of elastic robots made entirely of electro-active polymer gel. The requirement is that both active and passive deformations be described simultaneously. Active deformations arise from generated stress, while passive deformations are due to external forces, such as gravity and friction. We represent both in the same framework, considerin...

Human sensory inputs and motor outputs mutually affect one another. We pursue the idea that a tactile interface can influence human motor outputs by intervening in sensory-motor relationships. This study focuses on the shear deformation of a finger pad while a person traces a line or circle. During these tracing movements, the finger pads were deformed using a tactile interface. The tracing dis...

In this paper, we present our recently developed robotic system that can navigate in environments with deformable objects. To achieve this, we propose techniques to learn models of deformable objects by physical interaction between the robot and the objects. We determine the model parameters by establishing a relation between the applied forces and the corresponding surface deformations as obse...

This paper presents a novel approach to remote tactile interaction, wherein a human uses a telerobot to touch a remote environment. The proposed system consists of a BioTac tactile sensor, in charge of registering contact deformations, and a custom cutaneous device, in charge of applying those deformations to the user’s fingertip via a 3-DoF mobile platform. We employ a novel data-driven algori...

We argue that multi-trace deformations of the boundary CFT in AdS/CFT correspondence can arise through the OPE of single-trace operators. We work out the example of a scalar field in AdS5 with cubic self interaction. By an appropriate reparametrization of the boundary data we are able to deform the boundary CFT by a marginal operator that couples to the conformal anomaly. Our method can be used...

Influence of the magnetoelastic interaction on the structural phase transitions in cubic ferromagnets is investigated on the basis of a Ginzburg-Landau theory. It is shown that for the case of a positive magnetic anisotropy constant the structural phase transitions are not accompanied by a spin-reorientation. In the magnetic state the high-temperature phase has small deformations caused by the ...

A strain energy function for finite deformations is developed that has the capability to describe the nonlinear, anisotropic, and asymmetric mechanical response that is typical of articular cartilage. In particular, the bimodular feature is employed by including strain energy terms that are only mechanically active when the corresponding fiber directions are in tension. Furthermore, the strain ...

Inclusions in biological membranes may interact via deformations they induce on the shape of that very membrane. Such deformations are a purely physical effect, resulting in nonspecific forces between the inclusions. In this Letter we show that this type of interaction can organize membrane domains and hence may play an important biological role. Using a simple analytical model we predict that ...

A frequency domain dynamic analysis is needed to obtain the response of structures constructed on a system of base isolators on flexible soil when subjected to earthquake ground motion. In such systems, the lateral stiffness of the base isolators is so small, compared to the structural stiffness, that in an earthquake attack the fundamental vibration mode dominates the response. With this in mi...