The motivation behind this work is to transfer force-based assembly skills to robots by using human demonstration. For this purpose, we model the skills as a sequence of contact formations (which describe how a workpiece touches its environment) and desired transitions between contact formations. In this paper , we present a method of identifying single-ended contact formations from force senso...

As the most important working area of gear, teeth play the role of transmitting load and power. Tooth line and tooth profile are the two main characteristics of the tooth surface, which affect the shape of the tooth surface, tooth meshing characteristics and contact characteristics. Taking the elliptical cylinder gear pair in the reversing device of a new type of drum pumping unit as the resear...

BACKGROUND In-vitro mechanical tests are commonly performed to assess pre-clinically the effect of implant design on the stability of hip endoprostheses. There is no standard protocol for these tests, and the forces applied vary between studies. This study examines the effect of the abductor force with and without application of the anterior-posterior hip contact force in the in-vitro assessmen...

We study theoretically the force of adhesion of pinned liquid drops in contact with supersolvophobic surfaces. We develop a method to calculate the contact and excess surface areas vs compression of the drops against surfaces characterized by an effective interfacial energy in the Cassie-Baxter wetting regime. We find that a 9° difference in contact angle can increase the force of adhesion by a...

[Purpose] The purpose of this study was to investigate the influence of sacral sitting in a wheelchair on contact pressure on the buttocks and back, and shear force on the ischial region. [Subjects and Methods] Twenty-six healthy adults assumed two postures while seated in a wheelchair: a basic sitting posture, and sacral sitting with the pelvis tilted posteriorly and the ischium slid forward b...

Analysis of direct teleoperation with force feedback indicates that humans have difficulties perceiving the direction and amount of reflected force. Locally implemented force-based reactive behaviors provide accurate and timely feedback to assist in replicating human skills and dexterity. The contact forces between the slave arm tool and the environment is analyzed using three settings. First, ...

Simulated granular packings with different particle friction coefficient mu are examined. The distribution of the particle-particle and particle-wall normal and tangential contact forces P(f) are computed and compared with existing experimental data. Here f identical with F/(-)F is the contact force F normalized by the average value (-)F. P(f) exhibits exponential-like decay at large forces, a ...