Navigating a Changing Continuum of Care With Heart

A simple closed curve is the simplest example of a compact, nondegenerate, homogeneous continuum. If a bounded, nondegenerate, homogeneous plane continuum has any local connectedness property, even of the weakest sort, it is known to be a simple closed curve [l, 2, 3].1 The recent discovery of a bounded, nondegenerate, homogenous plane continuum which does not separate the plane [4, 5] has give...

dimensional synthesis of a parallel robot may be the initial stage of its design process, which is usually carried out based on a required workspace. since optimization of the links lengths of the robot for the workspace is usually done, the workspace computation process must be run numerous times. hence, importance of the efficiency of the algorithm and the cpu time of the workspace computatio...

We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimmin...

This paper presents a novel, analytical approach to solving inverse kinematics for multi-section continuum robots, defined as robots composed of a continuously bendable backbone. The problem is decomposed into several simpler subproblems. First, this paper presents a solution to the inverse kinematics problem for a single-section trunk. Assuming endpoints for all sections of a multi-section tru...

based on dynamic modeling, robust trajectory tracking control of attitude and position of a spherical mobile robot is proposed. in this paper, the spherical robot is composed of a spherical shell and three independent rotors which act as the inner driver mechanism. owing to rolling without slipping assumption, the robot is subjected to two nonholonomic constraints. the state space representatio...

in this paper, the important formation control problem of nonholonomic wheeled mobile robots is investigated via a leader-follower strategy. to this end, the dynamics model of the considered wheeled mobile robot is derived using lagrange equations of motion. then, using adams multi-body simulation software, the obtained dynamics of the wheeled system in matlab software is verified. after that, ...

In this article, a soft robot arm that has the ability to twist in two directions is designed. This continuum inspired by twisting movements of human upper limb. novel arm, contractor pneumatic muscle actuators (PMA) are used parallel, and self-bending contraction actuator (SBCA) laid between them establish movement. The proposed additional features, such as contract bend multiple directions. k...