This paper proposes a human-assisting manipulator teleoperated by electromyographic (EMG) signals and arm motions. The proposed method can realize a new master–slave manipulator system that uses no mechanical master controller. A person whose forearm has been amputated can use this manipulator as a personal assistant for desktop work. The control system consists of a hand and wrist control part...

we present a case report of acute spontaneous knee hemarthosis due to erosion of the nail through the knee joint capsule in a boy, seven months following retrograde flexible nailing for fractured femur. careful positioning of the location of the insertion site of flexible nails and proper nail tip management are important to avoid this rare late complication.

This article presents an application of the multivariable Model-based Predictive Controller associated to a Kalman filter to damp the mechanical vibrations of a flexible one-link manipulator using state variables feedback. The flexible manipulator, seen as a single input multiple outputs system is modelled using the Lagrange equations. The state space equations are expressed in order to simplif...

Joint-coupling is introduced in the design and control of parallel manipulators for purposes of singularity management. The idea behind joint-coupling is to drive several joints with one single actuator by mechanical or electronic means, while preserving the mobility of the manipulator. Such joint-coupling can affect the condition of direct singularities of parallel manipulators through its cou...

The design of flexible manipulator is complicated due to inherently infinite dimension in nature. The sequential challenge is the problem such a non-minimum phase that is the cause of system instability. In this paper, a constrained single-link flexible arm is fully investigated using a linear distributed parameter model. In order to overcome the inherent limitations, a new input induced by the...

A new method for mitigating unexpected impact of a redundant manipulator with an object in its environment is presented. Kinematic constraints are utilized with the recently developed method known as Full Space Parameterization (FSP). System performance criteria and constraints are changed at impact to return the end effector to the point of impact and halt the arm. Since large joint accelerati...

Model based control schemes use the inverse dynamics of the robot arm to produce the main torque component necessary for trajectory tracking. For model-based controller one is required to know the model parameters accurately. This is a very difficult task especially if the manipulator is flexible. So a reduced model based controller has been developed, which requires only the information of spa...

In this paper, a design of modularized dual-joint servo controller on-chip for a space manipulator system is presented. All sensor information collection within the joints are obtained with FPGA hardware logic elements, and the joint space trajectory planning and position control are realized by Nios II soft-core processor, which is embedded in FPGA. Moreover, a dualredundant CAN bus Interface ...

In this paper, we tackle the problem of nonlinear adaptive hybrid control of constrained robots with flexible links. According t o the physical properties of a flexible manipulator, a two time-scale approach, namely, singular perturbation a p proach, is further utilized for thorough analysis and general controller design. It is shown tha t asymptotic motional tracking can be effectively achieve...