This paper analyzes the application of large force/torques by robotic systems with limited force/torque actuators. It is shown that such system may be able to apply a force/torque in some configurations only; therefore its useful force workspace is limited. To improve the force capabilities of a system, base mobility and/or redundancy can be employed. A planning algorithm is proposed which resu...

Mobile Ad hoc networks (MANETs) are composed of mobile stations communicating through wireless links, without any fixed backbone support. In these networks, limited power energy supply, and frequent topology changes caused by node mobility, makes their routing a challenging problem. TORA is one of the routing protocols that successfully copes with the nodes’ mobility side effects, but it do...

Hip osteoarthritis is one of the most common and disabling conditions affecting elderly. Coxarthrosis accompanied by impairment amortization properties cartilage, its thinning destruction, appearance pain syndrome, impaired motor functions due to a decrease in muscle strength development stable flexion-adduction contractures, which change congenital programs, and, with prolonged course degenera...

In this article, an optimization method is proposed for the dimensional synthesis of robotic manipulators with limited mobility, i.e. less than 6 degrees-of-freedom (“DoF”), a prescribed set tasks in constrained environment. Since these cannot achieve full 6-DoF they are able to follow only certain paths position and orientation space. While most common approach problem employs pure path-planni...

Articular cartilage injuries, often caused by trauma, have a limited potential to heal, which over time, may lead to osteoarthritis, an inflammatory and degenerative joint disease frequently associated with activity-related pain, swelling and impaired mobility. Many treatment modalities have been introduced but with limited success due to the formation of inferior fibrocartilage at the damaged ...