This paper proposes a method to identify the joint sti ness of a robot using a bandpass lter. It is based on moving one axis at a time. The dynamic model reduces to a model which is linear in relation to a minimum set of dynamical parameters which have to be identi ed. These parameters are estimated using the least squares solution of an over determined linear system obtained from the sampling ...

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Joint degeneration has become a commonplace problem in aging populations. The main clinical manifestations include joint pain, joint stiffness and joint swelling with functional disorder. Mega MSM is a nutritional supplement that may provide potential relief for joint problems associated with joint degeneration. The current experiment performed was a 12-week, randomized, double-blind, controlle...

In this paper, the control of the force due to the interaction with the environment of a robotic manipulator with relevant and adjustable joint stiffness is addressed. It is assumed that the interaction force is not directly measurable and a controller able to estimate this force is proposed. Also the problem of controlling simultaneously both the position and the stiffness trajectory in the ro...

In this study, an analytical model is developed to study crack breathing behavior under the effect of crack location and unbalance force. Crack breathing behavior is determined using effectual bending angle by studying the transient change in closed area of the crack. The status of the crack of a balanced shaft is symmetrical about shaft rotational angle and the duration of each crack status re...

Initial destructive experimental studies have demonstrated significant stiffness variations in the damage region and large differences in compression and tension [2]. A quantitative description of the stiffness reduction in an artificial impact damage was demonstrated in [3], employing a non-destructive testing method coupled with an inverse approach. Tensile stiffness distribution of real impa...

BACKGROUND AND OBJECTIVES Although morning stiffness has long been recognized as a characteristic feature of rheumatoid arthritis (RA), it is no more included in the 2010 ACR/EULAR Classification Criteria or in the current major instruments for evaluating disease activity of RA. In this cross-sectional study, we aimed to determine the independent value and the optimal measurement of morning sti...

Fatigue-induced changes in intrinsic and reflex properties of human elbow extensor muscles and the underlying mechanisms for fatigue compensation were investigated. The elbow joint was perturbed using small-amplitude and pseudorandom movement patterns while subjects maintained steady levels of mean joint extension torque. Intrinsic and reflex properties were identified simultaneously using a no...

This paper presents the stiffness characteristics of a three-prismatic-universal–universal (3-PUU) translational parallel kinematic machine (PKM). The stiffness matrix is derived intuitively based upon an alternative approach considering actuations and constraints, and the compliances subject to both actuators and legs are involved in the stiffness model. The stiffness performance of the manipu...

The spring-mass model is a valid fundament to understand global dynamics of fast legged locomotion under gravity. The underlying concept of elasticity, implying leg stiffness as a crucial parameter, is also found on lower motor control levels, i.e. in muscle-reflex and muscle-tendon systems. Therefore, it seems reasonable that global leg stiffness emerges from local elasticity established by ap...