space 1 The space of twist Joint space The space of wrench (6) jT T T J ~ ( = J KI Ii) I ' * 1 v torque space 1 Figure 2.6: Transformation from Task Domain to Joint Domain where each column of J is the image in abstract space of the corresponding column of the Jacobian J . Thus. the base of the joint variable space is: and the base of the joint torque space is: Because J is a matrix defined in ...

We present a new algorithm for approximate joint diagonalization of several symmetric matrices. While it is based on the classical least squares criterion, a novel intrinsic scale constraint leads to a simple and easily parallelizable algorithm, called LSDIC (Least squares Diagonalization under an Intrinsic Constraint). Numerical simulations show that the algorithm behaves well as compared to o...

Introduction The glenohumeral joint has a large range of motion, yet it is still stable. The joint consists of the intercalated joint surfaces of the humeral head and glenoid, along with the surrounding capsuloligamentous structures. Interaction between the capsuloligamentous structures and the articulating surfaces provides the basic static constraint of the joint. On the contrary, coordinated...

A distributionally robust joint chance constraint involves a set of uncertain linear inequalities which can be violated up to a given probability threshold , over a given family of probability distributions of the uncertain parameters. A conservative approximation of a joint chance constraint, often referred to as a Bonferroni approximation, uses the union bound to approximate the joint chance ...

We study the joint recognition problem, which asks for the identification and classification of kinematic joints from a geometric constraint system. By laying the foundation for a rigidity-theoretic study of flexible body-and-cad frameworks, we obtain an O(n) algorithm for identifying prismatic and revolute joints relative to a specific body and an O(n) algorithm for finding all pair-wise joint...

The presence of an 'underfill' encapsulant between a micro-electronic device and the underlying substrate is known to substantially improve the thermal fatigue life of flip-chip solder joints, primarily due to load-transfer from the solder to the encapsulant. In this study, a new single joint-shear (SJS) test, which allows the measurement of the strain response of an individual solder ball duri...

Background: Studies on how the shoe insole hardness regulate joint stiffness and transfer energy in the lower extremity during jump landing are scarce. The current study aimed to determine the effectiveness of shoe insole changes in joint power and stiffness during landing from jumps. Methods: Fifteen healthy male athletes volunteered to perform jump-landing in various shoe insole conditions. ...

INTRODUCTION The minimal bony constraint of the glenohumeral joint (GHJ) enables it to achieve a remarkable range of motion. Consequently, the stability of the joint must be maintained by the surrounding soft tissue structures; in particular the rotator cuff. The data available on normal shoulder function is sparse due to complex kinematics of the GHJ and technical difficulties in acquiring the...