In this paper, a novel adaptive sliding mode control for rigid robot manipulators is proposed. In the proposed system, since there may exist explicit unknown parameters and perturbations, a Lyapunov based approach is presented to increase system robustness, even in presence of arbitrarily large (but not infinite) discontinuous perturbations. To control and track the robot, a continuous controll...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

a new type of backbone robot is presented in this paper. the core idea is to use a cross shape mechanism with the principle of functioning of the scissors linkages, known as a pantograph. although this continuum arm acts quite similar to tendon-driven robot, this manipulator does not include any tendon in its structure. this design does not suffer from the weaknesses of the continuum design suc...

this paper proposes a control strategy for a cable-suspended robot based on sliding mode approach (smc) which is faced to external disturbances and parametric uncertainties. this control algorithm is based on lyapunov technique which is able to provide the stability of the end-effecter during tracking a desired path with an acceptable precision. the main contribution of the paper is to calculat...

in this paper an automatic examination robot was developed to improve the process of cancer detection, tumor localization and geometrical shape diagnosis. a uniformly distributed compressive load was applied to the top tissue surface and the resultant mechanical stress was measured that was employed for the tumor diagnosis task. the experimental examinations were performed on the soft tissue of...

tthe uncertainty estimation and compensation are challenging problems for the robust control of robot manipulators which are complex systems. this paper presents a novel decentralized model-free robust controller for electrically driven robot manipulators. as a novelty, the proposed controller employs a simple gaussian radial-basis-function network as an uncertainty estimator. the proposed netw...

PURPOSE Dental implants present several advantages over other tooth replacement options. However, there has been little research on masticatory function in relation to implant treatment. Therefore, the aim of the present study was to evaluate the improvement of masticatory function two weeks after implant restoration. METHODS Masticatory ability was evaluated with the subjective food intake a...

OBJECTIVE To evaluate the relationships between tongue pressure and different aspects of the oral-phase swallowing function. METHODS We included 96 stroke patients with dysphagia, ranging in age from 40 to 88 years (mean, 63.7 years). Measurements of tongue pressure were obtained with the Iowa Oral Performance Instrument, a device with established normative data. Three trials of maximum perfo...

The purpose of this experiment was to look for signals of muscle fatigue in volunteers with Temporomandibular Disorders (TMD) during short period of mastication. Twenty female volunteers selected by Research Diagnostic Criteria for Temporomandibular Disorders (RDC/TMD) participated, 10 with myogenic TMD (experimental) and 10 clinically normal (control). The Masseter and Temporalis muscles were ...

The proportion of large particles (LP) broken down to small, insoluble particles by primary mastication (eating), rumination, digestion and detrition (rubbing) was determined for separated leaf and stem fractions of perennial ryegrass (Lolium perenne) and alfalfa (Medicago sativa) fed to cattle cannulated at the esophagus. Large particles were defined as those particles retained during wet siev...