In the literature, conventional 3D inverse dynamic models are limited in three aspects related to inverse dynamic notation, body segment parameters and kinematic formalism. First, conventional notation yields separate computations of the forces and moments with successive coordinate system transformations. Secondly, the way conventional body segment parameters are defined is based on the assump...

The recent advent of angular optical trapping techniques has allowed for rotational control and direct torque measurement on biological substrates. Here we present a method that increases the versatility and flexibility of these techniques. We demonstrate that a single beam with a rapidly rotating linear polarization can be utilized to apply a constant controllable torque to a trapped particle ...

This paper presents a new geometry-based method to determine if a cable-driven robot operating in a d-degree-of-freedom workspace (2 ≤ d ≤ 6) with n ≥ d cables can generate a given set of wrenches in a given pose, considering acceptable minimum and maximum tensions in the cables. To this end, the fundamental nature of the Available Wrench Set is studied. The latter concept, defined here, is clo...

Introduction: Some clinicians use a handheld screw driver instead of a torque wrench to definitively tighten abutment screws. The aim of this study was to compare the removal torque of one-piece and two-piece abutments tightened with a handheld driver and a torque control ratchet. Methods: 40 ITI implants were placed in acrylic blocks and divided into 4 groups. In groups one and two, 10 ITI one...

In this study, we investigated dynamic control strategies for over-constrained cable-driven robots. order to a robot, it is essential address issues that arise from the restriction of cable tension, as well redundancy an system. contrast previous research required consideration relationship between tension constraints and computed wrench in distribution problems, developed function incorporates...

Deep reinforcement learning produces robust locomotion policies for legged robots over challenging terrains. To date, few studies have leveraged model-based methods to combine these skills with the precise control of manipulators. Here, we incorporate external dynamics plans into learning-based mobile manipulation. We train base policy by applying a random wrench sequence on robot in simulation...

In this paper, a target approachable force-guided control with adaptive accommodation for the complex assembly is presented. The complex assembly (CA) is defined as a task which deals with complex shaped parts including concavity or whose environment is so complex that unexpected contacts occur frequently during insertion. CA tasks are encountered frequently in the field of the manufacturing au...

Often it is useful to account for small error or variation in a physical simulation. We develop conservative bounds for the unit wrenches applied by pushing on a curved surface patch in two dimensions. We discuss subdividing the surface patch to obtain tighter bounds, and incorporating varying force directions caused by frictional contacts.

Abstract In this study, new structural field data and geological observations are coupled with remote sensing analysis compilation of previous published work to establish a kinematic framework for the neotectonic reactivation Alxa block, China. The block occupies key position in Central Asia north east contractional sinistrally transpressive deforming zones Qilianshan-Hexi Corridor-easternmost ...