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...

For humans, power is in part control over their lives. History is a collection of past experiences that empower informed actions. A repertoire is the catalog of your things. A large diverse repertoire can be critical or it can be irrelevant. A great hammer is nice if the job involves a nail. You might have lots of wrenches, but not the one that bends the right way for the “tough nut”. The wrong...

PURPOSE To determine the nature and the origin of metallic foreign particles appearing on the iris after phacoemulsification surgery. SETTING P.D. Hinduja Hospital and Medical Research Centre, Mumbai, Maharashtra, India. DESIGN Case series. METHODS Metallic foreign particles were observed on the iris surface and the pupillary border on the first postoperative visit after phacoemulsificati...

BACKGROUND As one of the loads applied in implant dentistry, managing the torque is important for the success of an implant treatment. For this purpose, it is crucial to ascertain the level of torque being exerted with a hand driver. We have developed an adapter that makes it easy to measure torque by using a standard torque wrench in one's possession, rather than with a torquemeter. PROCEDUR...

Motion planning in multi-contact scenarios has recently gathered interest within the legged robotics community, however actuator force/torque limits are rarely considered. We believe that these limits gain paramount importance when the complexity of the terrains to be traversed increases. For this reason we propose two new six-dimensional bounded polytopes named the Actuation Wrench Polytope (A...

In this article, the workspace of planar wire-actuated parallel manipulators is studied. The investigation is based on two methods: an analytical method which formulates the workspace envelope by means of Cramer’s rule pertaining to the Jacobian matrix and the null space method from static analysis of manipulator. The workspace envelope method is extended to analyzing redundant planar manipulat...

Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that rep...

Robotic failure is all too common in unstructured robot tasks. Despite well designed controllers, robots often fail due to unexpected events. How do robots measure unexpected events? Many do not. Most robots are driven by the senseplan-act paradigm, however more recently robots are working with a sense-plan-act-verify paradigm. In this work we present a principled methodology to bootstrap robot...

In this paper, we aim to use a continuous formulation efficiently calculate the well-known wrench-based grasp metric proposed by Ferrari and Canny which is minimum distance from wrench space origin boundary of space. Considering L∞ nonlinear friction cone model, challenge calculating determine Instead relying on convex hull construction, propose formulate as functions. By doing so, problem qual...