A method is presented for determining the dynamic contact angle at the three-phase contact between a solid, a liquid, and a vapor under an applied force, using molecular simulation. The method is demonstrated using a Lennard-Jones fluid in contact with a cylindrical shell of the fcc Lennard-Jones solid. Advancing and receding contact angles and the contact angle hysteresis are reported for the ...

The paper presents force-torque interpretations in intermediary telepresence for remote manipulation. Methods of reconstruction of force-torque data and algorithms to depict contact forces are presented in this paper. Real time force trajectory, the accuracy of the force trajectory and the state of the remote site in terms of wrench state are also described. In addition, options to take correct...

Abstract. In teleoperation tasks, communication delays between master and slave sides negatively affect the stability and transparency of closed loop system, and make it difficult to maintain a desired contact force. In order to improve the performance of contact force control in teleoperation under large time delays, a shared compliant control method is proposed in this paper. On the master si...

This paper presents the design and modeling of a flexible tactile sensor, capable of detecting the 2D surface texture image, contact-force estimation and stiffness of the sensed object. The sensor is made of polymer materials. It consists of a cylindrical chamber for pneumatic actuation and a membrane with a mesa structure. The inner radius of the cylindrical chamber is 2cm and its outer radius...