In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...

This paper presents a method for redundancy resolution of an industrial manipulator in a teleoperated force control task A seven degree-of-freedom (DOF) industrial manipulator manufactured by the Mit-subishi Heavy Industries Ltd. is used for experiments. The task involves obeying a force command sent from a remote computer while autonomously adapting the posture to avoid unexpected obstacles mo...

Models of skeletal muscle based on its response to sinusoidal stimulation have been in use since the late 1960s. In these methods, cyclic excitation at varying frequencies is used to determine force or muscle length amplitude and phase as functions of excitation frequency. These functions can then be approximated by models consisting of combinations of poles and zeros and pure time delays witho...