In this paper, a control method of robots for human-robot cooperative manipulation is investigated. We propose estimating human motion using the minimum jerk model for smooth cooperation. Using nonlinear least-squares method, we identify two parameters of the minimum-jerk model in real-time. The estimated position of the human hand is used to determine the desired position of the end-effector o...

Epilepsia partialis continua (EPC) is a particular type of epilepsy which is distinguished from "common epilepsy" by its characteristic semiological features. However, unusual manifestations should be described in order to give awareness at clinical diagnosis. In this case report we describe a rare EPC case not previously reported, in which left shoulder joint-trunk-hip joint jerk was present f...

Electronic cam motion involves velocity tracking control of the master motor and trajectory generation of the slave motor. Special concerns such as the limits of the velocity, acceleration, and jerk are beyond the considerations in the conventional electronic cam motion control. This study proposes the curve-fitting of a Lagrange polynomial to the cam profile, based on trajectory optimization b...

In this paper, minimum jerk movement on the constrained sphere was studied by using both theoretical analysis and experimental investigation. Based on the constraint optimal principle, it was obtained that the trajectory of the minimum jerk movement on the surface of sphere should be a geodesic. Experiments used a robot especially designed for studies of human-machine interactions to evaluate m...

Robust nonlinear control of flexible-joint robots requires that the link position, velocity, acceleration, and jerk be available. In this paper, we derive the dynamic model of a nonlinear flexible-joint robot based on the governing Euler-Lagrange equations and propose extended and unscented Kalman filters to estimate the link acceleration and jerk from position and velocity measurements. Both o...

We clarify the procedure for expressing the Friedmann equation in terms of directly measurable cosmological scalars constructed out of higher derivatives of the scale factor. We carry out this procedure for pure dust, Chaplygin gas and generalised Chaplygin gas energy–momentum tensors. In each case it leads to a constraint on the scalars thus giving rise to a test of General Relativity. We also...