This paper is concerned with the problem of designing a robust adaptive controller for flexible joint robots (FJR). Under the assumption of weak joint elasticity, FJR is firstly modeled and converted into singular perturbation form. The control law consists of a FAT-based adaptive control strategy and a simple correction term. The first term of the controller is used to stability of the slow dy...

In this paper we evaluate the potential of Variable Stiffness Actuation to utilize its inherent joint elasticity and capability to adjust the intrinsic joint stiffness. These abilities make it possible to realize fundamentally different motion control schemes in comparison to intrinsically stiff robots. In this paper we treat the problem of how to generate optimally fast link side velocity at a...

This study evaluates the edgewise bending moment capacity of the four most frequently used middle joints in the upholstered furniture frames. The research included the following joints: Mortise and Tenon, double Dowel, Corner Blocks and double Gusset Plates, designed in the form of middle joints and made of beech and poplar solid wood. The test results indicated that regarding the edgewise bend...

Resilin functions as an elastic spring that demonstrates extraordinary extensibility and elasticity. Here we use combined techniques, laser scanning confocal microscopy (LSCM) and scanning electron microscopy (SEM) to illuminate the structure and study the function of wing flexibility in damselflies, focusing on the genus Rhinocypha. Morphological studies using LSCM and SEM revealed that resili...

Computational models of neuromotor control require forward models of limb movement that can replicate the natural relationships between muscle activation and joint dynamics without the burdens of excessive anatomical detail. We present a model of a three-link biomechanical limb that emphasizes the dynamics of limb movement within a simplified two-dimensional framework. Muscle co-contraction eff...

This article estimates the elasticity of participation in the workforce of married women with respect to the rate of income tax. We take advantage of the French joint income tax system and a large tax returns data base to implement a regression discontinuity design. The negative impact of tax rates on participation is generally strong. This elasticity describes a U-curve along the distribution ...

Elastic physical models have been widely used to regularize deformations in different medical object registration tasks. Traditional approaches usually assume uniform isotropic tissue elasticity (a constant regularization weight) across the whole domain, which contradicts human tissue elasticity being not only inhomogeneous but also anisotropic. We focus on producing more physically realistic d...

In this paper, impacts of day-ahead market pricing on behavior of producers and consumers in option and day-ahead markets and on option pricing are studied. To this end, two comprehensive equilibrium models for joint put option and day-ahead markets under pay-as-bid and uniform pricing in day-ahead market are presented, respectively. Interaction between put option and day-ahead markets, uncerta...

In this paper‎, ‎the impacts of premium bounds of put option contracts on the operation of put option and day-ahead electricity markets are studied‎. ‎To this end‎, ‎first a comprehensive equilibrium model for a joint put option and day-ahead markets is presented‎. ‎Interaction between put option and day-ahead markets‎, ‎uncertainty in fuel price, impact of premium bounds, and elasticity of con...