In this paper a waist rehabilitation robot driven by cables and pneumatic artificial muscles (PAMs) has been conceptualized and designed. In the process of mechanism design, the human body structure, the waist movement characteristics, and the actuators' driving characteristics are the main considerable factors to make the hybrid-driven waist rehabilitation robot (HWRR) cost-effective, safe, fl...

Probabilistic safety assessment (PSA) which plays a crucial role in risk evaluation is a quantitative approach intended to demonstrate how a nuclear reactor meets the safety margins as part of the licensing process. Despite PSA merits, some shortcomings associated with the final results exist. Conventional PSA uses crisp values to represent the failure probabilities of basic events. This causes...