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Artykuły w czasopismach na temat „Independent joint control”

Autor: Grafiati

Data publikacji: 3 czerwca 2025

Data aktualizacji: 31 lipca 2025

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1

Emmanuel, C. Agbaraji, C. Inyiama Hyacinth, and C. Okezie Christiana. "Dynamic Modeling of a 3-DOF Articulated Robotic Manipulator Based on Independent Joint Scheme." Physical Science International Journal 15, no. 1 (2017): 1–10. https://doi.org/10.9734/PSIJ/2017/33578.

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Joint torque control of a robotic manipulator requires a close dynamic description model involving the non negligible dynamics of the subsystems making up the system. The mathematical model for joint torque control of the robotic manipulator has been identified as one of the major sources of failures of commercial robots. The manipulator is basically made up of links connected by joints, and the torque that moves the links connected to a joint is produced by the joint actuator and also in practice, the control law is fed into the actuator inputs, therefore the actuator dynamics becomes non neg

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2

Kim, Y. T. "Independent Joint Adaptive Fuzzy Control of Robot Manipulator." Intelligent Automation & Soft Computing 11, no. 1 (2005): 21–32. http://dx.doi.org/10.1080/10798587.2005.10642890.

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Byoung-Ho Kim, Byung-Ju Yi, Sang-Rok Oh, and Il Hong Suh. "Independent finger and independent joint-based compliance control of multifingered robot hands." IEEE Transactions on Robotics and Automation 19, no. 2 (2003): 185–99. http://dx.doi.org/10.1109/tra.2003.808846.

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Arenas-Rosales, Filemon, Fernando Martell-Chavez, Irma Y. Sanchez-Chavez, and Carlos A. Paredes-Orta. "Virtual UR5 Robot for Online Learning of Inverse Kinematics and Independent Joint Control Validated with FSM Position Control." Robotics 12, no. 1 (2023): 23. http://dx.doi.org/10.3390/robotics12010023.

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Virtual remote laboratories have already been successfully implemented in educational centers for practical learning of mechatronics and robotic systems. This article presents the development of a virtual articulated UR-type robot, designed as an educational tool that is suitable for programming and evaluating both the inverse kinematics control of the robot and the independent control of the robot joints. The 3D model of the virtual robot was developed in the Blender V2.79 software and uses the Modbus TCP industrial communication protocol for the communication to an external controller implem

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5

Jinyue, LIU, ZHAO Rui, JIA Xiaohui, GUO Shijie, WU Xiaofeng, and GU Jianjun. "Underactuated Dexterous Hand with Independent Control of Finger Joint." Journal of Mechanical Engineering 56, no. 3 (2020): 47. http://dx.doi.org/10.3901/jme.2020.03.047.

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6

Barai, Ranjit Kumar, and Kenzo Nonami. "Locomotion control of a hydraulically actuated hexapod robot by robust adaptive fuzzy control and dead-zone compensation." Robotica 25, no. 3 (2006): 269–81. http://dx.doi.org/10.1017/s0263574706003067.

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SUMMARYThis investigation presents locomotion control of a hydraulically actuated six-legged humanitarian demining robot by robust adaptive fuzzy control in conjunction with the dead zone compensation technique within independent joint control framework. For proper locomotion of the demining robot, accurate tracking of the desired joint trajectory is very important. However, high degree of nonlinearity, the uncertainties due to changing hydraulic properties, and delay due to the flow of oil and dead zone of the proportional electromagnetic control valve results into an inaccurate plant model f

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7

Bianco, Nicholas A., Patrick W. Franks, Jennifer L. Hicks, and Scott L. Delp. "Coupled exoskeleton assistance simplifies control and maintains metabolic benefits: A simulation study." PLOS ONE 17, no. 1 (2022): e0261318. http://dx.doi.org/10.1371/journal.pone.0261318.

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Assistive exoskeletons can reduce the metabolic cost of walking, and recent advances in exoskeleton device design and control have resulted in large metabolic savings. Most exoskeleton devices provide assistance at either the ankle or hip. Exoskeletons that assist multiple joints have the potential to provide greater metabolic savings, but can require many actuators and complicated controllers, making it difficult to design effective assistance. Coupled assistance, when two or more joints are assisted using one actuator or control signal, could reduce control dimensionality while retaining met

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8

Yigit, Ahmet S. "On the Stability of PD Control for a Two-Link Rigid-Flexible Manipulator." Journal of Dynamic Systems, Measurement, and Control 116, no. 2 (1994): 208–15. http://dx.doi.org/10.1115/1.2899212.

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Controller design for a rigid-flexible two-link manipulator is considered. Robustness of independent joint PD control is investigated. It has been shown that the stability of independent joint PD control does not depend explicitly on the system parameters. No discretization or linearization of the equations of motion is required to assure the stability. Simulation studies also show that independent joint PD control gives reasonably good results for the flexible system, and is robust to parameter uncertainties.

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9

Picasso, Bruno, Xinglong Zhang, and Riccardo Scattolini. "Hierarchical Model Predictive Control of independent systems with joint constraints." Automatica 74 (December 2016): 99–106. http://dx.doi.org/10.1016/j.automatica.2016.07.030.

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10

MOGI, Shuto, AMAR Julien Samuel, Toshihiko SHIMIZU, Masayoshi OZAWA, Masahiko SAKAI, and Tadahiro OYAMA. "Design of Robot Finger with Independent Control of Each Joint." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2023 (2023): 1A1—F19. http://dx.doi.org/10.1299/jsmermd.2023.1a1-f19.

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11

Karbasi, Hamidreza, Jan Paul Huissoon, and Amir Khajepour. "Blend of independent joint control and variable structure systems for uni-drive modular robots." Robotica 28, no. 1 (2009): 149–59. http://dx.doi.org/10.1017/s0263574709005670.

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SUMMARYIn this paper, a control design methodology for a new class of modular robots, so-called “uni-drive modular robots” is introduced. Uni-drive modular robots have a substantial advantage over regular modular robots in terms of the mass of each module since then employ only a single drive for powering all the joints. The drive is mounted at the robot base and all joints tap power from this single drive using clutches. By controlling the engagement time of the clutches, the position and velocity of the joints are regulated. After reviewing the structure of the uni-drive modular robot, a sel

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12

Koren, Yoram. "Control of Machine Tools and Robots." Applied Mechanics Reviews 39, no. 9 (1986): 1331–38. http://dx.doi.org/10.1115/1.3149522.

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The principal control structure of CNC machine tools and industrial robots is similar, since in both systems each axis of motion is separately controlled with a position feedback loop. Nevertheless, the control of robots is more complex, since they include more degrees of freedom and the motion of each joint is not independent of other joints. This paper compares the conventional control schemes of both systems, and summarizes recent developments in adaptive control of machine tools and robots.

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13

Ostry, D. J., A. G. Feldman, and J. R. Flanagan. "Kinematics and control of frog hindlimb movements." Journal of Neurophysiology 65, no. 3 (1991): 547–62. http://dx.doi.org/10.1152/jn.1991.65.3.547.

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1. The determinants of the motion path of the hindlimb were explored in both intact and spinal frogs. In the spinal preparations the kinematic properties of withdrawal and crossed-extension reflexes were studied. In the intact frog the kinematics of withdrawal and swimming movements were examined. Frog hindlimb paths were described in joint angle (intrinsic) coordinates rather than limb endpoint (extrinsic) coordinates. 2. To study withdrawal and crossed-extension reflexes, the initial angles at the hip, knee, and ankle were varied. Withdrawal and crossed extension were recorded in three dimen

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14

Yao, Jun, Albert Chen, Carolina Carmona, and Julius P. A. Dewald. "Cortical overlap of joint representations contributes to the loss of independent joint control following stroke." NeuroImage 45, no. 2 (2009): 490–99. http://dx.doi.org/10.1016/j.neuroimage.2008.12.002.

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15

Goyal, Tigmanshu, David Kumar, Vemuri Shyam Kumar, P. M. Mohite, and S. Kamle. "Design and Kinematic Analysis of Gull Inspired Flapping Wing Model." Applied Mechanics and Materials 772 (July 2015): 430–34. http://dx.doi.org/10.4028/www.scientific.net/amm.772.430.

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A flapping wing mimicking the Black Headed Gull was developed and tested for its kinematics. All the individual joints in the gull wing, namely the shoulder, elbow and wrist joint were mimicked with their corresponding functionalities. The shoulder joint is designed to control the flapping frequency, flapping amplitude, flapping plane and the speed of the upstroke-downstroke. Similarly, the elbow and wrist joints control the upstroke span reduction and twisting of the wing, respectively. Geometry, inertia, mass and frequency data of the gull were used to model the wing. A control input program

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16

Blazhenko, T. "The concept and role of an independent director (independent non-executive director) in corporate governance." Analytical and Comparative Jurisprudence, no. 1 (March 1, 2025): 135–39. https://doi.org/10.24144/2788-6018.2025.01.21.

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The article analyzes the features of a new legal institution for Ukrainian corporate law – an independent director (independent non-executive director) of the supervisory board (board of directors) in joint-stock companies. Special attention is focused on clarifying the terminological correctness of the concepts introduced in the legislation. It is noted that the Law on Joint stock company uses a dual (double) designation regarding the regulation of the institution of officials – “independent member of the supervisory board” (in the case of choosing a two-tier corporate governance system) and

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17

Santini, Diego Caberlon, and Walter Fetter Lages. "A component-based architecture for robot control." Sba: Controle & Automação Sociedade Brasileira de Automatica 22, no. 4 (2011): 398–411. http://dx.doi.org/10.1590/s0103-17592011000400007.

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This work deals with the specification of an open architecture for control of manipulator robots. The architecture defines policies for the use of the OROCOS framework and is specified for a generic manipulator robot with N joints, through the definition of component models to abstract the hardware and each block of the robot controller. To show its generality, the proposed architecture is used to implement two different controllers: an independent PID for each joint and controller with feedforward compensation. The validation is made through the implementation in real-time on the Janus robot.

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18

Pederzolli, Federico, Matteo Gerola, Andrea Zanardi, Xavier Forns, Jordi Ferre Ferran, and Domenico Siracusa. "YAMATO: The First SDN Control Plane for Independent, Joint, and Fractional-Joint Switched SDM Optical Networks." Journal of Lightwave Technology 35, no. 8 (2017): 1335–41. http://dx.doi.org/10.1109/jlt.2017.2656382.

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19

Hu, R., and P. C. M�ller. "Independent joint control: Estimation and compensation of coupling and friction effects in robot position control." Journal of Intelligent and Robotic Systems 15, no. 1 (1996): 41–51. http://dx.doi.org/10.1007/bf00435726.

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20

Mesmer, Patrick, Michael Neubauer, Armin Lechler, and Alexander Verl. "Robust design of independent joint control of industrial robots with secondary encoders." Robotics and Computer-Integrated Manufacturing 73 (February 2022): 102232. http://dx.doi.org/10.1016/j.rcim.2021.102232.

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21

Suga, Takahiro, and Yasutaka Fujimoto. "Independent Joint Vibration Suppression Control of Elastic Actuators for Safe Biped Robot." Journal of the Robotics Society of Japan 30, no. 5 (2012): 515–23. http://dx.doi.org/10.7210/jrsj.30.515.

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22

Sun, Zhenxing, Yangkun Zhang, Shenghui Li, and Xinghua Zhang. "Decentralized robust tracking control for 2-degree of freedom planar robot manipulator subject to disturbances and uncertainties." Transactions of the Institute of Measurement and Control 41, no. 14 (2019): 3909–20. http://dx.doi.org/10.1177/0142331219841426.

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In this study, a novel decentralized exact tracking control approach for 2-degree of freedom (DOF) planar robot manipulators with disturbances and uncertainties has been proposed. The main idea of the proposed method is to partition the whole robot manipulator into single joint and lumped disturbance. A well designed extended high gain observer (EHGO) is adopted to observe the lumped disturbance of each joint, which includes coupling, load disturbance and uncertainty, and so forth. Rather than coping with the robot manipulator as a whole, the proposed method is locally designed to compensate t

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23

Carvalho, Kepler, Kevin N. Dibbern, Lily G. McGettigan, et al. "Metatarsophalangeal and Metatarso-Sesamoid Joint Interaction in Hallux Valgus Deformity: A Case- Control Study." Foot & Ankle Orthopaedics 7, no. 4 (2022): 2473011421S0061. http://dx.doi.org/10.1177/2473011421s00610.

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Category: Bunion; Lesser Toes; Midfoot/Forefoot Introduction/Purpose: Hallux valgus deformity (HVD) is a complex 3D distortion that involves varus, dorsiflexion and pronation of the first metatarsal. Deformity is usually assessed by conventional 2D measurements such as hallux valgus and intermetatarsal angle. Weightbearing CT (WBCT) 3D Distance Mapping (DM) and Coverage Mapping (CM) allow assessment of relative positioning between opposing articular surfaces, providing information in regards to articular coverage and joint subluxation, that can potentially influence development of arthritic de

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24

Abdellatif, Houssem, Martin Grotjahn, and Bodo Heimann. "Independent Identification of Friction Characteristics for Parallel Manipulators." Journal of Dynamic Systems, Measurement, and Control 129, no. 3 (2006): 294–302. http://dx.doi.org/10.1115/1.2718242.

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The compensation for friction or joint losses in robotic manipulators contributes to an important improvement of the control quality. Besides appropriate friction modeling, experimental identification of the model parameters is fundamental toward better control performance. Conventionally steady-state friction characteristics are investigated for mechanical systems in the first step. However, and due to the high kinematic coupling, such procedure is already complicated for complex multiple closed-loop mechanisms, like parallel manipulators. Actuation friction of such mechanisms becomes configu

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25

Migliore, Shane A., Edgar A. Brown, and Stephen P. DeWeerth. "Novel Nonlinear Elastic Actuators for Passively Controlling Robotic Joint Compliance." Journal of Mechanical Design 129, no. 4 (2006): 406–12. http://dx.doi.org/10.1115/1.2429699.

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The ability to control compliance of robotic joints is desirable because the resulting robotic mechanisms can adapt to varying task requirements and can take advantage of natural limb and joint dynamics. The implementation of controllable compliance in robots, however, is often constrained by the inherent instability of active compliance methods and by the limited availability of the custom, nonlinear springs needed by passive compliance methods. This work overcomes a major limitation of passive compliance by producing designs for two novel mechanisms capable of generating a wide variety of sp

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26

Furuya, Shinichi, and John F. Soechting. "Speed invariance of independent control of finger movements in pianists." Journal of Neurophysiology 108, no. 7 (2012): 2060–68. http://dx.doi.org/10.1152/jn.00378.2012.

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Independent control of finger movements characterizes skilled motor behaviors such as tool use and musical performance. The purpose of the present study was to identify the effect of movement frequency (tempo) on individuated finger movements in piano playing. Joint motion at the digits was recorded while 5 expert pianists were playing 30 excerpts from musical pieces with different fingering and key locations either at a predetermined normal tempo or as fast as possible. Principal component analysis and cluster analysis using an expectation-maximization algorithm determined three distinct patt

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27

Seraji, H. "An Approach to Multivariable Control of Manipulators." Journal of Dynamic Systems, Measurement, and Control 109, no. 2 (1987): 146–54. http://dx.doi.org/10.1115/1.3143832.

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The paper presents simple schemes for multivariable control of multiple-joint robot manipulators in joint and Cartesian coordinates. The joint control scheme consists of two independent multivariable feedforward and feedback controllers. The feedforward controller is the minimal inverse of the linearized model of robot dynamics and contains only proportional-double-derivative (PD2) terms—implying feedforward from the desired position, velocity and acceleration. This controller ensures that the manipulator joint angles track any reference trajectories. The feedback controller is of proportional

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28

Yang, Tao, Chifu Yang, Feng Jiang, and Bowen Tian. "Design and Evaluation of a Novel Variable Stiffness Hip Joint Exoskeleton." Sensors 24, no. 20 (2024): 6693. http://dx.doi.org/10.3390/s24206693.

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An exoskeleton is a wearable device with human–machine interaction characteristics. An ideal exoskeleton should have kinematic and kinetic characteristics similar to those of the wearer. Most traditional exoskeletons are driven by rigid actuators based on joint torque or position control algorithms. In order to achieve better human–robot interaction, flexible actuators have been introduced into exoskeletons. However, exoskeletons with fixed stiffness cannot adapt to changing stiffness requirements during assistance. In order to achieve collaborative control of stiffness and torque, a bionic va

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29

Umedachi, Takuya, Yasutake Yamada, and Akio Ishiguro. "Development of a Real-Time Tunable Spring - Toward Independent Control of Position and Stiffness of Joints -." Journal of Robotics and Mechatronics 19, no. 1 (2007): 27–33. http://dx.doi.org/10.20965/jrm.2007.p0027.

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Traditionally, robot control has been done typically by “highly precise control algorithms”: their joint angle trajectories are accurately determined at any time with vast amount of computation. This, however, causes serious problems, particularly in terms of adaptability and energy efficiency. On the other hand, an extreme approach has been gaining a lot of attention recently. A good instantiation is the passive dynamic walker, driven only by exploiting the intrinsic dynamics of its mechanical system. However, mechanical system is not everything as well as control system is not everything: “w

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30

Abendroth, Julie A., Erin E. Blankenship, Alex R. Martin, and Fred W. Roeth. "Joint Action Analysis Utilizing Concentration Addition and Independent Action Models." Weed Technology 25, no. 3 (2011): 436–46. http://dx.doi.org/10.1614/wt-d-10-00102.1.

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In weed science literature, models such as concentration addition, independent action, effect summation, and the parallel line assay technique have been used to predict and analyze whole-plant response to herbicide mixtures. Although a joint action reference model is necessary for determining whether the herbicide mixture provides less than (antagonistic), equal to (zero-interaction or additive), or greater than (synergistic) expected control, model selection often occurs with little regard to the model's underlying biological assumptions. The joint action models of concentration addition (CA)

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31

Latash, Mark L. "Independent control of joint stiffness in the framework of the equilibrium-point hypothesis." Biological Cybernetics 67, no. 4 (1992): 377–84. http://dx.doi.org/10.1007/bf02414893.

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Al-Rawi, Natheer Hashim, Asmaa Tahseen Uthman, and Sahar M. Sodeify. "Spatial analysis of mandibular condyles in patients with temporomandibular disorders and normal controls using cone beam computed tomography." European Journal of Dentistry 11, no. 01 (2017): 099–105. http://dx.doi.org/10.4103/ejd.ejd_202_16.

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ABSTRACT Objectives: The aim of the study is to investigate the condylar position and its relation to articular eminence and axial condylar angle in temporomandibular joint disorder (TMD) patients and in normal controls using cone beam computed tomography (CBCT). Materials and Methods: CBCT temporomandibular joint (TMJ) images of 70 participants (38 males and 32 females, mean age 26.4 years) were analyzed. They were divided into control group (including 35 subjects) and study group (including 35 subjects). Linear measurements of joint space and condyle determined the condylar position of each

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Griggs, Lauren, and Farbod Fahimi. "Introduction and Testing of an Alternative Control Approach for a Robotic Prosthetic Arm." Open Biomedical Engineering Journal 8, no. 1 (2014): 93–105. http://dx.doi.org/10.2174/1874120701408010093.

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Commercially available robotic prosthetic arms currently use independent joint control. An alternative controller involving only control of the hand in a Cartesian frame rather than controlling each joint independently is proposed and tested. An experimental 4DOF robotic arm was used as the platform for testing the proposed control approach. As opposed to joint control, Cartesian control requires the solution to the inverse kinematics problem. The inverse kinematics solution was developed for the robotic arm using the extended Jacobian method. The two control methodologies, joint control and C

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Troch, I. "A New view of the Decoupling Problem for Industrial Robots." Robotica 9, no. 2 (1991): 197–202. http://dx.doi.org/10.1017/s0263574700010249.

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SUMMARYNonlinear couplings between the various joints of a robotic arm cause trouble in robot control. One possibility to overcome these difficulties is offered by the concept of nonlinear decoupling. The latter leads to independent linear SISO systems, each of them describing the movement of one joint. Thus, an application of control concepts for linear SISO systems is possible. However, at present such decoupling controls are computed from the mathematical model of the arm, the so-called drive equations, whereas actuator dynamics are considered only in a secondary way. In this paper the deco

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35

Nishizawa, Kouji, and Kousuke Kishi. "Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems." Journal of Robotics and Mechatronics 16, no. 2 (2004): 116–21. http://dx.doi.org/10.20965/jrm.2004.p0116.

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A new structure of joints in surgical tools is proposed in this paper. Using this new structure, it becomes possible to operate a surgical tool with multiple degrees of freedom and smooth motion. In this new structure, a middle plate connects two parts that have rolling contact between each other. Furthermore, some drive wires are wired so that they cross between the two parts. There are two main features in this new structure. First, the path length of the wires is independent of the joint angle. Secondly, the joint and grippers are controlled independently. Using the independence of the grip

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Li, Yumeng, Jupil Ko, Marika A. Walker, Cathleen N. Brown, and Kathy J. Simpson. "Joint Coordination and Stiffness During Landing in Individuals With Chronic Ankle Instability." Journal of Applied Biomechanics 37, no. 2 (2021): 156–62. http://dx.doi.org/10.1123/jab.2020-0272.

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The purpose of the present study was to examine the effect of chronic ankle instability (CAI) on lower-extremity joint coordination and stiffness during landing. A total of 21 female participants with CAI and 21 pair-matched healthy controls participated in the study. Lower-extremity joint kinematics were collected using a 7-camera motion capture system, and ground reaction forces were collected using 2 force plates during drop landings. Coupling angles were computed based on the vector coding method to assess joint coordination. Coupling angles were compared between the CAI and control groups

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Zhang, Ming, Pengfei Ma, Feng Sun, et al. "Dynamic Modeling and Control of Antagonistic Variable Stiffness Joint Actuator." Actuators 10, no. 6 (2021): 116. http://dx.doi.org/10.3390/act10060116.

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This study aims to develop a novel decoupling method for the independent control of the position and stiffness of a variable stiffness joint actuator (VSJA), which has been proven to be able to vary its stiffness in a larger range than other variable stiffness actuators. Using static analysis and the Jacobian matrix, we obtained the model of the stiffness of the robot joint actuator and dynamics. Based on the hybrid dynamic model of position and stiffness, it is possible to compensate for the torque of the variable stiffness joint actuator (VSJA) to enhance position control. Finally, after des

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Pinto, Vítor H., Inês N. Soares, Marco Rocha, José Lima, José Gonçalves, and Paulo Costa. "Design, Modeling, and Control of an Autonomous Legged-Wheeled Hybrid Robotic Vehicle with Non-Rigid Joints." Applied Sciences 11, no. 13 (2021): 6116. http://dx.doi.org/10.3390/app11136116.

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This paper presents a legged-wheeled hybrid robotic vehicle that uses a combination of rigid and non-rigid joints, allowing it to be more impact-tolerant. The robot has four legs, each one with three degrees of freedom. Each leg has two non-rigid rotational joints with completely passive components for damping and accumulation of kinetic energy, one rigid rotational joint, and a driving wheel. Each leg uses three independent DC motors—one for each joint, as well as a fourth one for driving the wheel. The four legs have the same position configuration, except for the upper hip joint. The vehicl

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Pan, Yuedou, and Guoqing Cai. "Decentralized control of robot joints based on neural network observer." E3S Web of Conferences 233 (2021): 01019. http://dx.doi.org/10.1051/e3sconf/202123301019.

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In actual work, the system parameters of the robot joints will change in real time or cannot be measured, and the coupling relationship between the various subsystems and the existence of modeling errors make the system model difficult to determine. Based on such problems, a neural network observation is proposed Decentralized control method for robot joints of the robot. In the actual control of the manipulator, firstly, the model of each joint subsystem is established by the decentralized control theory, and the nonlinear function approximation ability of the neural network is used to approa

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Le, Luc Tien. "Passive Friction Compensation Using a Nonlinear Disturbance Observer for Flexible Joint Robots with Joint Torque Measurements." Journal of Computer Science and Cybernetics 35, no. 1 (2019): 85–103. http://dx.doi.org/10.15625/1813-9663/35/1/13147.

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The friction and ripple effects from motor and drive cause a major problem for the robot position accuracy, especially for robots with high gear ratio and for high-speed applications. In this paper we introduce a simple, effective, and practical method to compensate for joint friction of flexible joint robots with joint torque sensing, which is based on a nonlinear disturbance observer. This friction observer can increase the performance of the controlled robot system both in terms of the position accuracy and the dynamic behavior. The friction observer needs no friction model and its output c

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SHIRAFUJI, Shouhei, Shuhei IKEMOTO, and Koh HOSODA. "1A1-B07 Independent Joint Stiffness Control with Tendon Inverse Kinematics(Mechanism and Control for Wire Actuation System)." Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014 (2014): _1A1—B07_1—_1A1—B07_4. http://dx.doi.org/10.1299/jsmermd.2014._1a1-b07_1.

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Matsumaru, Takafumi. "Design Disquisition on Modular Robot Systems." Journal of Robotics and Mechatronics 8, no. 5 (1996): 408–19. http://dx.doi.org/10.20965/jrm.1996.p0408.

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This paper describes subjects to address in modularity design for robots to find a practical and useful modular robot system using the present technology. It concerns module granularity, module scaling, hardware interface, and joint structure. The most suitable module granularity is on the simplified function level, where each module is self-contained, independent unit and the joint modular group consists of only joints with 1-DOE The modular manipulators can effectively achieve many tasks in practical applications without scaling on either joints or links, but with a common standard hardware

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Wróbel, Nikodem, Mateusz Franka, Michał Rejek, Zhixiong Li, Jolanta Królczyk, and Marcin Śliwiński. "Testing of Formed Joints on a Designed Prototype Station." International Journal of Applied Mechanics and Engineering 27, no. 3 (2022): 212–23. http://dx.doi.org/10.2478/ijame-2022-0045.

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Abstract In presented paper perform prototype machine which consist of two independent motion axis equipped with force sensors. Used force sensors provide control of forming connection. Special design of the machine provide to make tensile strength test on it. Prepared nine samples to carried out tests, which revealed the influence between change of jaws displacement during plastic deformation and strength of that joint. Created prototype stand base on two independent drive units allow to make that connection possible. Choosing right parameters leads to generate joints which are more than twic

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Fu, Li‐Chen. "Stability analysis of independent joint PID feedback control for trajectory tracking of robot motion." Journal of the Chinese Institute of Engineers 14, no. 1 (1991): 9–20. http://dx.doi.org/10.1080/02533839.1991.9677306.

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Meason, Braden. "Independent Risk Factors for Intracranial Aneurysms and Their Joint Effect: A Case-Control Study." Journal of Emergency Medicine 45, no. 1 (2013): 151. http://dx.doi.org/10.1016/j.jemermed.2013.05.031.

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Riaz, Talha, Aaron J. Tande, Lisa L. Steed, et al. "Risk Factors for Fungal Prosthetic Joint Infection." Journal of Bone and Joint Infection 5, no. 2 (2020): 76–81. http://dx.doi.org/10.7150/jbji.40402.

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Abstract. Background: Fungal prosthetic joint infections (PJIs) are rare and often associated with poor outcome; however, risk factors are not well described.Methods: This was a retrospective case control study among all patients with PJIs from 2006-2016 at two major academic centers. Each fungal PJI case was matched 1:1 with a bacterial PJI control by joint (hip, knee, shoulder) and year of diagnosis. We compared demographics, comorbidities, and clinical characteristics between cases and controls using chi square/Fisher's exact or Wilcoxon rank sum test. Independent risk factors were identifi

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Chung, W. K., and H. S. Cho. "On the Dynamics and Control of Robotic Manipulators with an Automatic Balancing Mechanism." Proceedings of the Institution of Mechanical Engineers, Part B: Management and engineering manufacture 201, no. 1 (1987): 25–34. http://dx.doi.org/10.1243/pime_proc_1987_201_041_02.

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Non-linear characteristics and uncertainty in manipulator dynamics caused by payload effects are major hurdles in controller design. To overcome such hurdles the authors have introduced an automatic balancing concept which has been proved to reduce the non-linear complexity in manipulator dynamics as well as to remove gravity loading. This paper examines the characteristic features of balanced manipulator dynamics in more detail and presents an efficient control algorithm suitable for the dynamics. Since the dynamics of a balanced manipulator are characterized by partially configuration-indepe

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Masyitah, Dewi, Mashudi Mashudi, Bettywati Eliezer Tumanggor, and Yessi Fadriyanti. "The effect of osteoarthritis exercise on pain and joint range of motion in osteoarthritis patients." Retos 52 (January 12, 2024): 432–37. http://dx.doi.org/10.47197/retos.v52.101853.

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Aims. Osteoarthritis is a degenerative and progressive disease characterized by abrasion of joint cartilage and irregular formation of new bone on the surface of the joints. Pain becomes the main symptom followed by a decrease in joint range of motion, causing disability and interfering with daily activities. The purpose of this study was to determine the effect of osteoarthritis exercise on pain and joint range of motion in osteoarthritis patients. Methods. The research design used a quasy experiment with a non-equivalent control group design approach. The sample used was 70 respondents for e

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Hashimoto, Masafumi, Fuminori Oba, and Toru Eguchi. "Control of an Omnidirectional Vehicle with Multiple Modular Steerable Drive Wheels." Journal of Robotics and Mechatronics 11, no. 1 (1999): 2–12. http://dx.doi.org/10.20965/jrm.1999.p0002.

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This paper presents a method for controlling an omnidirectional vehicle with multiple modular steerable drive wheels. Each wheel module has two independent drive wheels and a two-degree-of-freedom (2DOF) attachment consisting of an active prismatic joint and a free rotary joint. The attachment enables the wheel module under nonholonomic constraint to move the chassis better omnidirectionally. A controller consisting of vehicle-level and wheel-module controllers is designed to coordinate wheel modules to ensure correct vehicle movement. The vehicle-level controller determines the desired accele

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Lacquaniti, F., and C. Maioli. "Coordinate transformations in the control of cat posture." Journal of Neurophysiology 72, no. 4 (1994): 1496–515. http://dx.doi.org/10.1152/jn.1994.72.4.1496.

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1. Global geometric variables represent high-order parameters in the control of cat posture. In particular, limb length and orientation are accurately controlled in response to tilts of the support platform. There is now electrophysiological evidence, obtained in anesthetized cats, that spinal sensory neurons projecting to the cerebellum are broadly tuned to limb length and orientation. Limb length and orientation specify the position of the limb end-points in body-centered polar coordinates. They define an intended posture in a global manner, leaving the detailed geometric configuration of th

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