Concept

Kinematic pair

Related publications (119)

Path-following funnel control for rigid-link revolute-joint robotic systems

In this paper we investigate the application of funnel control to unconstrained path-following problems. While funnel control is a high-gain based time-varying feedback strategy applicable to minimum-phase systems with known relative degree, path following ...

2014

Generation Process and Analysis of Innovative Timberfabric Vaults

Yves Weinand, Laurent Humbert, Markus Hudert, Etienne Albenque

Timberfabric structures, developed at IBOIS, are a new family of timber constructions based on the logic and principles of man-made fabrics. Modular elements called “Timberfabric Modules” are generated by curving and connecting two thin wooden panels. This ...

2014

Pre-Impact Fall Detection: Optimal Sensor Positioning Based on a Machine Learning Paradigm

Silvestro Micera, Fiorenzo Artoni

The aim of this study was to identify the best subset of body segments that provides for a rapid and reliable detection of the transition from steady walking to a slipping event. Fifteen healthy young subjects managed unexpected perturbations during walkin ...

Public Library Science2014

A computational analysis of motor synergies by dynamic response decomposition

Analyses of experimental data acquired from humans and other vertebrates have suggested that motor commands may emerge from the combination of a limited set of modules. While many studies have focused on physiological aspects of this modularity, in this pa ...

Frontiers Research Foundation2014

Using Singularities of Parallel Manipulators to Enhance the Rigid-Body Replacement Design Method of Compliant Mechanisms

Lennart Rubbert

The rigid-body replacement method is often used when designing a compliant mechanism. The stiffness of the compliant mechanism, one of its main properties, is then highly dependent on the initial choice of a rigid-body architecture. In this paper, we propo ...

American Society of Mechanical Engineers2014

State Estimation for a Humanoid Robot

Ludovic Righetti

This paper introduces a framework for state estimation on a humanoid robot platform using only common proprioceptive sensors and knowledge of leg kinematics. The presented approach extends that detailed in prior work on a point-foot quadruped platform by a ...

2014

Cognitive Loading Affects Motor Awareness and Movement Kinematics but Not Locomotor Trajectories during Goal-Directed Walking in a Virtual Reality Environment

Kamiar Aminian, Olaf Blanke, Oliver Alan Kannape, Arnaud Barré

The primary purpose of this study was to investigate the effects of cognitive loading on movement kinematics and trajectory formation during goal-directed walking in a virtual reality (VR) environment. The secondary objective was to measure how participant ...

Public Library of Science2014

Implantable and wearable measurement system for smart knee prosthesis

Kamiar Aminian, Philippe Renaud, Arash Arami, David Forchelet

In this work we present the implantable and wearable measurement system developed for smart knee prostheses monitoring. The kinematic measurement system contains three anisotropic magnetoresistive sensors embedded into the polyethylene part of the prosthes ...

IEEE2014

Closed-loop neuromodulation of spinal sensorimotor circuits controls refined locomotion after complete spinal cord injury

Silvestro Micera, Grégoire Courtine, Eduardo Martin Moraud, Stanisa Raspopovic, Pavel Musienko, Nikolaus Wenger, Marco Bonizzato

Neuromodulation of spinal sensorimotor circuits improves motor control in animal models and humans with spinal cord injury. With common neuromodulation devices, electrical stimulation parameters are tuned manually and remain constant during movement. We de ...

American Association for the Advancement of Science2014

Mechanical teleoperated device for remote manipulation

Ricardo Daniel Rita Beira, Lionel Flaction

A mechanical teleoperated device comprising: a slave unit (10) an end-effector (40) a master unit (20) and a handle (30). Mechanical transmission means are arranged to kinematically connect the slave unit (10) with the master unit (20) such that the moveme ...

2013

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