Concept

Euler's equations (rigid body dynamics)

Publications associées (32)

A Novel 4-DOF Origami Grasper With an SMA-Actuation System for Minimally Invasive Surgery

Minimally invasive surgery (MIS) is one of the most challenging techniques for robot designers due to the limited size of access points, the high miniaturization level, and the dexterity needed for performing surgical tasks. Conversely, only a few microfab ...

Ieee-Inst Electrical Electronics Engineers Inc2016

Design, analysis, testing and applications of two-body and three-body kinematic mounts

Johannes Richard Cornelis Geerit Kruis

Kinematic couplings are used when two rigid bodies need to be repeatedly and accurately positioned with respect to each other. They allow for sub-micron positioning repeatability by suppressing play and reducing strains in the bodies. Typical applications ...

EPFL2016

The U (n) free rigid body: Integrability and stability analysis of the equilibria

Tudor Ratiu

A natural extension of the free rigid body dynamics to the unitary group U (n) is considered. The dynamics is described by the Euler equation on the Lie algebra u(n), which has a bi-Hamiltonian structure, and it can be reduced onto the adjoint orbits, as i ...

Elsevier2015

Muscle Moment-Arms: A Key Element in Muscle-Force Estimation

Alexandre Terrier, Alain Farron, Philippe Müllhaupt, Christoph Anselm Engelhardt, David Ingram

A clear and rigorous definition of muscle moment-arms in the context of musculoskeletal systems modelling is presented, using classical mechanics and screw theory. The definition provides an alternative to the tendon excursion method, which can lead to inc ...

Taylor & Francis2015

Inertial microfluidic programming of microparticle-laden flows for solution transfer around cells and particles

Patrick Alain Sandoz, Léo Hamed Amini

Control of particles/cells and the surrounding fluid is enabling toward the purification of complex cellular samples, which still remains a bottleneck for point-of-care diagnostic devices. We explore a newly developed approach to engineer fluid stream moti ...

Springer Heidelberg2015

Soft tissue artifact distribution on lower limbs during treadmill gait: Influence of skin markers' location on cluster design

Kamiar Aminian, Arnaud Barré

© 2015 Elsevier Ltd. Segment poses and joint kinematics estimated from skin markers are highly affected by soft tissue artifact (STA) and its rigid motion component (STA. RM ). While four marker-clusters could decrease the STA non-rigid motion d ...

Elsevier2015

Musculoskeletal Model of the Human Shoulder for Joint Force Estimation

David Ingram

Human beings like all organisms, are subject to a variety of diseases. Musculoskeletal diseases such as arthritis, that affect our muscles and bones, are particularly debilitating in that they considerably limit our ability to interact with our environment ...

EPFL2015

Foil Bearing Design Guidelines for Improved Stability

Jürg Alexander Schiffmann

Experimental evidence in the literature suggests that foil bearing-supported rotors can suffer from subsynchronous vibration. While dry friction between top foil and bump foil is thought to provide structural damping, subsynchronous vibration is still an u ...

2013

The role of Rayleigh Waves in Granular Solids

Alessandro Spadoni, Bart Van Damme

Wave propagation in granular solids is found to have at least two regimes: a low-frequency ballistic signal and a high-frequency diffusive tail. The latter is attributed to granules clapping or elastic waves within the granules themselves. The low frequenc ...

Amer Inst Physics2013

Evolution of heterogeneous stress distributions created by slip precursors in numerical simulations of frictional interfaces

Jean-François Molinari, Mathilde Edmée Lucette Radiguet de la Bastaie, David Simon Kammer

Understanding how a frictional interface fails, and how past ruptures will affect the propagation of the following ruptures is fundamental to a better comprehension of earthquake behavior. In that sense, numerical simulations provide a useful tool to study ...

2013

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