Abstract: Interactive control schemes, such as stiffness control and impedance control, are widely accepted as a means to actively accommodate environmental forces, but have not been widely applied. This ...

Abstract: Notch hinges are flexural hinges used to make complex, precise mechanisms. They are typically modeled as single degree-of-freedom hinges with an associated joint stiffness. This is not adequate ...

Abstract: This paper looks at spatio-geometric modeling of elastically coupled rigid bodies. Desirable properties of compliance families are defined (sufficient diversity, parsimony, frame-indifference, and ...

Abstract: This paper looks at spatio-geometric modelling of elastically coupled rigid bodies. Two methods are presented. In the first method constitutive equations are derived by associating rigid body ...

Abstract: Within the wide field of self-assembly, the self-folding chain has unique potential for reliable and repeatable assembly of three-dimensional structures as demonstrated by protein biosynthesis. This potential could be ...