Abstract: A modular and computationally efficient method for solving the forward dynamics problem of robot mechanisms incorporating Coulomb friction is developed. This hybrid approach incorporates both analog ...

Abstract: Stiffness control provides a mechanism for controlling finger position or force, and facilitates stable behavior during the transition between unconstrained motion and sudden contact with the ...

Abstract: In order to accurately model robots for precision applications where dynamics are significant, it is important to include the effects of Coulomb friction in the bearings and transmissions. The ...

Abstract: The level walking process for an above knee (A/K ) amputee with a conventional prosthesis greatly compromises the amputee’s mobility. The fact that conventional prostheses lock in hyperextension ...