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Evaluation of a surgical interface for robotic cryoablation task using an eye-tracking system
(Elsevier, 2016-11)
Computer-assisted navigation systems coupled with surgical interfaces (SIs) are providing doctors with tools that are safer for patients compared to traditional methods. Usability analysis of the SIs that guides their ...
Should cross-border banking benefit from the financial safety net?
(Elsevier, 2016)
Using bank-level data from 84 countries, we find that a higher degree of bank internationalization is associated with higher interest expenses. Internationalization is proxied by a bank's share of foreign liabilities in ...
Effective Use of MOODLE in ELT Settings: An Application in SELI at Özyeğin University
(Istanbul Kültür University, 2010-05)
Technology in language teaching has been around for longer than one could imagine and the use of tape recorders, language laboratories and video in the classroom in the 1960s and 1970s (Dudeney and Hockly, 2007: 7) has ...
Pattern generation and compliant feedback control for quadrupedal dynamic trot-walking locomotion: experiments on roboCat-1 and hyQ
(Springer Science+Business Media, 2015-04)
In this paper, we introduce a method that synergistically combines an analytical pattern generator and a feedback controller frame, which are developed for the purpose of synthesizing dynamic quadrupedal trot-walking ...
Variable ankle stiffness improves balance control: experiments on a bipedal exoskeleton
(IEEE, 2016-02)
This paper proposes a real-time balance control technique that can be implemented to bipedal robots (exoskeletons, humanoids) whose ankle joints are powered via variable physical stiffness actuators. To achieve active ...
Proof of concept for robot-aided upper limb rehabilitation using disturbance observers
(IEEE, 2015-02)
This paper presents a wearable upper body exoskeleton system with a model-based compensation control framework to support robot-aided shoulder-elbow rehabilitation and power assistance tasks. To eliminate the need for EMG ...
A stability analysis for the acceleration-based robust position control of robot manipulators via disturbance observer
(IEEE, 2018-10)
This paper proposes a new nonlinear stability analysis for the acceleration-based robust position control of robot manipulators by using disturbance observer (DOb). It is shown that if the nominal inertia matrix is properly ...
Torque and variable stiffness control for antagonistically driven pneumatic muscle actuators via a stable force feedback controller
(IEEE, 2015)
This paper describes a novel controller that is capable of simultaneously controlling torque and variable stiffness in real-time, for actuators with antagonistically driven pneumatic artificial muscles (PAMs). To this end, ...
Towards balance recovery control for lower body exoskeleton robots with variable stiffness actuators: spring-loaded flywheel model
(IEEE, 2015)
This paper presents a biologically-inspired real-time balance recovery control strategy that is applied to a lower body exoskeleton with variable physical stiffness actuators at its ankle joints. For this purpose, a torsional ...
Environmental force estimation for a robotic hand : compliant contact detection
(IEEE, 2015)
This paper presents a model based compensation method to enable environmental force estimation for a robotic hand with no tactile or force sensors. To this end, we utilize multi-joint robot dynamics and disturbance observer ...
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