Publications associées à Variable Stiffness Folding Joints for Haptic Feedback

Arm-wrist haptic sleeve for drone teleoperation

Dario Floreano, Matteo Macchini, Vivek Ramachandran

Teleoperators rely on both visual and haptic feedback to perform drone teleoperation tasks, such as obstacle avoidance. Haptic feedback becomes essential when visual feedback is compromised, either due to visual occlusions or poor depth perception. However ...

2022

Design and characterization of variable stiffness structural joints

Gennaro Senatore

This paper presents design and characterization of a new type of structural joint which can vary its stiffness through actuation. Stiffness variation is employed to control the dynamic response of frame structures equipped with such joints. The joint is ma ...

2019

Characterization of variable stiffness joints for adaptive structures

Gennaro Senatore

This paper presents a new strategy to control the structure dynamic response via a shift of the natural frequencies obtained through using variable stiffness joints. The joints are made of shape memory polymers and are fabricated through 3D printing. Stiff ...

Taylor & Francis2019

Joint Inertial Sensor Orientation Drift Reduction for Highly Dynamic Movements

Kamiar Aminian, Julien Chardonnens, Benedikt Fasel

Inertial sensor drift is usually corrected on a single-sensor unit level. When multiple sensor units are used, mutual information from different units can be exploited for drift correction. This study introduces a method for a drift-reduced estimation of t ...

2018

An under-actuated origami gripper with adjustable stiffness joints for multiple grasp modes

Jamie Paik, Amir Firouzeh

Under-actuated robots offer multiple degrees of freedom without much added complexity to the actuation and control. Utilizing adjustable stiffness joints in these robots allows us to control their stable configurations and their mode of interaction with th ...

2017

Analytical Time-Domain Solution of Plane Wave Propagation Across a Viscoelastic Rock Joint

Lyesse Laloui, Jian Zhao, Yang Zou

The effects of viscoelastic filled rock joints on wave propagation are of great significance in rock engineering. The solutions in time domain for plane longitudinal ( P-) and transverse ( S-) waves propagation across a viscoelastic rock joint are derived ...

Springer Verlag2017

A Numerical Study on Wave Transmission Across Multiple Intersecting Joint Sets in Rock Masses with UDEC

Jian Zhao, Jianbo Zhu

This paper presents a numerical study on wave transmission across jointed rock masses with UDEC, where multiple intersecting joint sets exist. The capability of UDEC of studying wave transmission across rock joints is validated through comparison with anal ...

Springer Verlag2013

Segmentation of Foot and Ankle Complex based on Kinematic Criteria

Kamiar Aminian, Julien Favre, Hossein Rouhani, Brigitte Jolles-Haeberli, Xavier Crevoisier

Although various foot models were proposed for kinematics assessment using skin makers, no objective justification exists for the foot segmentations. This study proposed objective kinematic criteria to define which foot joints are relevant (dominant) in sk ...

Taylor & Francis2011

Optimum thickness of joints made of pultruded GFRP adherends and polyurethane adhesive

Thomas Keller, Till Vallée

This paper presents results of experimental and numerical investigations on double-lap joints composed of pultruded GFRP profiles and polyurethane adhesive subjected to quasi-static axial tensile loading. The objective was to investigate the effect of the ...

2009

Knee joint biomechanics in open-kinetic-chain flexion exercises

Background. Different rehabilitation exercises such as open-kinetic-chain flexion and extension exercises are currently employed in non-operative and post-operative managements of joint disorders. The challenge is to strengthen the muscles and to restore t ...

2008

Ductile double-lap joints from brittle GFRP laminates and ductile adhesives. Part II: Numerical investigation and joint strength prediction

Julia De Castro San Roman Fest, Thomas Keller

Joint analysis using a non-linear finite element model has been performed to analyze the effects of adhesive ductility on the stiffness and strength of full-scale adhesively-bonded double-lap joints composed of brittle pultruded GFRP laminates. Experimenta ...

2008

Engineering of human meniscus substitute

Anna Marsano

Injuries to the meniscus are often treated by partial or total meniscectomy, which is known to be associated with detrimental changes in joint function, ultimately increasing the risk of early degenerative joint diseases. Surgical approaches currently in u ...

EPFL2006