Calculation of the General Number of Imposed Constraints of Kinematic Chains

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The present invention concerns a pivot comprising two assemblies, namely a central assembly (401) and a peripheral assembly (400). These two assemblies are mobile in rotation relative to each other around an axis of rotation (A). The pivot is characterized ...

ABS T R A C T BACKGROUND: Upper limb (UL) motor impairment following stroke is a leading cause of functional limitations in activities of daily living. Robot-assisted therapy supports rehabilitation, but how its efficacy and the underlying neural mechanism ...

Model-based reinforcement learning for robot control offers the advantages of overcoming concerns on data collection and iterative processes for policy improvement in model-free methods. However, both methods use exploration strategy relying on heuristics ...

A growing body of research has shown that reversed cyclic shear loading of reinforced concrete (RC) causes effects that are not accounted for in monotonic behavioral models. Notable among these effects are a reduction in shear strength and significant plas ...

Anguilliform swimmers, like eels or lampreys, are highly efficient swimmers. Key to understanding their performances is the relationship between the body’s kinematics and resulting swimming speed and efficiency. But, we cannot prescribe kinematics to livin ...

The sense of touch can provide a robot with a wealth of information about the contact region when interacting with an unknown environment. Nevertheless, utilizing touch information to plan exploration paths and adjust robot posture to improve task efficien ...

In this thesis, the aerodynamic challenges in flapping wing flight are addressed. In particular, the effects of different wing kinematics, flexibilities, and planforms on the the leading edge vortex development and aerodynamic performance are investigated. ...

Objective. Studying the neural components regulating movement in human locomotion is obstructed by the inability to perform invasive experimental recording in the human neural circuits. Neuromechanical simulations can provide insights by modeling the locom ...

Soft robot are celebrated for their propensity to enable compliant and complex robot-environment interactions. Soft robotic manipulators, or slender continuum structure robots have the potential to exploit these interactions to enable new exploration and m ...

In this thesis, we address the complex issue of collision avoidance in the joint space of robots. Avoiding collisions with both the robot's own body parts and obstacles in the environment is a critical constraint in motion planning and is crucial for ensur ...

VR (Virtual Reality) is a real-time simulation that creates the subjective illusion of being in a virtual world. This thesis explores how integrating the user's body and fingers can be achieved and beneficial for the user to experience VR. At the advent of ...

Prism Adaptation (PA) is a useful method to study the mechanisms of sensorimotor adaptation. After-effects following adaptation to the prismatic deviation constitute the probe that adaptive mechanisms occurred, and current evidence suggests an involvement ...

In this paper, we present an approach for learning a neural implicit signed distance function expressed in joint space coordinates, that efficiently computes distance-to-collisions for arbitrary robotic manipulator configurations. Computing such distances ...

The largest source of systematic errors in the time-delay cosmography method likely arises from the lens model mass distribution, where an inaccurate choice of model could in principle bias the value of H-0. A Bayesian hierarchical framework has been propo ...

Dynamic stall on airfoils negatively impacts their aerodynamic performance and can lead to structural damage. Accurate prediction and modelling of the dynamic stall loads are crucial for a more robust design of wings and blades that operate under unsteady ...

Many robotics problems are formulated as optimization problems. However, most optimization solvers in robotics are locally optimal and the performance depends a lot on the initial guess. For challenging problems, the solver will often get stuck at poor loc ...

As one of the three most popular sports in the Summer Olympics, competitive swimming has always been an attractive subject of study for sports scientists. The intricate nature of the swimmer's movements and the variety of techniques have led coaches to req ...

This paper presents a novel planar four-bar linkage compliant mechanism (called 4-RCC) based on four flexure-based Remote Center of Compliance (RCC) pivots. With particular configurations and dimensions, the beam shortening of the RCC pivots can compensate ...

Series elastic actuators (SEAs) and variable elastic actuators (VSAs) provide shock resistance, energy storage, and stable force control. However, they usually require extra springs, mechanical parts, and transmissions, increasing size, weight, number of m ...

Excessive beta-band oscillations in the subthalamic nucleus are key neural features of Parkinson's disease. Yet the distinctive contributions of beta low and high bands, their dependency on striatal dopamine, and their correlates with movement kinematics a ...

Calculation of the General Number of Imposed Constraints of Kinematic Chains

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Pivot, process for manufacturing such a pivot, oscillator comprising such a pivot, watch movement and timepiece comprising such an oscillator

Neurophysiological underpinnings of an intensive protocol for upper limb motor recovery in subacute and chronic stroke patients

Exploration-based model learning with self-attention for risk-sensitive robot control

The General Crack Component Model for reversed cyclic shear

Identification of the trade-off between speed and efficiency in undulatory swimming using a bio-inspired robot

Online active and dynamic object shape exploration with a multi-fingered robotic hand

The effects of kinematics, flexibility, and planform on the vortex formation and aerodynamic performance of flapping wing flight

Investigating the roles of reflexes and central pattern generators in the control and modulation of human locomotion using a physiologically plausible neuromechanical model

Piecewise Affine Curvature model: a reduced-order model for soft robot-environment interaction beyond PCC

Implicit Distance Functions: Learning and Applications in Robotics

From finger animation to full-body embodiment of avatars with different morphologies and proportions

Does anodal cerebellar tDCS boost transfer of after-effects from throwing to pointing during prism adaptation?

Neural Joint Space Implicit Signed Distance Functions for Reactive Robot Manipulator Control

TOCOSMO VIII. A key test of systematics in the hierarchical method of time-delay cosmography

All you need is time to generalise the Goman-Khrabrov dynamic stall model

Memory of Motion for Initializing Optimization in Robotics

SmartSwim: A novel approach to swimming analysis and coaching assistance based on wearable inertial sensors

Rectilinear translation four-bar flexure mechanism based on four Remote Center Compliance pivots

Flexure Variable Stiffness Actuators

Impaired reach-to-grasp kinematics in parkinsonian patients relates to dopamine-dependent, subthalamic beta bursts