Related papers: FlexDelta: A flexure-based fully decoupled paralle…
Precision motion stages are playing a prominent role in various manufacturing equipment. The drastically increasing demand for higher throughput in integrated circuit (IC) manufacturing and inspection calls for the next-generation precision…
The modeling and simulation of coupled neuromusculoskeletal-exoskeletal systems play a crucial role in human biomechanical analysis, as well as in the design and control of exoskeletons. However, conventional dynamic simulation frameworks…
Federated learning enables training on a massive number of edge devices. To improve flexibility and scalability, we propose a new asynchronous federated optimization algorithm. We prove that the proposed approach has near-linear convergence…
The paper presents a methodology to enhance the stiffness analysis of parallel manipulators with parallelogram-based linkage. It directly takes into account the influence of the external loading and allows computing both the non-linear…
Locomotion is typically studied either in continuous media where bodies and legs experience forces generated by the flowing medium, or on solid substrates dominated by friction. In the former, centralized coordination is believed to…
Variable Stiffness Actuators prove invaluable for robotics applications in unstructured environments, fostering safe interactions and enhancing task adaptability. Nevertheless, their mechanical design inevitably results in larger and…
Traditional locomotion strategies become ineffective at low Reynolds numbers, where viscous forces predominate over inertial forces. To adapt, microorganisms have evolved specialized structures like cilia and flagella for efficient…
We study the depinning of a flux line by analytical and numerical methods applied to a phenomenological equation of motion. Transverse fluctuations do not influence the critical behavior of the longitudinal component, justifying ``planar…
We present a new walking foot-placement controller based on 3LP, a 3D model of bipedal walking that is composed of three pendulums to simulate falling, swing and torso dynamics. Taking advantage of linear equations and closed-form solutions…
We use small-amplitude inviscid theory to study the swimming performance of a flexible flapping plate with time-varying flexibility. The stiffness of the plate oscillates at twice the frequency of the kinematics in order to maintain a…
Partial-assistance exoskeletons hold significant potential for gait rehabilitation by promoting active participation during (re)learning of normative walking patterns. Typically, the control of interaction torques in partial-assistance…
Training latency is critical for the success of numerous intrigued applications ignited by federated learning (FL) over heterogeneous mobile devices. By revolutionarily overlapping local gradient transmission with continuous local…
The cytoskeleton is an inhomogeneous network of semi-flexible filaments, which are involved in a wide variety of active biological processes. Although the cytoskeletal filaments can be very stiff and embedded in a dense and cross-linked…
The paper presents a new stiffness modelling method for overconstrained parallel manipulators, which is applied to 3-d.o.f. translational mechanisms. It is based on a multidimensional lumped-parameter model that replaces the link…
We propose a flexible convex relaxation for the phase retrieval problem that operates in the natural domain of the signal. Therefore, we avoid the prohibitive computational cost associated with "lifting" and semidefinite programming (SDP)…
This article studies the dynamics and control of a novel underactuated system, wherein a plate suspended by cables and with a freely moving mass on top, whose other ends are attached to three quadrotors, is sought to be horizontally…
Animals can finely modulate their leg stiffness to interact with complex terrains and absorb sudden shocks. In feats like leaping and sprinting, animals demonstrate a sophisticated interplay of opposing muscle pairs that actively modulate…
Dynamics of a fluxon in a stack of inductively coupled long Josephson junctions is studied analytically and numerically. We demonstrate that the fluxon has a maximum velocity, which does not necessarily coincide with any of the…
The mechanosensitivity of cells, which determines how they are able to respond to mechanical signals received from their environment, is crucial for the functioning of all biological systems. In experiments, cells placed on cyclically…
This paper presents a comprehensive refurbishment of the interactive robotic art installation Standards and Double Standards by Rafael Lozano-Hemmer. The installation features an array of belts suspended from the ceiling, each actuated by…