Search results for "force control"
showing 2 items of 2 documents
Kinematics and Control of a Housekeeping Robot Assistant
2005
In this paper, the compliant controller of a new service mobile robot designed for cleaning tasks and its kinematic modelling is addressed. Robot systems usage in home environment has been exponential increased in the last years thus placing a central importance on making interaction between people and machine as natural as possible. The main focus of this paper is twofold. First, the forward kinematics of the robot will be presented in order to introduce the closed form solution of the inverse kinematics problem. Second, the closed form solution will be used in the the design of a new kind of hybrid force/position control algorithm. The most important improvements of this control law are t…
Force Control and Motor Unit Firing Behavior Following Mental Fatigue in Young Female and Male Adults
2020
Purpose: The neuromuscular mechanisms leading to impaired motor performance in the presence of mental fatigue remain unclear. It is also unknown if mental fatigue differentially impacts motor performance in males and females. The purpose of this study was to assess the impact of mental fatigue on force production and motor unit (MU) firing behavior in males and females. Methods: Nineteen participants performed 10-s isometric dorsiflexion (DF) contractions at 20 and 50% maximum voluntary contraction (MVC) before, during, and after completing 22 min of the psychomotor vigilance task (PVT), to induce mental fatigue. The DF force and indwelling MU firing behavior of the tibialis anterior (TA) w…