A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism

2019 ◽  
Vol 11 (5) ◽  
Author(s):  
Ming Zhang ◽  
Lijin Fang ◽  
Feng Sun ◽  
Koichi Oka
Keyword(s):  
Traditional Approach ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
The Novel ◽  
Adjustment Time ◽  
Stiffness Model ◽  
Wide Range ◽  
Driven System ◽  
The Relationship ◽  
Magnetic Mechanism

The variable-stiffness joint (VSJ) plays an important role in creating compliant and powerful motions. This paper presents a novel wire-driven VSJ based on a permanent magnetic mechanism (PMM). The proposed joint regulates the joint stiffness with lower energy consumption through a wide range via the permanent magnetic mechanism. This effect possibly depends on the novel nonlinear combination of a permanent magnet-spring and wire-driven system that achieves the same stiffness with lower wire tension. A trapezoidal layout of the joint is proposed. Because of the relationship among the stiffness, the position of the joint and the stiffness of the PMM, the stiffness model is also been established. Based on this model, the decoupling controller is built to independently control the position and stiffness of the joint. Experiments show that the VSJPMM achieves position and stiffness independently and also reduces energy and power required to regulate the stiffness compared with the traditional approach. In addition, the proposed mechanism displays a powerful motion and short stiffness adjustment time.

scholarly journals Development of an Exoskeleton-Type Assist Suit Utilizing Variable Stiffness Control Devices Based on Human Joint Characteristics

Actuators ◽  
2021 ◽  
Vol 10 (1) ◽  
pp. 17
Author(s):  
Seigo Kimura ◽  
Ryuji Suzuki ◽  
Katsuki Machida ◽  
Masashi Kashima ◽  
Manabu Okui ◽  
...  
Keyword(s):  
Joint Stiffness ◽  
Knee Extensor ◽  
Artificial Muscle ◽  
Variable Stiffness ◽  
Lower Limbs ◽  
Joint Characteristics ◽  
Standing Up ◽  
Maximum Decrease ◽  
Control Devices ◽  
The Relationship

In this paper, the prototype of the assistive suit for lower limbs was developed. The prototype was based on an assist method with joint stiffness and antagonized angle control. The assist method comprises a system consisting of a pneumatic artificial muscle and a pull spring, which changes the joint stiffness and the antagonized angle to correspond to the movement phase and aims at coordinated motion assistance with the wearer. First, the characteristics of the developed prototype were tested. It was confirmed that the measured value of the prototype followed the target value in the relationship between torque and angle. In addition, there was hysteresis in the measured value, but it did not affect the assist. Next, the evaluation of standing-up and gait assist by measuring electromyography (EMG) of the knee extensor muscle was conducted using the prototype. In all subjects, a decrease in EMG due to the assist was confirmed. In one subject, the maximum decrease rate at the peak of the EMG was about 50% for standing-up motion and about 75% for gait motion. From the results of these assist evaluations, the effectiveness of the assist method based on the joint stiffness and antagonistic angle control using the prototype was confirmed.

scholarly journals Mythe de beauté et image de soi chez une adolescente dans « Robert des noms propres » d’Amelie Nothomb

FRANCISOLA ◽  
2019 ◽  
Vol 3 (2) ◽  
pp. 153
Author(s):  
Tania INTAN
Keyword(s):  
Descriptive Analysis ◽  
Literary Work ◽  
The Novel ◽  
Main Character ◽  
Mots Clés ◽  
Holistic View ◽  
Self Image ◽  
Wide Range ◽  
French Speaking ◽  
The Relationship

RÉSUMÉ. Cette étude vise donc à prouver surtout la relation entre le ballet, l'anorexie, et l'image de soi chez le personnage principal du roman Robert des Noms Propres, écrit en 2013 par Amélie Nothomb, une auteure francophone de Belgique. Cette recherche utilise la méthode d'analyse descriptive, pour obtenir une vue holistique des problèmes dans l'œuvre littéraire, qui ont été étudié en utilisant l'approche psychologique. Cette écriture est préparée en utilisant un large éventail de documents liés au thème du ballet, l'anorexie, et l'image de soi chez les filles. Le résultat de la recherche montre qu'il existe une relation causale entre ces trois elements cités. Le trouble de l'alimentation s’est montré depuis l’enfance du personnage principal qui devient anorexique en raison d'un traumatisme, les influences de l'environnement, ainsi que les exigences de sa profession en tant que danseuse de ballet. Cette recherche apporte également l’information que l’image de soi chez l’adolescente s’est formé dans les aspects cognitifs, affectifs, et psychomotoriques. Mots-clés : ballet, anorexie, image de soi, adolescente ABSTRACT. This study aims to prove above all the relationship between ballet, anorexia, and self-image in the main character of the novel Robert des Noms Propres, written in 2013 by Amélie Nothomb, a French-speaking author from Belgium. This research uses the method of descriptive analysis, to obtain a holistic view of the problems in the literary work, which were studied using the psychological approach. This writing is prepared using a wide range of documents related to the theme of ballet, anorexia, and self-image in girls. The result of the research shows that there is a causal relationship between these three elements. The eating disorder has been shown since the childhood of the main character who becomes anorexic due to trauma, environmental influences, as well as the demands of her profession as a ballet dancer. This research also brings the information that the adolescent's self-image has formed in the cognitive, affective, and psychomotoric aspects. Keywords: ballet, anorexia, self-image, adolescent girls

Comparing model-based control methods for simultaneous stiffness and position control of inflatable soft robots

2020 ◽  
pp. 027836492091196
Author(s):  
Charles M. Best ◽  
Levi Rupert ◽  
Marc D. Killpack
Keyword(s):  
Dynamic Models ◽  
Position Control ◽  
Sliding Mode ◽  
Joint Stiffness ◽  
Variable Stiffness ◽  
Soft Robots ◽  
End Effector ◽  
Simultaneous Control ◽  
Stiffness Model ◽  
Stiffness Control

Inflatable robots are naturally lightweight and compliant, which may make them well suited for operating in unstructured environments or in close proximity to people. The inflatable joints used in this article consist of a strong fabric exterior that constrains two opposing compliant air bladders that generate torque (unlike McKibben actuators where pressure changes cause translation). This antagonistic structure allows the simultaneous control of position and stiffness. However, dynamic models of soft robots that allow variable stiffness control have not been well developed. In this work, a model that includes stiffness as a state variable is developed and validated. Using the stiffness model, a sliding mode controller and model predictive controller are developed to control stiffness and position simultaneously. For sliding mode control (SMC), the joint stiffness was controlled to within 0.07 Nm/rad of a 45 Nm/rad command. For model predictive control (MPC) the joint stiffness was controlled to within 0.045 Nm/rad of the same stiffness command. Both SMC and MPC were able to control to within 0.5° of a desired position at steady state. Stiffness control was extended to a multiple-degree-of-freedom soft robot using MPC. Controlling stiffness of a 4-DOF arm reduced the end-effector deflection by approximately 50% (from 17.9 to 12.2cm) with a 4 lb (1.8 kg) step input applied at the end effector when higher joint stiffness (40 Nm/rad) was used compared with low stiffness (30 Nm/rad). This work shows that the derived stiffness model can enable effective position and stiffness control.

RESEARCH ON DESIGN AND CONTROL OF A NEW TYPE FLEXIBLE JOINT WITH VARIABLE STIFFNESS

2020 ◽  
Vol 20 (02) ◽  
pp. 2050003
Author(s):  
YUBIN LIU ◽  
GANGFENG LIU ◽  
RUOFAN CAI
Keyword(s):  
Dynamic Stiffness ◽  
Joint Stiffness ◽  
Taylor Series Expansion ◽  
Planetary Gear ◽  
Variable Stiffness ◽  
Application Process ◽  
New Type ◽  
Gear Mechanism ◽  
And Control ◽  
The Relationship

Aiming at non-linear problems existing in the principle of variable stiffness of robot joints, a class crank-slider and planetary gear mechanism are presented. The spring is pre-compressed by using the inter-agency geometric relations of fulcrum movement. The approximate linear variation of stiffness about fulcrum offset is realized. The problems of mechanism clearance, operational stability, and compact space are solved. The joint stiffness calculation method is derived, and the relationship between key parameters and stiffness outputs is analyzed. The stiffness control strategy is researched on, and a trajectory generator is designed based on Taylor series expansion. Static stiffness identification and dynamic stiffness following experiment are designed to test joint stiffness and position characteristics. The feasibility of joint is verified to achieve stiffness and position continuous adjustment within a certain range. This type of joint can be used in the field of medical treatment and rehabilitation to solve the problems of safety and environmental adaptability in the application process.

ANTHROPONYMIC SPACE OF A. VARLAMOV’S NOVEL «MY SOUL PAVEL»

2021 ◽  
pp. 66-76
Author(s):  
О.В. Новикова ◽  
Н.Н. Лапынина
Keyword(s):  
Social Status ◽  
Cultural Context ◽  
Emotional State ◽  
Literary Text ◽  
The Novel ◽  
Linguistic Information ◽  
Wide Range ◽  
Own Name ◽  
Relationship Of ◽  
The Relationship

Статья посвящена одной из актуальных проблем современной лингвистики - функционированию онимов в художественном тексте. Авторы анализируют «информационную модель» имен персонажей в романе А. Варламова «Душа моя Павел», которая включает лингвистическую информацию о собственном имени, а также ассоциации, коннотации, которыми обладает данное имя в историческом и культурном контексте. Данная информация формирует и углубляет образ персонажа, помогает выразить авторскую идею. Исследованный материал показывает, что фамилия, имя, отчество, прозвище каждого героя А. Варламова символичны, отражают его характер, взгляды, социальный статус персонажей и их предназначение. Кроме того, взаимоотношения героев ярко раскрываются в разнообразных вокативах, представленных широким спектром обращений в виде уменьшительно-ласкательных или презрительно-ироничных, дружеских или оскорбительных форм имен, просторечных слов с различными экспрессивными оттенками, отражающих динамику развития отношений и эмоциональное состояние героев в каждый момент их жизни. Делается вывод, что имена всех героев романа являются элементами авторского замысла и ключом к смыслу художественного произведения. The article is devoted to one of the urgent problems of modern linguistics - the functioning of onyms in a literary text. The authors analyze the «information model» of the names of the characters in A. Varlamov's novel «My Soul Pavel», which includes linguistic information about one's own name, as well as associations, connotations that this name has in the historical and cultural context. This information forms and deepens the character's image, helps to express the author's idea. The studied material shows that the surname, name, patronymic, nickname of each hero of A. Varlamov are symbolic, reflect his character, views, social status of the characters and their purpose. In addition, the relationship of the characters is vividly revealed in a variety of vocatives, represented by a wide range of references in the form of diminutive-affectionate or contemptuous-ironic, friendly or offensive forms of names, colloquial words with various expressive shades, reflecting the dynamics of the development of relationships and the emotional state of the characters at each moment of their life. It is concluded that the names of all the heroes of the novel are elements of the author's intention and the key to the meaning of the work of art.

Towards Atmanirbhar Bharat Abhiyan through Skill Development and Entrepreneurship: A Review

2021 ◽  
pp. 454-461
Keyword(s):  
Skill Development ◽  
The Novel ◽  
Young Population ◽  
Indian Government ◽  
Driven System ◽  
Infrastructure System ◽  
Novel Coronavirus ◽  
Unemployment And Health ◽  
The Relationship ◽  
And Diffusion

Nations across the globe are struggling with the sudden occurrence of the novel coronavirus. In the more challenging times of havoc caused by the pandemic COVID-19, the Indian government has taken several steps to ensure the country's growth and has raised India's willpower to survive economically and socially. There are many alarming situations like mobility, migration of workers, unemployment, and health-hazardous that have arisen primarily due to the pandemic in the country, which led to the birth of the conceptualization of Atmanirbhar Bharat Abhiyan. The narrative of Atmanirbhar Bharat has pitched the rhythm of five key pillars, namely: Economy, infrastructure, system, demography, and demand. In this pursuit, this study analyzed the relationship between India's skillsets for entrepreneurship encompassing the self-dependent concept of Atmanirbhar Bharat. The article has tried emphasizing each pillar of Atmanirbhar Bharat, fostering skill development and entrepreneurship in the nation. The study assessed that the economy as the prime pillar of a nation required significant and well-versed investment in R & D. The nation required investment in the development of individual skills, dependence on regional resources, capital, and laborers. In terms of Infrastructure as the second pillar, it was assessed that strengthening of skill and entrepreneurial hubs serves as a valuable investment in infrastructure to support skill development and entrepreneurship. However, the cooperative efforts of key national actors jointly will set convenient conditions for mainstreaming and diffusion of the technology-driven system as the third pillar. The study assessed that India having vibrant demography with a young population serves as the crucial factor that can anticipate demand with supply forecasting. It will ultimately stimulate and lead the nation toward India's initiative self-reliant.

The Problem of Identifying and Modeling the Relationship between Monetary Factor and Inflation in the Russian Economy

2008 ◽  
pp. 61-76
Author(s):  
A. Porshakov ◽  
A. Ponomarenko
Keyword(s):  
Money Supply ◽  
Money Demand ◽  
Russian Economy ◽  
Long Run ◽  
Complex Approach ◽  
Wide Range ◽  
Long Time ◽  
The Relationship ◽  
Supply Side Factors

The role of monetary factor in generating inflationary processes in Russia has stimulated various debates in social and scientific circles for a relatively long time. The authors show that identification of the specificity of relationship between money and inflation requires a complex approach based on statistical modeling and involving a wide range of indicators relevant for the price changes in the economy. As a result a model of inflation for Russia implying the decomposition of inflation dynamics into demand-side and supply-side factors is suggested. The main conclusion drawn is that during the recent years the volume of inflationary pressures in the Russian economy has been determined by the deviation of money supply from money demand, rather than by money supply alone. At the same time, monetary factor has a long-run spread over time impact on inflation.

The role and relationship of mindreading and social attunement in HRI – position statements of interdisciplinary researchers. Workshop HRI'20

2020 ◽  
Author(s):  
Agnieszka Wykowska ◽  
Jairo Pérez-Osorio ◽  
Stefan Kopp
Keyword(s):  
Mental States ◽  
Human Robot Interaction ◽  
Human Interaction ◽  
Artificial Agents ◽  
The Novel ◽  
Robot Interaction ◽  
Novel Coronavirus ◽  
Relationship Of ◽  
The Relationship

This booklet is a collection of the position statements accepted for the HRI’20 conference workshop “Social Cognition for HRI: Exploring the relationship between mindreading and social attunement in human-robot interaction” (Wykowska, Perez-Osorio & Kopp, 2020). Unfortunately, due to the rapid unfolding of the novel coronavirus at the beginning of the present year, the conference and consequently our workshop, were canceled. On the light of these events, we decided to put together the positions statements accepted for the workshop. The contributions collected in these pages highlight the role of attribution of mental states to artificial agents in human-robot interaction, and precisely the quality and presence of social attunement mechanisms that are known to make human interaction smooth, efficient, and robust. These papers also accentuate the importance of the multidisciplinary approach to advance the understanding of the factors and the consequences of social interactions with artificial agents.

THE ONTOLOGICAL ROOTEDNESS OF COGNITIVE PRACTICES LINGUISTIC FORMS IN RELIGIOUS SOCIO-CULTURAL TRADITIONS: A COMPARATIVE APPROACH

Communicology ◽  
2020 ◽  
Vol 8 (3) ◽  
pp. 138-148
Author(s):  
NATALIA MALSHINA ◽  
Keyword(s):  
Traditional Approach ◽  
Philosophical Tradition ◽  
Psychological State ◽  
Comparative Approach ◽  
Cultural Traditions ◽  
Fundamental Ontology ◽  
Ontology Language ◽  
The World ◽  
True Knowledge ◽  
The Relationship

This study examines the ontological problems in the aspect of the ratio of different cognitive practices and their mutual conditionality in the context of communication and their socio-cultural prerequisites, which is possible only if the traditional approach to the distinction between epistemology and faith is revised. Based on the idea of identity of common grounds of cognitive practices “belief” is included in the understanding of interpretation in the communicative situation for true knowledge in each of the modes of being. Belief in the philosophical tradition reveals the ontological foundations of hermeneutics. Three reflections are synthesised: the hermeneutic concept of understanding, the structuralist concept of language, and the psychoanalytic concept of personality. It is necessary to apply the method of phenomenological reduction to the ontological substantiation of hermeneutics in the Christian Orthodox tradition. Hence, the very natural seems the meeting of semantics, linguistics, and onomatodoxy, with the ontology language of Heidegger, the origins of which resides in in Husserl phenomenology. Fundamental ontology and linguistics, cult philosophy - both in different ways open the horizons of substantiation of hermeneutics. The beginning of this justification is the hermeneutic problem in Christianity, which has appeared as a sequence of the question of the relationship between the two Covenants, or two Unions. In the paper, the author attempts to identify the stages of constructing the philosophical concept of Pavel Florensky. As a result, the substantiation of the birth of the world in consciousness by the cult is revealed. Ontological tradenote words can be seen in Florensky through symbols. The symbol makes the transition from a small energy to a larger one, from a small information saturation to a greater one, acting as a lumen of being - when by the name we hear the reality. The word comes into contact with the world that is on the other side of our own psychological state. The word, the symbol shifts all the time from subjective to objective. The communicative model acts as a common point uniting these traditions. The religious approach as part of semiotic approach reveals the horizons of ontological conditionality of language and words, and among the words - the name, as the name plays a central role in the accumulation and transmission of information, understanding of the commonality of this conditionality in the concepts of phenomenology and Christian, Orthodox tradition.

Oleanolic Acid Derived from Plants: Synthesis and Pharmacological Properties of A-ring Modified Derivatives

2020 ◽  
Vol 17 (9) ◽  
pp. 1084-1101
Author(s):  
Tingjuan Wu ◽  
Xu Yao ◽  
Guan Wang ◽  
Xiaohe Liu ◽  
Hongfei Chen ◽  
...  
Keyword(s):  
Drug Design ◽  
Oleanolic Acid ◽  
Water Solubility ◽  
Future Application ◽  
The Novel ◽  
Pharmacological Effects ◽  
Framework Structure ◽  
Design And Synthesis ◽  
The Past ◽  
The Relationship

Background: Oleanolic Acid (OA) is a ubiquitous product of triterpenoid compounds. Due to its inexpensive availability, unique bioactivities, pharmacological effects and non-toxic properties, OA has attracted tremendous interest in the field of drug design and synthesis. Furthermore, many OA derivatives have been developed for ameliorating the poor water solubility and bioavailability. Objective: Over the past few decades, various modifications of the OA framework structure have led to the observation of enhancement in bioactivity. Herein, we focused on the synthesis and medicinal performance of OA derivatives modified on A-ring. Moreover, we clarified the relationship between structures and activities of OA derivatives with different functional groups in A-ring. The future application of OA in the field of drug design and development also was discussed and inferred. Conclusion: This review concluded the novel achievements that could add paramount information to the further study of OA-based drugs.

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