An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System

2001 ◽  
Author(s):  
John E. Speich ◽  
Liang Shao ◽  
Michael Goldfarb
Keyword(s):  
Experimental Data ◽  
Second Order ◽  
Degree Of Freedom ◽  
Human Interaction ◽  
Haptic Interfaces ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Lumped Parameter ◽  
Mass Spring ◽  
System 1

Abstract This paper describes the development of a linear single degree-of-freedom lumped-parameter hand/arm model for the operator of a telemanipulaton system. The model form and parameters were determined from experimental data taken from a single degree-of-freedom telemanipulation system. Typically, the human is modeled as a second order mass-spring-damper system [1, 2]. The model developed in this paper, however, includes an additional spring and damper to better approximate the dynamics of the human while interacting with the manipulator. This model can be used in the design and simulation of control architectures for telemanipulation systems and haptic interfaces.

scholarly journals Orthogonal contrasts: definitions and concepts

2004 ◽  
Vol 61 (1) ◽  
pp. 118-124 ◽  
Author(s):  
Maria Cristina Stolf Nogueira
Keyword(s):  
Experimental Data ◽  
Statistical Analysis ◽  
Interaction Effects ◽  
Degree Of Freedom ◽  
Extensive Review ◽  
Single Degree Of Freedom ◽  
Orthogonal Contrasts ◽  
Single Degree ◽  
Definite Structure

The single degree of freedom of orthogonal contrasts is a useful technique for the analysis of experimental data and helpful in obtaining estimates of main, nested and interaction effects, for mean comparisons between groups of data and in obtaining specific residuals. Furthermore, the application of orthogonal contrasts is an alternative way of doing statistical analysis on data from non-conventional experiments, whithout a definite structure. To justify its application, an extensive review is made on the definitions and concepts involving contrasts.

The Active Control of Forced Vibration Produced by Arbitrary Disturbances

1985 ◽  
Vol 107 (1) ◽  
pp. 33-37 ◽  
Author(s):  
J. S. Burdess ◽  
A. V. Metcalfe
Keyword(s):  
Vibration Control ◽  
Active Control ◽  
Forced Vibration ◽  
Disturbance Observer ◽  
Degree Of Freedom ◽  
Experimental Results ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Impact Forces ◽  
Mass Spring

This paper considers the vibration control of a single degree of freedom mass-spring-damper system when subjected to an arbitrary, unmeasurable disturbance. The idea of a disturbance observer is introduced and it is shown how an estimate of the excitation can be derived and used to generate a control, which reduces the vibration. This control is shown to be robust with respect to the parameters describing the behavior of the system. Experimental results are presented which show the efficacy of the method when the system is excited by periodic, random, and impact forces. Comments are made on the application of the method.

A Design Criterion for Avoiding Resonance in Lumped Mass Normal Mode Systems

1989 ◽  
Vol 111 (1) ◽  
pp. 48-52
Author(s):  
A. D. S. Ross ◽  
D. J. Inman
Keyword(s):  
Normal Mode ◽  
Design Criterion ◽  
Degree Of Freedom ◽  
Simple Design ◽  
Parameter System ◽  
Lumped Mass ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Lumped Parameter

A simple design criterion that determines whether a normal mode multiple degree of freedom damped linear lumped parameter system can or cannot resonate is presented. The relations are derived based on criteria for resonance in the single degree of freedom case, and on the definiteness of certain combinations of coefficient matrices. An example follows that both numerically verifies the derivation and illustrates the simplicity of implementing the result as a design criterion.

Influence of Friction Dampers on Torsional Blade Flutter

1986 ◽  
Vol 108 (2) ◽  
pp. 313-318 ◽  
Author(s):  
A. Sinha ◽  
J. H. Griffin ◽  
R. E. Kielb
Keyword(s):  
Dry Friction ◽  
Fluid Velocity ◽  
Supersonic Flows ◽  
Degree Of Freedom ◽  
Lumped Parameter Model ◽  
Single Degree Of Freedom ◽  
Friction Dampers ◽  
Single Degree ◽  
Lumped Parameter ◽  
Blade Flutter

This paper deals with the stabilizing effects of dry friction on torsional blade flutter. A lumped parameter model with single degree of freedom per blade has been used to represent the rotor stage. The well-known cascade theories for incompressible and supersonic flows have been used to determine the allowable increase in fluid velocity relative to the blade. It has been found that the effectiveness of friction dampers in controlling flutter can be substantial.

Response of Armour Plate Subjected to Blast Loading Based on Analytical Model of Second Order Single Degree of Freedom

2015 ◽  
Vol 819 ◽  
pp. 387-392
Author(s):  
Ahmad Zaidi Ahmad Mujahid ◽  
Shah Koslan Md Fuad ◽  
Othman Mohd Zaid
Keyword(s):  
Numerical Simulation ◽  
Blast Loading ◽  
Computer Code ◽  
Small Error ◽  
Second Order ◽  
Degree Of Freedom ◽  
Analytical Prediction ◽  
Reliable Technique ◽  
Single Degree Of Freedom ◽  
Single Degree

The rolled homogeneous armour (RHA) plate is commonly used for armoured vehicle skin. Preliminary predictions of the deflections from RHA plate subjected to blast loading is important for establishing guidelines before it is used in vehicle skin. The goal of this work is a reliable technique for predicting the RHA plate response subjected to blast loading, and the empirical result performed by other researchers will be taken as a reference. Based on selected references, a small number of assumptions lead to the developed Single Degree of Freedom (SDOF) idealised models. This paper provides an analytical prediction for the RHA plate response using SDOF in one dimension (1D) approach. The analytical capability was subsequently verified using the non-linear fluid structure interaction (FSI) numerical simulation and the AUTODYN computer code. The midpoint deflections of the RHA plate were taken as the figure of merit. Based on the small error percentage and the support of strong analytical arguments, the second order SDOF analytical approach and numerical simulation using the AUTODYN computer code can be employed as a method of analysis.

The Random Response of a Single Degree of Freedom Generalized Maxwell Damping Structure

2015 ◽  
Vol 744-746 ◽  
pp. 1648-1653
Author(s):  
Wan Jie Zou ◽  
Chuan Gao Li ◽  
Yun Xia Zhang
Keyword(s):  
Laplace Transform ◽  
Structural Response ◽  
Second Order ◽  
Degree Of Freedom ◽  
Inverse Laplace Transform ◽  
Maximum Response ◽  
Random Response ◽  
Single Degree Of Freedom ◽  
Single Degree ◽  
Response Variance

Using the model of stationary white noise excitation, defining the exact analytic method of random response and nearer value of earthquake action about single degree of freedom generalized Maxwell damping, firstly transform the motion equation into standard form, with the Laplace transform and Inverse Laplace transform method, obtained the exact analytical formula of structural response, calculate the response variance by the complex modal method and frequency domain decomposition and make comparisons, The response variance decomposition for the first standard vibrator and second order of the standard vibrator, According to the corresponding relationship between maximum response of the second order vibrator and The design response spectrum, calculated the maximum response by it, base on the maximum response proportion of the first standard vibrator and second, obtained the design of the structural response values and its corresponding earthquake force.

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