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In this chapter we described how the inclusion of a model of a human arm, combined with the measurement of its neural input and a predictor, can provide to a previously proposed teleoperator design robustness under time delay. Our trials gave clear indications of the superiority of the NPT scheme over traditional as well as the modified Yokokohji and Yoshikawa architectures. Its fundamental advantages are: the time-lead of the slave, the more efficient, and providing a more natural feeling manipulation, and the fact that incorporating an operator arm model leads to more credible stability results. Finally, its simplicity allows less likely to fail local control techniques to be employed. However, a significant advantage for the enhanced Yokokohji and Yoshikawa architecture results from the very fact that it’s a conservative modificati...
In this paper we have explored areas of application for health care manipulators and possible user groups. We have shown the steps in the design approach to the conceptual mechanism from the AAS. The future work will be measurement from properties of the muscle with the elbow parameterization test-bed to get a database to design one part of the control area from the AAS. More work on the mechanical design is required before a functional prototype can be built.
Technique resolves problems in complex control systems, such as those used for space vehicle guidance and control. Main disadvantage of procedure is that it is only appropriate in situations where trajectory concept is valid.
Single, inexpensive system uses two identical circuits for simultaneous, bidirectional data transmission. Frequency response with currently available amplifiers is from dc to over 70 kHz.
This paper describes a new, portable, battery powered echocardioscope developed at the NASA-Ames Research Center in cooperation with the Stanford University School of Medicine. This instrument has three major advantages over existing equipment. First, it is compact and light weight for easy portability. Second, its DC operation makes it safer to use in remote settings where AC power is unavailable or in intensive care and neonatal units where AC instruments could present electrical hazards for the patient. Third, its design and packaging should enable it to sell for several thousand dollars less than presently marketed ultrasonoscopes. The cooperative development of this instrument, its principles of operation, and the significance of its unique features are presented.
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