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We have investigated the ability of humans to stabilize their heads in space and assessed the influence of mental set and the relative importance of visual and vestibular cues. Ten normal subjects and 3 patients with bilateral vestibular loss were studied. Subjects were fixed firmly to the chair of a turntable facing a screen on which was projected a target(More)
This paper presents the dynamic modeling of Mckibben pneumatic artificial muscles. The air flow model of a valve orifice and the air volume model of a pneumatic muscle are incorporated into the proposed dynamic model to estimate precisely the pressure variance of a pneumatic muscle when Mckibben muscles are in inflating and deflating. Coefficient parameters(More)
The hysteresis behavior of a linear stroke magne-torheological damper is characterized for sinusoidal displacement excitation at 2.0 Hz (nominal). First, we characterize the linearized MR damper behavior using equivalent viscous damping and complex stiffness. Four different nonlinear modeling perspectives are then discussed for purposes of system(More)
Magnetorheological (MR) fluids can be used in a variety of smart semiactive systems. The MR damper shows an especially great potential to mitigate environmentally induced vibration and shocks. Another aspect of MR fluids is the construction of MR valve networks in conjunction with a hydraulic pump resulting in a fully active actuator. These devices are(More)
This paper presents the stability analysis of the leading edge spar of a flapping wing unmanned air vehicle with a compliant spine inserted in it. The compliant spine is a mechanism that was designed to be flexible during the upstroke and stiff during the downstroke. Inserting a variable stiffness mechanism into the leading edge spar affects its structural(More)
The objective of this study is to characterize and quantify the performance of Pneumatic Artificial Muscle (PAM) actuators in trailing edge flap activation on a rotor under simulated full scale aerodynamic loads. These actuators provide weight and performance advantages over hydraulics, smart material actuators, and piezoelectric devices. Primary rotor(More)
Magnetorheological (MR) fluids can be used in a variety of smart semi-active systems. The MR damper shows an especially great potential to mitigate environmentally induced vibration and shocks. Another aspect of MR fluids is the construction of MR valve networks in conjunction with a hydraulic pump resulting in a fully active actuator. Conventional(More)
Pneumatic Artificial Muscles (PAMs) are used in robotic and prosthetic applications due to the high power to weight ratio, controllable compliance, and simple design. Contractile PAMs are typically used in traditional hard robotics in place of heavy electric motors. As the field of soft robotics grows, extensile PAMs are beginning to have increased usage.(More)