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This paper suggests two advantages of the biarticular muscle which has been said to play an important role in human's motion control; one is stiffness direction stabilization of an end effector which results in stabilization of the posture, and the other is inertia matrix diagonalization in the dynamics of a robot manipulator. In order to analyze these characteristics, we adopt three-pair six-muscle...
Motor control to assist human force without a force sensor is designed based on two-degree-of-freedom control theory. First force sensor-less power assist control is designed and its robustness is analyzed. Then it is incorporated with the reference tracking control using the two degree-of-freedom control. The proposed control can design the motion with regarding to the reference and the motion with...
The effects of oxygen in Ar/O2 mixed sputtering gas on the magnetic and magnetooptic properties of PtMnSb films prepared by rf sputtering were investigated. In addition to a PtMnSb phase, the growth of Mn2Sb, PtSb2, and oxides of Mn and Sb were observed in PtMnSb films prepared at low total sputtering gas pressures. The saturation magnetization Ms decreases with decreasing total gas pressure, leading...
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