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This paper describes a methodology for integrating confocal microscopy images acquired from two different illumination sources over time obtained from experiments of cell migration and vessel formation. The three-dimensional fluorescent images of stained cell nuclei and two dimensional bright field images of the extracellular matrix, supplement one another as the outline of the conduit formed by the...
This paper presents the design and implementation of antagonistic artificial muscle actuators which combine equilibrium point control with a segmented muscle architecture similar to the motor units within mammalian skeletal muscle. By varying the number of recruited motor units in a pair of antagonistic actuators, the stiffness and angle of a joint are controlled. An antagonistic actuator system is...
Design methods are presented for achieving decoupled and invariant inertia tensors for planar and spatial open-loop kinematic chain manipulators. Appropriate actuator locations as well as appropriate mass distributions are utilized in order to achieve the decoupled and invariant arm inertia tensors. It is found that a key to achieving the decoupled inertia tensor for more than two degree-of-freedom...
Electromechanial robots employ gearing mechanisms to match the impedances of drives and their corresponding loads. These mechanisms, while used extensively, degrade control performance of the robots. Direct-Drive, on the other hand, is a method in which a actuator is coupled directly to its load without gearing. This innovative design approach has shown great improvement in control performances. Its...
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