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A variable stiffness actuator is proposed according to the human ergonomic joint actuation mechanism and applied to an elbow rehabilitation robot. The robot employs an antagonistic compliant driving actuation to ensure rehabilitation training effectiveness and the patient's safety even under the condition of spasm. The robot joint stiffness and position can be controlled simultaneously by using the...
Numerous connections brittle fracture happened in the Wenchuan Sichuan earthquake, which indicates that cognitions on the damage mechanism of beam to column connection are rather inadequate. It need to improve in constitution, there are four kinds of connections are analyzed by the finite element. Under the repeat load, which seismic behavior of improved connections are better and can satisfy the...
Based on the engineering construction of new subway across existing metro tunnel, the settlement law of the existing metro concrete structures was researched due to construction perturbation under existing metro tunnel. According to the in-situ monitoring information and engineering geological conditions, the foundation model, structure analysis model and settlement curve model which are suitable...
This paper presents an efficient method, SMOOTH, for modifying a joint probability distribution to satisfy a set of inconsistent constraints. It extends the well-known "iterative proportional fitting procedure" (IPFP), which only works with consistent constraints. Comparing with existing methods, SMOOTH is computationally more efficient and insensitive to data. Moreover, SMOOTH can be easily...
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