Methods are provided for stabilizing a haptic interface of a computer-controlled one-port virtual-reality system or a two-port teleoperation system comprising a robot manipulator. «Stabilizing» means to reduce the sense of vibration in a haptic interface. A Passivity Observer is computed to measure the amount of ener gy produced at the haptic interface, and a Passivity Controller is calculated to damp or absorb excess energy which causes the sense of vibration. This inventi on also provides a «filter,» i.e. a threshold function which returns zero velocity if the computed estimated velocity is less than a small predetermined value, which may be applied to estimated velocities determined in impedance-based methods of this invention so as to remove noise in the velocity estimate. To improve speed of reaction of the systems, this invention also provides methods for resetting the Passivity Observer to zero when it has been too positive for too long a period of time. Systems implementing these methods are also provided.

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This paper analyzes the general requirements of Haptic Interfaces (HIs) for Virtual Prototyping operations. In particular two different paradigms of interaction with virtual objects are presented, respectively based on an anthropomorphic and a desktop Haptic Interface. The main aspects of mechanical and control system design of HIs and force rendering in Virtual Environments are discussed too. The experimental results of the simulations conducted with a force feedback arm exoskeleton are presented, pointing out the current limits of the existing devices and outlining the future developments.

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The present invention relates to electroactive polymers that are pre-strained to improve conversion from electrical to mechanical energy. When a voltage is applied to electrodes contacting a pre-strained polymer, the polymer deflects. This deflection may be used to do mechanical work. The pre-strain improves the mechanical response of an electroactive polymer. The present invention also relates to actuators including an electroactive polymer and mechanical coupling to convert deflection of the polymer into mechanical work. The present invention further relates to compliant electrodes that conform to the shape of a polymer. The present invention provides methods for fabricating electromechanical devices including one or more electroactive polymers.

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Недавняя новость об обезьянках, которые «силой мысли» манипулировали изображением на мониторе компьютера, — свидетельство того, что время киборгов пришло.

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В будущем солдаты должны быть механизированы и роботизированы — решили в американском правительственном агентстве DARPA (Defense Advanced Research Projects Agency), выделив $50 миллионов на исследования в этой области.

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