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Position Errors (position + error)

Distribution by Scientific Domains

Life Sciences	28%

Selected Abstracts

Evidence from proprioception of fusimotor coactivation during voluntary contractions in humans

EXPERIMENTAL PHYSIOLOGY, Issue 3 2008
Trevor J. Allen
In experiments on position sense at the elbow joint in the horizontal plane, blindfolded subjects were required to match the position of one forearm (reference) by placement of their other arm (indicator). Position errors were measured after conditioning elbow muscles of the reference arm with an isometric contraction while the arm was held either flexed or extended. The difference in errors after the two forms of conditioning was large when the conditioned muscles remained relaxed during the matching process and it became less when elbow muscles were required to lift a load during the match (10 and 25% of maximal voluntary contraction, respectively). Errors from muscle conditioning were attributed to signals arising in muscle spindles and were hypothesized to result from the thixotropic property of passive intrafusal fibres. Active muscle does not exhibit thixotropy. It is proposed that during a voluntary contraction the errors after conditioning are less, because the spindles become coactivated through the fusimotor system. The distribution of errors is therefore seen to be a reflection of fusimotor recruitment thresholds. For elbow flexors most, but not all, fusimotor fibres appear to be recruited by 10% of a maximal contraction. [source]

Simple yet stable bearing-only navigation

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 5 2010
Krajník
This article describes a simple monocular navigation system for a mobile robot based on the map-and-replay technique. The presented method is robust and easy to implement and does not require sensor calibration or structured environment, and its computational complexity is independent of the environment size. The method can navigate a robot while sensing only one landmark at a time, making it more robust than other monocular approaches. The aforementioned properties of the method allow even low-cost robots to effectively act in large outdoor and indoor environments with natural landmarks only. The basic idea is to utilize a monocular vision to correct only the robot's heading, leaving distance measurements to the odometry. The heading correction itself can suppress the odometric error and prevent the overall position error from diverging. The influence of a map-based heading estimation and odometric errors on the overall position uncertainty is examined. A claim is stated that for closed polygonal trajectories, the position error of this type of navigation does not diverge. The claim is defended mathematically and experimentally. The method has been experimentally tested in a set of indoor and outdoor experiments, during which the average position errors have been lower than 0.3 m for paths more than 1 km long. © 2010 Wiley Periodicals, Inc. [source]

Retraining cervical joint position sense: The effect of two exercise regimes

JOURNAL OF ORTHOPAEDIC RESEARCH, Issue 3 2007
Gwendolen Jull
Abstract This study compared the effects of conventional proprioceptive training and craniocervical flexion (C-CF) training on cervical joint position error (JPE) in people with persistent neck pain. The aim was to evaluate whether proprioceptive training was superior in improving proprioceptive acuity compared to another form of exercise, which has been shown to be effective in reducing neck pain. This may help to differentiate the mechanisms of effect of such interventions. Sixty-four female subjects with persistent neck pain and deficits in JPE were randomized into two exercise groups: proprioceptive training or C-CF training. Exercise regimes were conducted over a 6-week period, and all patients received personal instruction by an experienced physiotherapist once per week. A significant pre- to postintervention decrease in JPE, neck pain intensity, and perceived disability was identified for both the proprioceptive training group (p,<,0.001) and the C-CF training group (p,<,0.05). Patients who participated in the proprioceptive training demonstrated a greater reduction in JPE from right rotation compared to the C-CF training group (p,<,0.05). No other significant differences were observed between the two groups. The results demonstrated that both proprioceptive training and C-CF training have a demonstrable benefit on impaired cervical JPE in people with neck pain, with marginally more benefit gained from proprioceptive training. The results suggest that improved proprioceptive acuity following intervention with either exercise protocol may occur through an improved quality of cervical afferent input or by addressing input through direct training of relocation sense. © 2006 Orthopaedic Research Society. Published by Wiley Periodicals, Inc. J Orthop Res 2007 [source]

Sensitivity of electrical resistivity tomography data to electrode position errors

GEOPHYSICAL JOURNAL INTERNATIONAL, Issue 1 2005
Greg A. Oldenborger
SUMMARY Limitations of imaging using electrical resistivity tomography (ERT) arise because of the difficulty of quantifying the reliability of tomographic images. A major source of uncertainty in tomographic inversion is data error. Data error due to electrode mislocations is characterized by the sensitivity of electrical potential to both source and receiver positions. This sensitivity is described by a scattering-type equation and, therefore, depends not only on source,receiver separation, but also on the location and magnitude of contrasts in electrical conductivity. At the overlapping scales of near-surface environmental and engineering geophysical surveys, for which electrodes may be close to the target and experiment dimensions may be on the same order as those of the target, errors associated with electrode mislocations can significantly contaminate the ERT data and the reconstructed electrical conductivity. For synthetic experiments, variations in the data due to electrode mislocation are comparable in magnitude to typical experimental noise levels and, in some cases, may overwhelm variations in the data due to changes in material properties. Furthermore, the statistical distribution of electrode mislocation errors can be complicated and multimodal such that bias may be introduced into the ERT data. The resulting perturbations of the reconstructed electrical conductivity field due to electrode mislocations can be significant in magnitude with complex spatial distributions that are dependent both on the model and the experiment. [source]

Simple yet stable bearing-only navigation

Position/Force Control of an Underwater Mobile Manipulator

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 12 2003
Lionel Lapierre
This paper proposes a new control method applied to an underwater vehicle equipped with a robot manipulator. This control method is based on force control to stabilize the platform when the manipulator works in free or constrained space. The torque produced by the arm on the platform is estimated with a force sensor installed between the base of the manipulator and the vehicle. This allows correcting the position errors of the platform using an external force control loop. This paper presents this control law and shows some simulation results. © 2003 Wiley Periodicals, Inc. [source]

A position/force control for a robot finger with soft tip and uncertain kinematics

JOURNAL OF FIELD ROBOTICS (FORMERLY JOURNAL OF ROBOTIC SYSTEMS), Issue 3 2002
Zoe Doulgeri
We consider the position and force regulation problem for a soft tip robot finger in contact with a rigid surface under kinematic and dynamic parametric uncertainties. The reproducing force is assumed to be related to the displacement through a nonlinear function whose characteristics are unknown, but both the actual displacement and force can be directly measured. Kinematic uncertainties concern the rigid surface orientation and the contact point location. Kinematic parameters involved in the contact point location concern the length from the last joint to the contact point and the rest of the link lengths in the general case. An adaptive controller with a composite update parameter law is proposed, and the asymptotic stability of the force and estimated position errors under dynamic and kinematic uncertainties is shown for the planar case. Simulation results for a three-degrees-of-freedom planar robotic finger are presented. © 2002 Wiley Periodicals, Inc. [source]