Whiteboard Cleaning Task Realization with HOAP-2

The controller has a motion feedback control loop for the four arm joints and a force feedback control loop for the ankle joint. The desired motion/force trajectories are obtained via kinesthetic teaching by a human, followed by a learning phase. During skill demonstration, the arm joints are made compliant while the robot balances using ankle/hip strategies. Experimental data demonstrate the feasibility of the method

Biomechanical considerations in the pathogenesis of osteoarthritis of the knee

Osteoarthritis is the most common joint disease and a major cause of disability. The knee is the large joint most affected. While chronological age is the single most important risk factor of osteoarthritis, the pathogenesis of knee osteoarthritis in the young patient is predominantly related to an unfavorable biomechanical environment at the joint. This results in mechanical demand that exceeds the ability of a joint to repair and maintain itself, predisposing the articular cartilage to premature degeneration. This review examines the available basic science, preclinical and clinical evidence regarding several such unfavorable biomechanical conditions about the knee: malalignment, loss of meniscal tissue, cartilage defects and joint instability or laxity