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Related Concept Videos

Virtual Work01:20

Virtual Work

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The principle of virtual work states that if a body is in static and dynamic equilibrium, then the sum of all the virtual work done by all external forces and couple moments for any given virtual displacement must be zero.
In static equilibrium, a body can experience an imaginary or virtual movement, such as displacement or rotation. The virtual work done by a force is equal to the dot product of force and virtual displacement in the direction of the force. When it comes to virtually rotating a...
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Principle of Virtual Work: Problem Solving01:13

Principle of Virtual Work: Problem Solving

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The principle of virtual work is an essential concept in the field of mechanics and engineering. This is used to solve problems related to the equilibrium of a structure or system. It is based on the assumption that if a system is in equilibrium, the work done by all the forces during a virtual displacement is zero. This principle is applied by considering virtual displacements of the system and the corresponding work done by internal and external forces.
To apply the principle of virtual work,...
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Overview of Advanced Functional Groups02:22

Overview of Advanced Functional Groups

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Functional groups are groups of atoms with specific chemical properties that occur within organic molecules and are sometimes denoted as “R”. Functional groups can “functionalize” a compound by enabling it to adopt different physical and chemical properties.
Types of Advanced Functional Groups
The table below summarizes some of the major functional groups in organic chemistry.
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Extraction: Advanced Methods00:56

Extraction: Advanced Methods

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Metal ions can be separated from one another by complexation with organic ligands–the chelating agent– to form uncharged chelates. Here, the chelating agent must contain hydrophobic groups and behave as a weak acid, losing a proton to bind with the metal. Since most organic ligands used in this process are insoluble or undergo oxidation in the aqueous phase, the chelating agent is initially added to the organic phase and extracted into the aqueous phase. The metal-ligand complex is...
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Virtual Work for a System of Connected Rigid Bodies01:06

Virtual Work for a System of Connected Rigid Bodies

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Virtual work is a powerful method used to solve problems involving several connected rigid bodies. When the system is in equilibrium, virtual work is zero. This allows the calculation of the resulting forces when a system undergoes a virtual displacement. When attempting to analyze such a system, first, use a free-body diagram, where an independent coordinate represents the configuration of the links, and mark its deflected position resulting from the positive virtual displacement.
Next,...
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Control System Problem01:21

Control System Problem

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In an open-loop system, such as a basic thermostat, the poles of the transfer function influence the system's response but do not determine its stability. However, when feedback is introduced to form a closed-loop system, such as an advanced thermostat that adjusts heating based on room temperature, stability is governed by the new poles of the closed-loop transfer function.
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Related Experiment Video

Updated: Feb 13, 2026

Haptic/Graphic Rehabilitation: Integrating a Robot into a Virtual Environment Library and Applying it to Stroke Therapy
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Virtual Sensors for Advanced Controllers in Rehabilitation Robotics.

Aitziber Mancisidor1, Asier Zubizarreta2, Itziar Cabanes3

  • 1Department of Automatic Control and System Engineering, Faculty of Engineering in Bilbao, University of the Basque Country (UPV/EHU), Plaza Ingeniero Torres Quevedo 1, 48013 Bilbao, Spain. aitziber.mancisidor@ehu.eus.

Sensors (Basel, Switzerland)
|March 8, 2018
PubMed
Summary

Researchers developed virtual sensors to measure patient-robot interaction forces and motion for upper limb rehabilitation robots. These virtual sensors offer similar performance to costly physical sensors, reducing robot complexity and expense.

Keywords:
Force Virtual Sensoradvanced controllermotion virtual sensorrehabilitation robotic device

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Area of Science:

  • Robotics
  • Rehabilitation Engineering
  • Mechatronics

Background:

  • Accurate measurement of interaction force and motion is crucial for controlling rehabilitation robotic devices.
  • Traditional methods rely on expensive and complex physical sensors, increasing overall system cost and complexity.
  • The Universal Haptic Pantograph (UHP) is a rehabilitation robot used for upper limb training.

Purpose of the Study:

  • To develop and evaluate virtual sensors as a cost-effective alternative to physical sensors for measuring interaction forces and motion in rehabilitation robots.
  • To assess the performance of virtual sensors in an advanced controller for the UHP robot.

Main Methods:

  • Developed virtual sensors utilizing the mathematical model of the Universal Haptic Pantograph (UHP) robot.
  • Estimated interaction force and motion at the patient-robot contact point using low-cost position sensors.
  • Implemented and experimentally evaluated the virtual sensors within an advanced position/force controller for the UHP robot.

Main Results:

  • The controller employing virtual sensors demonstrated performance comparable to controllers using direct physical measurements.
  • The mean error difference was minimal, less than 0.005 m for motion and 1.5 N for force.
  • Virtual sensors successfully estimated interaction forces and motion with high accuracy.

Conclusions:

  • The developed virtual sensors provide a viable and cost-effective alternative to expensive physical sensors for rehabilitation robotics.
  • Implementing virtual sensors can simplify the design and reduce the cost of advanced rehabilitation robotic devices.
  • This approach facilitates more accessible and sophisticated control strategies for upper limb robotic rehabilitation.