I
AE
S In
t
er
na
t
io
na
l J
o
urna
l o
f
Ro
bo
t
ics a
nd
Aut
o
m
a
t
io
n
(
I
J
RA)
Vo
l.
1
3
,
No
.
4
,
Dec
em
b
er
2
0
2
4
,
p
p
.
4
2
3
~
43
1
I
SS
N:
2
7
2
2
-
2
5
8
6
,
DOI
:
1
0
.
1
1
5
9
1
/i
jr
a
.
v
1
3
i4
.
p
p
4
2
3
-
43
1
423
J
o
ur
na
l ho
m
ep
a
g
e
:
h
ttp
:
//ij
r
a
.
ia
esco
r
e.
co
m
Desig
n and
devel
o
pment of
knee
r
eha
bilitatio
n robo
t
Dev
a
s
his
h S
ha
rm
a
1
,
Sa
hil
Aha
m
ed
Sh
a
ik
1
,
Sa
ra
n R
a
j
a
g
o
pa
l
1
,
M
a
nju
M
o
ha
n
2
,
K
u
pp
a
n Chet
t
y
Ra
m
a
na
t
ha
n
3
,
P
a
v
a
n K
a
ly
a
n L
ing
a
m
pa
lly
3
1
D
e
p
a
r
t
me
n
t
o
f
M
e
c
h
a
t
r
o
n
i
c
s E
n
g
i
n
e
e
r
i
n
g
,
H
i
n
d
u
st
a
n
I
n
st
i
t
u
t
e
o
f
T
e
c
h
n
o
l
o
g
y
a
n
d
S
c
i
e
n
c
e
,
C
h
e
n
n
a
i
,
I
n
d
i
a
2
S
c
h
o
o
l
o
f
E
n
g
i
n
e
e
r
i
n
g
a
n
d
Te
c
h
n
o
l
o
g
y
,
A
st
o
n
U
n
i
v
e
r
si
t
y
,
B
i
r
m
i
n
g
h
a
m
,
U
n
i
t
e
d
K
i
n
g
d
o
m
3
S
c
h
o
o
l
o
f
M
e
c
h
a
n
i
c
a
l
En
g
i
n
e
e
r
i
n
g
,
S
A
S
TR
A
D
e
e
me
d
t
o
b
e
U
n
i
v
e
r
si
t
y
,
T
h
a
n
j
a
v
u
r
,
Ta
mi
l
N
a
d
u
,
I
n
d
i
a
Art
icle
I
nfo
AB
S
T
RAC
T
A
r
ticle
his
to
r
y:
R
ec
eiv
ed
J
u
n
8
,
2
0
2
4
R
ev
is
ed
Au
g
3
0
,
2
0
2
4
Acc
ep
ted
Sep
1
7
,
2
0
2
4
Th
is
re
se
a
rc
h
p
re
se
n
ts
a
c
o
m
p
r
e
h
e
n
siv
e
d
e
si
g
n
a
n
d
a
n
a
ly
sis
o
f
a
k
n
e
e
re
h
a
b
il
it
a
ti
o
n
p
latf
o
rm
a
ime
d
a
t
a
id
in
g
i
n
d
i
v
i
d
u
a
ls
wit
h
k
n
e
e
d
y
sfu
n
c
ti
o
n
.
Dy
sfu
n
c
ti
o
n
i
n
t
h
e
k
n
e
e
j
o
in
t
c
a
n
lea
d
to
a
n
imb
a
lan
c
e
in
g
a
it
a
n
d
p
o
st
u
re
d
u
ri
n
g
a
c
ti
v
it
ies
o
f
d
a
il
y
li
v
i
n
g
(AD
Ls)
su
c
h
a
s
sta
n
d
in
g
,
wa
l
k
in
g
,
a
n
d
ru
n
n
in
g
.
T
h
is
stu
d
y
f
o
c
u
se
s
o
n
d
e
v
e
lo
p
in
g
a
2
-
d
e
g
re
e
-
of
-
fre
e
d
o
m
(2
-
Do
F
)
k
n
e
e
re
h
a
b
il
it
a
ti
o
n
d
e
v
ice
c
a
p
a
b
le
o
f
m
imic
k
i
n
g
li
n
e
a
r
a
n
d
a
n
g
u
lar
m
o
v
e
m
e
n
ts.
A
slid
e
r
m
e
c
h
a
n
i
sm
-
b
a
se
d
k
n
e
e
re
h
a
b
il
it
a
ti
o
n
d
e
v
ice
is
d
e
v
e
lo
p
e
d
a
n
d
sim
u
late
d
a
l
o
n
g
si
d
e
v
a
ri
o
u
s
o
th
e
r
m
e
c
h
a
n
ism
s.
Th
e
p
ro
p
o
se
d
m
e
c
h
a
n
ism
a
c
h
iev
e
s 3
2
.
5
°
o
f
f
lex
io
n
f
o
r
a
li
n
e
a
r
m
o
v
e
m
e
n
t
o
f
0
.
4
5
m
with
in
6
se
c
o
n
d
s,
o
u
t
p
e
rfo
rm
in
g
o
t
h
e
r
m
e
c
h
a
n
ism
s.
To
v
a
li
d
a
te
sim
u
latio
n
re
su
lt
s,
a
3
D
-
p
rin
ted
m
o
d
e
l
is
fa
b
rica
ted
,
a
n
d
e
x
p
e
rime
n
tal
stu
d
ies
a
re
c
o
n
d
u
c
ted
u
n
d
e
r
n
o
-
l
o
a
d
c
o
n
d
it
io
n
s,
sh
o
win
g
c
lo
se
a
li
g
n
m
e
n
t
wit
h
s
imu
latio
n
o
u
tco
m
e
s
with
a
d
e
v
iatio
n
o
f
±5
%
.
Th
e
d
e
v
ice
’s
k
e
y
fe
a
tu
re
s
in
c
lu
d
e
p
o
rtab
il
it
y
,
c
o
m
p
li
a
n
c
e
,
c
o
m
p
a
c
tn
e
ss
,
a
n
d
e
n
h
a
n
c
e
d
stiff
n
e
s
s.
F
u
tu
re
re
se
a
rc
h
will
in
v
o
l
v
e
c
o
n
d
u
c
ti
n
g
p
il
o
t
st
u
d
ies
t
o
fu
rt
h
e
r
e
v
a
lu
a
te
th
e
p
ra
c
ti
c
a
l
e
ffica
c
y
a
n
d
p
o
te
n
ti
a
l
e
n
h
a
n
c
e
m
e
n
ts
o
f
t
h
e
p
ro
p
o
se
d
k
n
e
e
re
h
a
b
il
it
a
ti
o
n
p
latfo
rm
.
K
ey
w
o
r
d
s
:
Ass
i
s
tiv
e
d
ev
ice
Kn
ee
r
eh
ab
ilit
atio
n
Me
ch
an
is
m
R
eh
ab
ilit
atio
n
r
o
b
o
ts
Stru
ctu
r
al
an
aly
s
is
T
h
is i
s
a
n
o
p
e
n
a
c
c
e
ss
a
rticle
u
n
d
e
r th
e
CC B
Y
-
SA
li
c
e
n
se
.
C
o
r
r
e
s
p
o
nd
ing
A
uth
o
r
:
Ku
p
p
an
C
h
etty
R
am
an
ath
a
n
Sch
o
o
l o
f
Me
c
h
an
ical
E
n
g
in
e
er
in
g
,
SASTR
A
Dee
m
ed
to
b
e
Un
iv
er
s
ity
T
h
an
jav
u
r
,
T
am
il Na
d
u
,
6
1
3
4
0
1
,
I
n
d
ia
E
m
ail:
k
u
p
p
a
n
ch
etty
@
m
ec
h
.
s
astra
.
ed
u
1.
I
NT
RO
D
UCT
I
O
N
Kn
ee
r
eh
ab
ilit
atio
n
is
ess
en
tial
f
o
r
ass
is
tin
g
in
d
iv
id
u
als
wh
o
h
av
e
k
n
ee
in
ju
r
ies
o
r
h
a
v
e
u
n
d
er
g
o
n
e
k
n
ee
s
u
r
g
e
r
y
to
r
eg
ai
n
s
tr
en
g
th
,
f
u
n
ctio
n
,
a
n
d
m
o
b
ilit
y
in
th
e
k
n
ee
j
o
in
t.
T
h
e
n
ee
d
f
o
r
k
n
ee
r
e
h
ab
ilit
atio
n
ar
is
es
d
u
e
to
lig
am
en
t
tear
s
,
f
r
ac
tu
r
es,
o
s
teo
ar
th
r
itis
,
k
n
ee
s
u
r
g
er
ies,
an
d
k
n
ee
r
e
p
lace
m
e
n
ts
.
R
eh
ab
ilit
atio
n
h
elp
s
in
cr
ea
s
e
m
u
s
cu
lar
s
tr
en
g
th
an
d
j
o
in
t
s
tab
ilit
y
,
r
ed
u
c
es
p
ain
a
n
d
s
wellin
g
,
an
d
ai
d
s
in
tis
s
u
e
r
e
p
air
,
th
er
eb
y
ac
h
iev
i
n
g
th
e
n
atu
r
al
r
an
g
e
o
f
m
o
tio
n
[
1
]
,
[
2
]
.
T
h
e
k
n
ee
s
y
m
m
etr
y
m
o
d
el
em
p
h
asizes
ac
h
iev
in
g
a
s
y
m
m
etr
ical
r
an
g
e
o
f
m
o
tio
n
an
d
s
tr
en
g
th
p
o
s
t
-
s
u
r
g
e
r
y
,
d
esig
n
ed
to
o
p
tim
ize
o
u
tco
m
e
s
an
d
p
r
o
m
o
te
jo
in
t
h
ea
lth
[
3
]
.
T
r
a
d
itio
n
al
r
eh
a
b
ilit
atio
n
p
r
o
ce
d
u
r
es
p
er
f
o
r
m
ed
b
y
p
h
y
s
io
th
e
r
ap
is
ts
ca
n
b
e
tim
e
-
co
n
s
u
m
in
g
an
d
s
o
m
etim
es les
s
ef
f
icien
t
[
4
]
.
R
o
b
o
tic
tech
n
o
l
o
g
ies o
p
tim
ize
t
h
e
r
eh
ab
ilit
atio
n
p
r
o
ce
s
s
b
y
p
r
o
v
id
in
g
p
h
y
s
ician
s
with
co
n
s
tan
t
f
ee
d
b
ac
k
,
allo
w
in
g
th
em
to
ev
alu
ate
a
n
d
m
o
d
if
y
th
er
a
p
y
r
eg
im
en
s
as
n
ee
d
e
d
[
5
]
–
[
7
]
.
R
o
b
o
tic
k
n
ee
r
eh
a
b
ilit
atio
n
d
ev
ices
h
av
e
b
ec
o
m
e
ess
en
tial
to
o
ls
in
r
eh
ab
ilit
atio
n
,
o
f
f
er
in
g
s
ig
n
if
ican
t
b
en
ef
its
o
v
er
tr
ad
itio
n
al
ap
p
r
o
ac
h
es.
T
h
ese
d
ev
ices
ca
n
ad
ju
s
t
to
th
e
u
n
iq
u
e
ch
ar
ac
te
r
is
tics
o
f
ea
ch
p
atien
t,
en
ab
lin
g
p
er
s
o
n
alize
d
th
er
a
p
y
an
d
r
ea
l
-
tim
e
p
r
o
g
r
ess
tr
ac
k
in
g
[
8
]
.
R
ec
en
t
r
esear
ch
ad
v
an
ce
m
en
ts
in
k
n
ee
r
eh
ab
ilit
atio
n
r
o
b
o
tics
d
em
o
n
s
tr
ated
s
ig
n
if
ican
t
p
o
ten
tial
in
im
p
r
o
v
in
g
r
e
h
ab
ilit
atio
n
o
u
tco
m
es.
T
h
ese
d
ev
elo
p
m
e
n
ts
em
p
h
asize
in
n
o
v
atio
n
s
in
s
tr
u
ctu
r
al
d
esig
n
,
d
r
iv
e
u
n
its
,
an
d
co
n
tr
o
l
s
tr
ateg
ies
aim
ed
at
ad
v
an
cin
g
p
er
s
o
n
alize
d
r
eh
a
b
ilit
atio
n
ap
p
r
o
ac
h
es a
n
d
o
p
tim
i
zin
g
p
atien
t c
ar
e
[
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
3
,
No
.
4
,
Dec
em
b
er
2
0
2
4
:
4
2
3
-
4
3
1
424
C
u
r
r
en
tly
,
s
ev
er
al
k
n
ee
r
eh
ab
ilit
atio
n
to
o
ls
ar
e
av
ailab
le,
e
ac
h
with
its
o
wn
s
et
o
f
f
ea
tu
r
es,
d
esig
n
p
r
in
cip
les,
an
d
m
e
ch
an
is
m
s
.
T
h
ese
in
clu
d
e
wea
r
a
b
le
te
ch
n
o
lo
g
y
,
co
n
tin
u
o
u
s
p
ass
iv
e
m
o
tio
n
(
C
PM)
m
ac
h
in
es,
an
d
r
o
b
o
tic
ex
o
s
k
eleto
n
s
.
R
o
b
o
tic
ex
o
s
k
eleto
n
s
,
wh
ich
ar
e
ex
ter
n
al
d
ev
ices
p
lace
d
ar
o
u
n
d
th
e
lo
wer
lim
b
,
aid
in
k
n
ee
m
o
v
em
en
t
b
y
p
r
o
v
id
in
g
m
ec
h
an
i
ca
l
s
u
p
p
o
r
t
an
d
ca
n
b
e
p
r
o
g
r
am
m
ed
to
co
n
tr
o
l
s
p
ec
if
ic
jo
in
t
tr
ajec
to
r
ies
[
1
0
]
.
W
ea
r
ab
le
tech
n
o
lo
g
y
m
o
d
els,
o
n
th
e
o
th
er
h
an
d
,
ar
e
p
o
r
tab
le
an
d
s
m
all,
m
ak
in
g
th
em
ea
s
y
to
in
co
r
p
o
r
ate
in
to
r
eg
u
la
r
ac
tiv
ities
.
C
PM
m
ac
h
in
es
co
n
s
is
t
o
f
a
m
o
to
r
ized
d
ev
ice
th
at
m
o
v
es
a
jo
in
t
p
ass
iv
ely
th
r
o
u
g
h
a
p
r
ed
eter
m
i
n
ed
r
an
g
e
o
f
m
o
tio
n
.
T
h
ese
d
ev
ices
ca
n
allev
iate
jo
in
t
s
tiff
n
ess
an
d
e
n
h
an
ce
th
e
r
an
g
e
o
f
m
o
tio
n
f
o
llo
win
g
s
u
r
g
er
y
b
y
p
r
ev
en
tin
g
s
ca
r
tis
s
u
e
f
o
r
m
atio
n
,
p
r
o
m
o
tin
g
cir
cu
latio
n
,
an
d
allo
win
g
ad
j
u
s
tab
le
k
n
ee
f
lex
io
n
s
.
Ho
wev
er
,
C
PM
m
ac
h
in
es
p
r
im
ar
il
y
p
r
o
v
id
e
p
ass
iv
e
m
o
tio
n
an
d
d
o
n
o
t a
d
d
r
ess
m
u
s
cle
wea
k
n
ess
,
o
f
f
er
in
g
lim
ite
d
f
u
n
ctio
n
al
tr
ain
in
g
[
1
1
]
,
[
1
2
]
.
T
o
o
v
er
c
o
m
e
th
e
lim
itatio
n
s
f
o
u
n
d
in
e
x
is
tin
g
m
o
d
els,
th
is
r
esear
ch
aim
s
to
d
ev
elo
p
a
2
-
d
eg
r
ee
-
of
-
f
r
ee
d
o
m
(
Do
F)
k
n
ee
r
eh
ab
il
itatio
n
d
ev
ice
th
at
p
r
o
v
id
es
b
o
th
lin
ea
r
a
n
d
an
g
u
lar
ac
tu
atio
n
m
o
v
e
m
en
ts
s
im
u
ltan
eo
u
s
ly
.
T
h
is
d
e
v
ice
p
r
o
v
id
es
th
e
n
ec
ess
ar
y
ac
t
u
atio
n
f
o
r
f
lex
i
o
n
a
n
d
e
x
ten
s
io
n
m
o
tio
n
s
.
T
h
e
p
r
o
p
o
s
ed
k
n
ee
r
o
b
o
tic
s
y
s
tem
is
d
esig
n
ed
to
b
e
co
m
p
ac
t,
c
o
s
t
-
ef
f
ec
tiv
e,
an
d
a
d
ap
tab
le
f
o
r
u
s
e
b
y
m
u
ltip
le
p
atien
ts
,
en
s
u
r
in
g
a
n
ef
f
ec
tiv
e
an
d
ef
f
icien
t
r
eh
ab
ilit
atio
n
p
r
o
ce
s
s
.
2.
RE
L
AT
E
D
WO
RK
A
cr
itical
r
ev
iew
was
co
n
d
u
c
ted
to
ex
a
m
in
e
th
e
u
s
e
o
f
d
if
f
er
en
t
ty
p
es
o
f
r
o
b
o
tic
d
ev
ice
s
in
k
n
ee
r
eh
ab
ilit
atio
n
an
d
s
tated
th
e
s
ig
n
if
ican
ce
o
f
r
e
h
ab
ilit
atio
n
a
n
d
th
e
r
o
le
o
f
d
if
f
er
en
t
r
o
b
o
t
ic
d
ev
ice
ty
p
es
in
k
n
ee
r
eh
a
b
ilit
atio
n
[
1
0
]
,
[
1
3
]
.
A
lo
wer
-
lim
b
r
eh
ab
ilit
atio
n
r
o
b
o
t
,
h
u
m
an
ad
a
p
tiv
e
m
ec
h
at
r
o
n
ics
(
HAM
)
was
d
ev
elo
p
e
d
with
th
e
f
r
a
m
ewo
r
k
f
o
r
p
atien
ts
with
p
ar
aly
s
i
s
,
wh
ich
is
aim
ed
to
en
h
a
n
ce
h
u
m
an
-
m
ac
h
in
e
in
ter
ac
tio
n
an
d
s
k
ill
im
p
r
o
v
e
m
en
t.
T
h
is
r
o
b
o
t’
s
m
ec
h
an
is
m
in
clu
d
es
th
r
ee
r
o
tar
y
jo
in
t
s
with
cr
an
k
r
o
ck
er
m
ec
h
an
is
m
s
,
o
f
f
e
r
in
g
f
lex
ib
ili
ty
to
ca
ter
t
o
d
iv
e
r
s
e
u
s
er
n
ee
d
s
[
1
4
]
.
C
PM
m
ac
h
in
e
-
b
ased
k
n
ee
r
e
h
ab
ilit
atio
n
is
co
n
s
id
er
ed
to
p
r
o
m
o
te
jo
i
n
t
m
o
b
ilit
y
,
r
e
d
u
ce
s
tiff
n
ess
,
an
d
n
at
u
r
ally
ac
h
ie
v
e
th
e
k
n
ee
’
s
r
an
g
e
o
f
m
o
tio
n
[
1
1
]
.
Similar
ly
,
a
s
ep
ar
ate
s
tu
d
y
f
o
cu
s
ed
o
n
d
ev
elo
p
i
n
g
a
1
-
Do
F r
o
b
o
t th
at
o
f
f
er
s
p
ass
iv
e,
ac
tiv
e,
an
d
r
esis
tiv
e
ex
er
cise
ca
p
ab
ilit
ies
u
s
in
g
p
o
s
itio
n
an
d
f
o
r
ce
c
o
n
tr
o
l
tech
n
iq
u
es
[
1
5
]
.
T
h
e
s
elec
tio
n
o
f
a
p
p
r
o
p
r
iate
m
ec
h
an
is
m
s
f
o
r
lin
ea
r
an
d
an
g
u
lar
ac
tu
atio
n
is
cr
u
cial
in
th
e
d
esig
n
o
f
r
eh
ab
ilit
atio
n
r
o
b
o
ts
[
1
6
]
.
A
co
m
p
r
eh
e
n
s
iv
e
d
esig
n
an
d
a
n
aly
s
is
o
f
s
ix
d
if
f
er
en
t
lin
ea
r
m
ec
h
an
is
m
s
was
co
n
d
u
cte
d
to
e
v
alu
ate
th
eir
s
u
itab
ilit
y
f
o
r
k
n
ee
r
eh
ab
ilit
atio
n
ap
p
licatio
n
s
.
T
h
e
m
ec
h
a
n
is
m
s
s
tu
d
ied
in
clu
d
ed
lea
d
s
cr
ew,
h
y
d
r
a
u
lic,
4
-
b
ar
,
r
o
ller
-
b
ased
b
elt,
g
r
ass
h
o
p
p
e
r
,
an
d
r
ac
k
an
d
p
in
io
n
s
lid
er
m
ec
h
an
is
m
s
.
E
ac
h
m
ec
h
a
n
is
m
o
f
f
er
s
u
n
iq
u
e
ch
ar
ac
ter
is
tics
an
d
ad
v
an
ta
g
es
th
at
ca
n
co
n
t
r
ib
u
te
to
th
e
ef
f
e
ctiv
en
ess
an
d
f
u
n
ctio
n
ality
o
f
k
n
ee
r
eh
a
b
ilit
atio
n
r
o
b
o
ts
.
M
o
r
eo
v
er
,
o
th
er
m
o
d
e
ls
ar
e
ex
p
e
n
s
iv
e,
c
o
m
p
lex
,
an
d
ch
allen
g
in
g
to
s
et
u
p
f
o
r
p
e
r
s
o
n
al
u
s
ag
e,
o
f
te
n
r
eq
u
ir
in
g
th
e
ass
is
tan
ce
o
f
a
p
h
y
s
io
th
er
ap
is
t
[
1
2
]
.
Min
im
izi
n
g
m
o
to
r
s
lip
p
ag
e
is
a
cr
itical
f
ac
to
r
f
o
r
ac
h
iev
in
g
id
ea
l
r
eh
a
b
ilit
atio
n
o
u
tc
o
m
es,
as
it
d
ir
ec
tly
af
f
ec
ts
e
n
er
g
y
l
o
s
s
es
an
d
ac
cu
r
ac
y
.
T
h
er
ef
o
r
e,
ad
d
r
ess
in
g
th
ese
is
s
u
es i
s
cr
u
cial
f
o
r
th
e
d
ev
elo
p
m
en
t o
f
an
o
p
tim
al
k
n
ee
r
eh
a
b
ilit
atio
n
r
o
b
o
t.
B
ased
o
n
th
e
liter
atu
r
e
s
u
r
v
e
y
,
it
was
in
f
er
r
ed
th
at
ac
h
iev
i
n
g
o
p
tim
al
r
a
n
g
e
o
f
m
o
tio
n
o
f
th
e
k
n
ee
r
eq
u
ir
es
ca
r
ef
u
l
co
n
s
id
er
atio
n
o
f
th
e
an
g
le
at
wh
ich
th
e
ac
tu
atio
n
is
p
er
f
o
r
m
ed
,
wh
ile
also
tak
in
g
in
to
ac
c
o
u
n
t
th
e
co
m
f
o
r
t
o
f
th
e
p
atien
t.
Fu
r
th
er
m
o
r
e
,
th
e
s
tu
d
y
h
ig
h
lig
h
t
s
th
e
u
tili
za
tio
n
o
f
th
e
lead
s
c
r
ew
m
ec
h
an
is
m
f
o
r
an
g
u
lar
ac
tu
atio
n
p
u
r
p
o
s
es,
s
p
ec
if
ically
in
liftin
g
th
e
to
p
f
r
am
e
th
at
in
co
r
p
o
r
ates
th
e
lin
ea
r
ac
tu
atio
n
m
ec
h
an
is
m
[
1
7
]
.
T
h
e
lead
s
cr
ew
m
ec
h
an
is
m
o
f
f
er
s
a
s
tr
ai
g
h
tf
o
r
war
d
an
d
ef
f
icien
t
s
o
lu
tio
n
f
o
r
g
en
er
atin
g
lin
ea
r
m
o
tio
n
with
h
ig
h
r
eso
lu
tio
n
ac
h
iev
ab
le
m
a
k
in
g
it
s
u
itab
le
to
in
itiate
an
g
u
lar
ac
tu
atio
n
with
s
o
m
e
d
esig
n
ad
d
itio
n
s
o
we
in
co
r
p
o
r
ated
th
is
d
esig
n
ap
p
r
o
ac
h
.
E
x
is
tin
g
liter
atu
r
e
r
ev
ea
ls
a
g
ap
in
th
e
d
ev
elo
p
m
en
t
o
f
a
C
PM
r
o
b
o
t
s
p
ec
if
ically
d
esig
n
ed
with
2
-
Do
F
(
lin
ea
r
an
d
elev
atio
n
)
to
f
ac
ilit
ate
a
cu
r
v
ed
r
an
g
e
o
f
m
o
tio
n
in
k
n
ee
r
e
h
ab
ilit
atio
n
,
h
ig
h
lig
h
tin
g
th
e
tar
g
eted
f
o
cu
s
o
f
o
u
r
cu
r
r
en
t
r
esear
ch
[
1
8
]
.
T
h
e
liter
atu
r
e
r
ev
iew
also
h
ig
h
lig
h
ts
th
e
p
o
ten
tial o
f
k
n
ee
r
e
h
ab
ilit
atio
n
r
o
b
o
ts
in
im
p
r
o
v
in
g
m
o
b
ilit
y
an
d
s
tr
en
g
th
f
o
r
in
d
iv
id
u
als
w
ith
k
n
ee
in
ju
r
ies
o
r
d
is
ab
ilit
ies.
T
h
e
s
tu
d
y
o
f
v
ar
io
u
s
v
ar
iab
les
an
d
ac
tio
n
s
th
at
ar
e
in
clu
d
ed
i
n
th
e
m
o
tio
n
o
f
th
e
p
atella
(
k
n
ee
)
in
th
e
h
u
m
an
b
o
d
y
is
d
eter
m
in
ed
b
y
s
u
r
v
e
y
in
g
an
d
c
o
llectin
g
d
ata
b
ased
o
n
p
ar
a
m
eter
s
s
u
ch
as
g
en
d
er
,
ag
e
,
b
o
d
y
m
ass
in
d
ex
(
B
MI
)
,
an
d
k
n
ee
-
to
-
f
o
o
t
len
g
th
.
I
t
h
elp
e
d
in
th
e
s
elec
tio
n
o
f
ap
p
r
o
p
r
iate
m
ec
h
an
is
m
s
f
o
r
lin
ea
r
an
d
an
g
u
lar
ac
tu
atio
n
wh
ich
is
cr
u
cial,
with
th
e
r
ac
k
an
d
p
in
io
n
-
b
ased
s
lid
er
m
ec
h
an
is
m
id
en
tifie
d
as
th
e
m
o
s
t
s
u
itab
le
ch
o
ice
f
o
r
lin
ea
r
ac
tu
ati
o
n
.
T
h
e
lea
d
s
cr
ew
m
ec
h
an
is
m
p
r
o
v
es
e
f
f
ec
tiv
e
f
o
r
an
g
u
lar
ac
tu
atio
n
b
y
liftin
g
th
e
to
p
f
r
am
e
[
1
7
]
.
Fu
r
th
er
m
o
r
e,
t
h
e
liter
atu
r
e
r
ev
iew
h
ig
h
lig
h
ts
th
e
s
ig
n
if
ican
ce
o
f
co
n
d
u
ctin
g
a
co
m
p
r
eh
en
s
iv
e
s
tr
u
ctu
r
al
an
al
y
s
is
f
o
r
f
ab
r
icatin
g
r
eh
ab
ilit
atio
n
d
e
v
ices
u
s
in
g
t
h
er
m
o
p
last
ics
[
1
9
]
.
T
h
e
s
elec
tio
n
o
f
t
h
er
m
o
p
last
ics
f
o
r
f
ab
r
icatio
n
,
k
n
o
wn
f
o
r
th
eir
ad
v
an
ta
g
eo
u
s
p
r
o
p
er
ties
s
u
ch
as
h
ig
h
s
tr
en
g
t
h
-
to
-
weig
h
t
r
atio
an
d
e
x
ce
llen
t
im
p
ac
t
r
esis
tan
ce
[
2
0
]
,
h
as
co
n
tr
ib
u
ted
to
ac
h
iev
i
n
g
a
d
u
r
ab
le
an
d
ef
f
icien
t
d
esig
n
s
u
itab
le
f
o
r
th
e
i
n
ten
d
ed
a
p
p
licatio
n
o
f
k
n
e
e
r
eh
ab
ilit
atio
n
.
I
n
teg
r
atin
g
co
n
tr
o
l
s
tr
ateg
ies
s
u
ch
as
b
io
-
s
i
g
n
als,
p
o
s
itio
n
,
f
o
r
ce
,
an
d
ad
ap
tiv
e
co
n
tr
o
l
will
en
h
an
ce
p
atien
t
en
g
a
g
em
en
t,
tailo
r
ass
i
s
tan
ce
lev
els,
p
r
o
m
o
te
ac
tiv
e
p
ar
ticip
atio
n
,
an
d
p
r
o
v
id
e
p
er
s
o
n
alize
d
ass
is
tan
ce
b
ased
o
n
in
d
i
v
id
u
al
n
ee
d
s
an
d
p
r
o
g
r
ess
[
2
1
]
,
i
n
teg
r
atio
n
o
f
elec
tr
o
m
y
o
g
r
a
p
h
y
(
E
MG
)
,
an
d
m
o
tio
n
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2
7
2
2
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t o
f k
n
ee
r
eh
a
b
ilit
a
tio
n
r
o
b
o
t (
Dev
a
s
h
is
h
S
h
a
r
ma
)
425
s
en
s
o
r
s
to
m
o
n
ito
r
p
atien
t
r
e
co
v
er
y
.
Ad
d
itio
n
ally
,
th
e
in
c
o
r
p
o
r
ati
o
n
o
f
s
k
in
c
o
n
d
u
ctiv
ity
s
en
s
o
r
s
f
o
r
m
o
r
e
p
r
ec
is
e
p
ain
m
o
n
ito
r
in
g
a
n
d
t
h
e
o
p
tim
izatio
n
o
f
co
n
t
r
o
l
al
g
o
r
ith
m
s
will
aid
th
e
r
eh
ab
ili
tatio
n
p
r
o
ce
s
s
[
2
2
]
.
Usi
n
g
a
p
n
eu
m
atic
ar
tific
ial
m
u
s
cle
(
PAM)
ac
tu
ato
r
,
an
d
a
n
eu
r
al
n
etwo
r
k
co
n
tr
o
l
ap
p
r
o
ac
h
is
also
ex
p
lo
r
ed
in
k
n
ee
r
e
h
ab
ilit
atio
n
,
to
o
v
er
c
o
m
e
ch
allen
g
es lik
e
air
co
m
p
r
ess
ib
ilit
y
an
d
lack
o
f
d
a
m
p
in
g
[
2
3
]
,
[
2
4
]
.
3.
M
E
T
H
O
DO
L
O
G
Y
T
h
e
o
b
jectiv
e
was
to
d
esig
n
a
n
d
ev
alu
ate
th
ese
m
ec
h
an
is
m
s
to
ac
h
iev
e
th
e
r
e
q
u
ir
e
d
f
lex
io
n
m
o
tio
n
s
f
o
r
an
ef
f
ec
tiv
e
r
eh
ab
ilit
atio
n
p
r
o
ce
d
u
r
e.
Fig
u
r
e
1
illu
s
tr
ates
th
e
d
etailed
p
r
o
ce
s
s
f
lo
w
o
f
t
h
e
d
esig
n
.
T
h
e
n
ee
d
to
d
eter
m
in
e
th
e
e
x
ten
s
io
n
le
n
g
th
o
f
th
e
f
o
o
t
an
d
in
clin
ati
o
n
is
cr
u
cial
t
o
ex
ec
u
te
th
e
a
ctu
atio
n
an
d
f
lex
i
o
n
m
o
v
em
en
t.
T
h
e
av
er
ag
e
f
o
o
t
len
g
th
was
f
o
u
n
d
to
b
e
0
.
1
8
5
m
an
d
th
e
av
er
ag
e
leg
weig
h
t
i.e
.
,
lo
wer
lim
b
weig
h
t
1
1
.
5
k
g
.
Als
o
,
th
e
r
an
g
e
o
f
m
o
tio
n
(
R
o
M
)
f
o
r
th
e
k
n
ee
ex
ten
s
io
n
an
g
le
to
b
e
ac
h
iev
ed
b
y
th
e
p
atien
t
p
o
s
t
-
s
u
r
g
er
y
is
6
5
°
f
o
r
ea
s
e
o
f
m
o
v
em
en
t
o
f
th
e
k
n
ee
,
wh
ich
r
ed
u
ce
s
an
d
lim
its
th
e
p
ain
to
th
e
p
atien
t
d
u
r
in
g
th
e
ex
ten
s
io
n
an
d
r
etr
ac
tio
n
p
r
o
ce
s
s
d
u
r
in
g
th
e
r
eh
a
b
ilit
atio
n
p
r
o
ce
d
u
r
e
[
1
1
]
.
Fig
u
r
e
1
.
W
o
r
k
f
lo
w
ch
ar
t
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
3
,
No
.
4
,
Dec
em
b
er
2
0
2
4
:
4
2
3
-
4
3
1
426
Fig
u
r
e
2
s
h
o
ws
th
e
lo
wer
p
ar
t
o
f
th
e
leg
wh
ich
in
clu
d
es
th
e
k
n
ee
an
d
h
ee
l
r
eg
io
n
,
h
er
d
ash
ed
r
ed
lin
es
in
d
icate
a
s
tr
ict
ly
lin
ea
r
p
ath
with
o
u
t
an
y
an
g
u
lar
ac
t
u
atio
n
an
d
th
e
g
r
ee
n
cu
r
v
ed
l
in
e
s
h
o
ws
th
e
p
ath
ac
h
iev
ed
b
y
th
e
f
o
o
t
wh
e
n
b
o
t
h
lin
ea
r
an
d
an
g
u
lar
ac
tu
atio
n
s
tak
e
p
lace
.
T
h
e
d
ata
f
o
u
n
d
a
n
d
co
llected
is
u
s
ed
f
o
r
d
esig
n
i
n
g
th
e
f
r
am
ewo
r
k
o
f
th
e
s
y
s
tem
th
at
is
cr
ea
ted
i
n
clu
d
in
g
t
h
e
in
clin
atio
n
an
d
r
an
g
e
o
f
m
o
tio
n
[
1
1
]
.
T
h
e
ac
tu
atio
n
m
et
h
o
d
s
ar
e
cl
ass
if
ied
in
to
two
ca
teg
o
r
ies,
i.
e.
,
lin
ea
r
an
d
r
o
tar
y
ac
tu
atio
n
r
esu
ltin
g
in
2
-
D
o
F
m
o
tio
n
to
o
b
tain
th
e
cu
r
v
at
u
r
e
p
r
o
jectile
f
o
r
th
e
k
n
ee
jo
in
t to
m
o
v
e
[
2
5
]
.
Fig
u
r
e
2
.
Fra
m
e
d
iag
r
am
o
f
t
h
e
m
ec
h
an
is
m
an
d
p
o
s
itio
n
o
f
t
h
e
h
u
m
a
n
lo
wer
lim
b
3
.
1
.
L
inea
r
a
ct
ua
t
io
n m
ec
ha
nis
m
A
s
tu
d
y
was
c
o
n
d
u
cted
o
n
p
o
s
s
ib
le
m
ec
h
an
is
m
s
th
at
co
u
ld
allo
w
th
e
to
p
f
r
am
e
to
m
im
ic
1
-
Do
F
o
f
k
n
ee
m
o
tio
n
wh
ic
h
is
th
e
lin
ea
r
m
o
tio
n
.
Fig
u
r
e
3
s
h
o
ws
th
e
m
ec
h
an
is
m
s
th
at
wer
e
d
esig
n
ed
an
d
s
tu
d
ied
,
wh
ich
wer
e
s
lid
er
b
ased
m
ec
h
an
is
m
,
g
r
ass
h
o
p
p
er
m
ec
h
an
i
s
m
,
lead
s
cr
ew
-
b
ased
m
ec
h
an
is
m
,
r
o
ller
b
elt,
a
n
d
4
-
b
ar
m
ec
h
an
is
m
,
an
d
r
ac
k
an
d
p
in
io
n
m
ec
h
a
n
is
m
was u
s
ed
to
ac
h
iev
e
th
e
f
lex
io
n
an
d
e
x
te
n
s
io
n
m
o
tio
n
[
2
6
]
.
B
ased
o
n
th
e
s
tu
d
y
,
it
is
f
o
u
n
d
th
at
th
e
lin
ea
r
ac
tu
atio
n
s
h
o
u
l
d
b
e
d
o
n
e
at
a
ce
r
tain
a
n
g
le
as
s
h
o
wn
in
Fig
u
r
e
4
,
to
ac
h
iev
e
o
p
tim
u
m
an
d
b
etter
r
esu
lts
,
wh
ile
co
n
s
id
er
in
g
th
e
c
o
m
f
o
r
ts
o
f
th
e
p
a
tien
t
to
ac
h
iev
e
th
e
s
am
e
ty
p
e
o
f
ac
tu
atio
n
d
ev
ice
s
s
u
ch
as
h
y
d
r
au
lic
cy
lin
d
e
r
s
,
p
n
eu
m
atic
cy
lin
d
er
s
,
tan
d
em
c
y
lin
d
er
,
g
ea
r
-
b
ase
d
m
ec
h
an
is
m
an
d
a
m
an
u
al
s
lo
t
b
ar
m
ec
h
an
is
m
to
ad
ju
s
t
th
e
lin
k
ag
es
ac
co
r
d
i
n
g
to
p
atien
ts
c
o
m
f
o
r
ta
b
ilit
y
.
T
h
is
ca
n
b
e
u
s
ed
t
o
lift
th
e
to
p
f
r
am
e
wh
ich
co
n
tain
s
a
m
ec
h
an
is
m
f
o
r
lin
ea
r
ac
tu
atio
n
t
h
at
was p
r
o
p
o
s
ed
[
1
0
]
.
Fig
u
r
e
3
.
Dif
f
e
r
en
t lin
ea
r
ac
t
u
atio
n
3
.
2
.
Str
uct
ura
l a
na
l
y
s
is
T
o
v
e
r
if
y
th
e
m
o
d
el
th
e
s
tr
u
c
tu
r
e
an
al
y
s
is
is
n
ee
d
ed
to
an
aly
ze
th
e
lo
ad
an
d
th
e
m
ater
i
al
lo
ad
in
g
ca
p
ac
ity
o
f
th
e
in
teg
r
ated
m
o
d
el.
T
h
e
m
ater
ial
p
o
ly
im
id
e
(
PI)
th
er
m
o
p
last
ic
an
d
alu
m
in
iu
m
allo
y
f
o
r
th
e
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2
7
2
2
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t o
f k
n
ee
r
eh
a
b
ilit
a
tio
n
r
o
b
o
t (
Dev
a
s
h
is
h
S
h
a
r
ma
)
427
jo
in
ts
an
d
co
n
n
ec
tio
n
r
esp
ec
ti
v
ely
wer
e
c
o
n
s
id
er
ed
b
ased
o
n
th
eir
p
r
o
p
e
r
ties
at
s
p
ec
if
ic
lo
ca
tio
n
s
f
o
r
test
in
g
,
m
ak
in
g
th
e
m
d
u
r
ab
le,
lig
h
twei
g
h
t,
an
d
f
ea
s
ib
le
[
2
0
]
.
T
h
e
s
tatic
s
tr
u
ctu
r
al
an
aly
s
is
i
s
ca
r
r
ied
o
u
t
o
n
3
d
if
f
er
e
n
t
p
o
s
itio
n
s
:
h
o
m
e
p
o
s
itio
n
,
m
id
p
o
s
itio
n
,
an
d
f
u
lly
ex
ten
d
e
d
p
o
s
itio
n
to
d
e
ter
m
in
e
th
e
s
tr
u
ctu
r
al
in
teg
r
it
y
o
f
th
e
m
o
d
el.
Fig
u
r
e
5
e
x
p
licitly
d
ep
icts
th
e
s
tr
u
ctu
r
al
an
aly
s
is
in
2
p
o
s
itio
n
s
i.e
.
h
o
m
e
an
d
f
u
lly
ex
ten
d
ed
p
o
s
itio
n
.
T
h
e
f
o
r
ce
a
p
p
li
ed
o
n
th
e
f
o
o
t
p
late
p
lace
d
o
n
th
e
s
lid
er
is
1
5
0
N,
with
f
ix
ed
s
u
p
p
o
r
t
ap
p
lied
o
n
th
e
b
ase.
T
h
e
n
et
f
o
r
ce
1
5
0
N
is
th
e
f
o
r
ce
ac
tin
g
o
n
th
e
lo
wer
lim
b
weig
h
t
o
n
t
h
e
m
ac
h
in
e,
s
af
ety
f
ac
to
r
(
1
.
3
3
)
,
an
d
g
r
a
v
itatio
n
f
o
r
ce
i.e
.
F
=
×
1
.
33
.
Fig
u
r
e
4
.
Fin
alize
d
d
esig
n
to
a
ch
iev
e
cu
r
v
ed
p
at
h
u
s
in
g
two
m
ec
h
an
is
m
s
Ho
m
e
p
o
s
itio
n
E
x
ten
d
ed
p
o
s
itio
n
Fig
u
r
e
5
.
T
o
tal
d
ef
o
r
m
atio
n
at
th
e
(
a)
h
o
m
e
a
n
d
(
b
)
ex
te
n
d
ed
p
o
s
itio
n
Ho
m
e
p
o
s
itio
n
E
x
ten
d
ed
p
o
s
itio
n
Fig
u
r
e
6
.
E
q
u
iv
alen
t stre
s
s
Def
o
r
m
atio
n
is
ty
p
ically
m
ea
s
u
r
ed
u
s
in
g
d
is
p
lace
m
e
n
t,
wh
ic
h
is
d
ef
in
ed
as
th
e
ch
an
g
e
in
p
o
s
itio
n
o
f
a
p
o
in
t
in
a
s
tr
u
ctu
r
e.
A
s
tr
e
s
s
an
aly
s
is
wa
s
p
er
f
o
r
m
ed
as
s
h
o
wn
in
Fig
u
r
e
6
a
n
d
o
b
s
er
v
ed
th
at
th
e
s
tr
ess
d
is
tr
ib
u
tio
n
with
in
a
s
tr
u
ctu
r
e
is
ca
lcu
lated
u
s
in
g
An
s
y
s
u
n
d
er
v
a
r
ied
lo
ad
in
g
cir
c
u
m
s
tan
ce
s
.
T
h
e
s
tr
es
s
d
is
tr
ib
u
tio
n
ca
n
b
e
a
p
p
lied
to
d
eter
m
in
e
th
e
s
tr
u
ctu
r
e’
s
m
a
x
im
u
m
s
tr
ess
s
ites
an
d
lik
ely
f
ai
lu
r
e
m
o
d
es.
An
s
y
s
s
tr
ain
an
aly
s
is
is
u
s
ed
to
ca
lcu
late
th
e
d
is
tr
ib
u
tio
n
o
f
s
tr
ain
with
in
a
s
tr
u
ctu
r
e
[
1
9
]
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
3
,
No
.
4
,
Dec
em
b
er
2
0
2
4
:
4
2
3
-
4
3
1
428
4.
RE
SU
L
T
S
AND
D
I
SCU
SS
I
O
N
A
co
m
p
r
e
h
en
s
iv
e
co
m
p
ar
is
o
n
o
f
s
ix
lin
ea
r
m
ec
h
an
is
m
s
i
s
p
r
o
v
id
e
d
in
T
ab
le
1
.
T
h
e
l
ea
d
s
cr
ew
m
ec
h
an
is
m
is
a
s
im
p
le
an
d
le
s
s
co
m
p
lex
d
esig
n
with
f
ewe
r
m
ec
h
an
ical
p
a
r
ts
wh
ich
is
ea
s
y
to
im
p
lem
en
t
b
u
t
ex
h
ib
its
r
elativ
ely
h
ig
h
-
p
o
wer
co
n
s
u
m
p
tio
n
an
d
th
e
m
o
v
e
m
en
t
o
f
its
co
m
p
o
n
e
n
ts
co
u
l
d
p
o
ten
tially
ca
u
s
e
d
am
ag
e
to
jo
i
n
ts
if
r
ef
lex
ac
tio
n
s
o
cc
u
r
r
ed
.
T
h
e
r
o
ller
b
e
lt
m
ec
h
an
is
m
,
wh
ile
o
f
f
er
i
n
g
lin
ea
r
m
o
tio
n
a
n
d
f
lex
ib
ilit
y
in
r
o
u
tin
g
,
s
u
f
f
er
e
d
f
r
o
m
s
lip
p
ag
e
is
s
u
es
th
at
co
u
ld
ad
v
er
s
ely
af
f
ec
t
th
e
k
n
ee
d
u
e
to
s
u
d
d
en
m
o
v
em
en
ts
.
T
h
e
4
-
b
ar
m
ec
h
an
is
m
,
alth
o
u
g
h
ca
p
ab
le
o
f
i
m
p
lem
en
tatio
n
in
a
s
leep
in
g
p
o
s
tu
r
e,
was
f
o
u
n
d
u
n
s
u
itab
le
f
o
r
th
e
in
ten
d
ed
p
u
r
p
o
s
e
[
1
9
]
.
T
h
e
g
r
ass
h
o
p
p
er
m
ec
h
an
is
m
,
d
esp
ite
its
u
n
iq
u
e
m
o
tio
n
,
d
ev
iated
f
r
o
m
p
u
r
el
y
lin
ea
r
m
o
tio
n
an
d
r
eq
u
ir
e
d
a
lar
g
e
s
etu
p
,
m
ak
in
g
it
im
p
r
ac
tical.
T
h
e
h
y
d
r
au
lic
-
b
ased
m
ec
h
a
n
is
m
d
is
p
lay
ed
a
h
u
g
e
s
etu
p
,
h
ig
h
c
o
s
t,
an
d
s
ig
n
if
ican
t
p
o
wer
c
o
n
s
u
m
p
tio
n
,
wh
ich
wer
e
d
ee
m
e
d
u
n
d
esira
b
le.
T
ab
le
1
.
C
o
m
p
a
r
is
o
n
o
f
lin
ea
r
ac
tu
atio
n
m
ec
h
a
n
is
m
s
F
a
c
t
o
r
s
R
o
l
l
e
r
-
b
a
s
e
d
l
i
n
e
a
r
a
c
t
u
a
t
i
o
n
S
l
i
d
e
r
-
b
a
se
d
l
i
n
e
a
r
a
c
t
u
a
t
i
o
n
F
o
u
r
-
b
a
r
mec
h
a
n
i
sm
b
a
se
d
G
r
a
ssh
o
p
p
e
r
mec
h
a
n
i
sm
Le
a
d
s
c
r
e
w
mec
h
a
n
i
sm
b
a
se
d
H
y
d
r
a
u
l
i
c
c
y
l
i
n
d
e
r
b
a
se
d
M
o
t
i
o
n
N
o
n
-
l
i
n
e
a
r
P
u
r
e
l
y
l
i
n
e
a
r
P
u
r
e
l
y
l
i
n
e
a
r
Li
n
e
a
r
P
u
r
e
l
y
l
i
n
e
a
r
P
u
r
e
l
y
l
i
n
e
a
r
P
o
w
e
r
c
o
n
su
mp
t
i
o
n
H
i
g
h
Lo
w
Lo
w
Lo
w
Lo
w
V
e
r
y
h
i
g
h
S
l
i
p
p
a
g
e
Y
e
s
No
Y
e
s
Y
e
s
No
No
C
o
m
p
l
e
x
i
t
y
H
i
g
h
Lo
w
H
i
g
h
H
i
g
h
Lo
w
M
o
d
e
r
a
t
e
Li
n
k
s
To
o
ma
n
y
Le
ss
To
o
ma
n
y
To
o
ma
n
y
To
o
ma
n
y
Le
ss
C
o
s
t
H
i
g
h
Lo
w
M
o
d
e
r
a
t
e
M
o
d
e
r
a
t
e
M
o
d
e
r
a
t
e
V
e
r
y
h
i
g
h
M
a
i
n
t
e
n
a
n
c
e
H
i
g
h
M
o
d
e
r
a
t
e
Lo
w
Lo
w
M
o
d
e
r
a
t
e
V
e
r
y
h
i
g
h
M
o
t
i
o
n
p
r
e
c
i
si
o
n
Le
ss
a
c
c
u
r
a
t
e
H
i
g
h
l
y
a
c
c
u
r
a
t
e
M
o
d
e
r
a
t
e
l
y
a
c
c
u
r
a
t
e
M
o
d
e
r
a
t
e
l
y
a
c
c
u
r
a
t
e
H
i
g
h
l
y
a
c
c
u
r
a
t
e
M
o
d
e
r
a
t
e
l
y
a
c
c
u
r
a
t
e
M
e
c
h
a
n
i
sm
R
o
l
l
e
r
a
n
d
b
e
l
t
R
a
c
k
a
n
d
p
i
n
i
o
n
4
-
b
a
r
mec
h
a
n
i
sm
M
o
d
i
f
i
e
d
S
c
o
t
t
R
u
ssel
’
s
Le
a
d
s
c
r
e
w
H
y
d
r
a
u
l
i
c
a
c
t
u
a
t
i
o
n
Fig
u
r
e
7
p
r
esen
ts
th
e
f
in
al
d
esig
n
to
ac
h
iev
e
a
cu
r
v
ed
p
ath
u
s
in
g
two
m
ec
h
a
n
is
m
s
.
Fro
m
T
ab
le
1
,
it
is
o
b
s
er
v
ed
th
at
th
e
s
lid
er
-
b
ased
lin
ea
r
m
ec
h
an
is
m
with
r
ac
k
an
d
p
in
io
n
o
f
f
er
s
lin
e
ar
m
o
tio
n
with
n
o
s
lip
p
ag
e,
en
a
b
lin
g
b
etter
c
o
n
t
r
o
l
an
d
r
e
d
u
ce
d
en
e
r
g
y
co
n
s
u
m
p
tio
n
.
Similar
ly
,
f
o
r
t
h
e
ele
v
atio
n
m
o
tio
n
,
lead
s
cr
ew
-
b
ased
ac
tu
atio
n
was
s
elec
ted
co
n
s
id
er
in
g
th
e
s
lip
p
ag
e,
to
ler
an
ce
,
weig
h
t
-
to
-
f
o
r
ce
r
atio
,
an
d
o
t
h
er
co
n
s
tr
ain
ts
.
T
h
e
s
lid
er
m
ec
h
a
n
is
m
p
r
o
v
id
es
th
e
f
i
n
al
m
o
tio
n
to
th
e
s
y
s
tem
in
ter
m
s
o
f
li
n
ea
r
ity
.
T
h
e
m
ai
n
m
ec
h
an
is
m
s
to
tr
an
s
m
it
en
er
g
y
f
r
o
m
s
tep
p
er
m
o
to
r
s
ar
e
b
ev
el
an
d
th
en
r
ac
k
an
d
p
in
io
n
.
T
h
e
m
o
to
r
s
h
af
t
will
b
e
co
n
n
e
cted
to
th
e
b
ev
el
g
ea
r
an
d
th
e
m
o
tio
n
will
b
e
tr
a
n
s
m
itted
to
th
e
p
in
i
o
n
v
ia
a
ca
n
t
er
ed
s
h
af
t.
T
h
e
r
ac
k
is
co
n
n
ec
ted
to
th
e
s
lid
er
an
d
p
in
io
n
s
m
o
v
e
th
e
s
lid
er
v
ia
r
a
ck
s
.
T
h
e
s
lid
er
m
ec
h
an
is
m
ca
n
also
co
m
p
en
s
ate
f
o
r
an
y
r
e
f
lex
ac
tio
n
s
b
y
th
e
u
s
er
.
T
o
elev
ate
th
e
to
p
f
r
am
e
s
im
u
ltan
eo
u
s
ly
wh
en
th
e
s
lid
er
ac
tu
ates,
th
e
lead
s
cr
ew
m
ec
h
an
is
m
is
co
n
s
id
er
ed
to
p
er
f
o
r
m
th
e
m
o
tio
n
ac
c
o
r
d
in
g
to
r
eq
u
i
r
em
en
ts
an
d
th
e
co
m
p
a
r
ativ
e
s
tu
d
y
p
r
o
v
id
e
d
ab
o
v
e.
T
h
e
lead
s
cr
e
w
elev
atio
n
m
ec
h
a
n
is
m
is
d
esig
n
ed
to
ac
h
iev
e
u
p
to
3
2
.
5
° o
f
elev
atio
n
.
Fig
u
r
e
7
.
Fin
al
d
esig
n
to
ac
h
ie
v
e
cu
r
v
e
d
p
ath
u
s
in
g
two
m
ec
h
an
is
m
s
T
h
e
lead
s
cr
ew
len
g
th
is
0
.
3
m
an
d
its
p
itch
is
0
.
0
0
4
m
.
T
h
is
m
ec
h
an
is
m
is
s
in
g
le
le
ad
as
o
n
e
r
ev
o
lu
tio
n
m
o
v
es
th
e
ca
r
r
iag
e
0
.
0
0
4
m
.
I
n
th
e
an
aly
s
is
s
tu
d
y
,
th
e
to
tal
d
ef
o
r
m
atio
n
le
v
els
f
r
o
m
th
e
d
if
f
er
e
n
t
p
o
s
itio
n
s
o
b
tain
e
d
ar
e
4
×
10
-
6
m
to
3
.
0
3
×
10
-
4
m
wh
e
n
th
e
m
o
d
e
l
is
an
aly
ze
d
f
r
o
m
th
e
b
ase
p
o
s
itio
n
to
a
f
u
lly
ex
ten
d
ed
co
n
d
itio
n
.
T
h
e
d
e
f
o
r
m
atio
n
was
ch
ec
k
ed
f
o
r
th
e
lo
ad
co
n
d
itio
n
s
in
th
e
h
o
m
e
an
d
an
ex
ten
d
ed
p
o
s
itio
n
in
t
h
e
s
im
u
latio
n
s
tu
d
ies.
I
t
f
o
u
n
d
th
at
d
u
r
in
g
th
e
lo
ad
ed
co
n
d
itio
n
s
,
th
e
d
ef
o
r
m
atio
n
was
0
.
1
4
%
f
r
o
m
h
o
m
e
to
a
f
u
lly
ex
ten
d
e
d
p
o
s
itio
n
,
wh
ich
is
m
in
im
al
f
o
r
th
e
g
iv
e
n
m
ater
ial.
T
h
is
en
s
u
r
es
th
at
r
an
g
e
h
as
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2
7
2
2
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t o
f k
n
ee
r
eh
a
b
ilit
a
tio
n
r
o
b
o
t (
Dev
a
s
h
is
h
S
h
a
r
ma
)
429
n
o
n
e
g
ativ
e
im
p
ac
ts
o
n
th
e
k
n
ee
jo
in
t’
s
m
o
v
em
en
t
in
t
h
e
m
ac
h
in
e’
s
p
r
ac
tical
o
p
er
atio
n
.
I
t
ca
n
b
e
s
tated
th
at
th
e
m
o
d
el
is
s
af
e
to
o
p
er
ate
u
n
d
er
n
o
r
m
al
co
n
d
itio
n
s
.
5.
P
RO
T
O
T
YP
E
T
h
is
s
y
s
tem
co
n
s
i
s
ts
o
f
a
2
-
Do
F
ac
tu
atio
n
m
ec
h
an
is
m
an
d
lin
ea
r
an
d
an
g
u
lar
ac
tu
atio
n
.
A
lead
s
cr
ew
-
b
ased
m
ec
h
an
is
m
is
u
s
ed
to
elev
ate
th
e
to
p
f
r
am
e
f
r
o
m
th
e
b
ase
p
o
s
itio
n
with
th
e
d
esire
d
in
clin
atio
n
,
an
d
a
r
ac
k
an
d
p
in
i
o
n
-
b
ased
m
ec
h
an
is
m
is
u
s
ed
with
a
b
e
v
el
g
ea
r
tr
a
n
s
m
is
s
io
n
m
ec
h
a
n
is
m
f
o
r
th
e
lin
ea
r
ac
tu
atio
n
o
f
t
h
e
s
lid
er
m
ec
h
a
n
is
m
.
A
p
r
o
to
t
y
p
e
at
a
1
:3
s
c
ale
is
d
ev
elo
p
ed
with
f
u
s
ed
d
ep
o
s
itio
n
m
o
d
elin
g
(
FDM
)
p
r
in
tin
g
as
it
is
o
n
e
o
f
th
e
p
o
p
u
lar
an
d
well
-
k
n
o
wn
m
an
u
f
a
ctu
r
in
g
tech
n
iq
u
es
f
o
r
m
an
u
f
ac
t
u
r
in
g
cu
s
to
m
-
m
ad
e
p
ar
ts
; th
er
ef
o
r
e
,
f
o
r
p
r
o
to
ty
p
in
g
,
t
h
e
s
am
e
tech
n
iq
u
e
is
u
s
ed
.
Fig
u
r
e
8
.
T
h
e
3
D
p
r
in
ted
p
r
o
t
o
ty
p
e
at
a
s
ca
le
o
f
1
:3
a
n
d
th
e
r
en
d
er
in
g
d
esig
n
with
a
C
AD
m
o
d
el
o
f
m
an
n
eq
u
in
Fig
u
r
e
8
s
h
o
w
ca
s
es
t
h
e
s
m
all
-
s
ca
l
ed
p
r
o
t
o
t
y
p
e
(
s
ca
l
e
1
:
3
)
wi
th
th
e
in
te
r
n
al
g
ea
r
s
y
s
t
em
,
m
a
n
u
f
ac
t
u
r
e
d
u
s
in
g
o
n
e
o
f
th
e
ad
d
itiv
e
m
a
n
u
f
ac
tu
r
i
n
g
tech
n
i
q
u
es
ca
lled
3
D
p
r
in
tin
g
with
p
o
ly
lactic
a
cid
(
PLA)
m
ater
ial,
wh
ich
is
a
th
er
m
o
p
last
ic
m
o
n
o
m
er
d
er
i
v
ed
f
r
o
m
r
en
ewa
b
le,
o
r
g
an
ic
s
o
u
r
ce
s
s
u
ch
as
co
r
n
s
tar
ch
o
r
s
u
g
ar
ca
n
e.
I
t is ea
s
ily
av
ailab
le,
lo
w
co
s
t,
an
d
r
eliab
le
as we
ll h
e
n
ce
b
est s
u
ited
f
o
r
s
m
all
-
s
ca
le
p
r
o
to
ty
p
in
g
.
All
th
e
p
ar
ts
ar
e
3
D
p
r
in
ted
in
d
iv
id
u
ally
with
th
e
in
f
ill
d
e
n
s
ity
r
an
g
in
g
f
r
o
m
2
0
%
to
1
0
0
%,
th
en
ass
em
b
led
,
as
p
er
th
e
co
m
p
u
t
er
-
aid
ed
d
esig
n
(
C
AD)
m
o
d
el
s
h
o
wn
in
Fig
u
r
e
4
.
A
0
.
1
2
0
m
tr
ap
ez
o
id
al
4
s
tar
t
lead
s
cr
ew
0
.
0
0
8
m
th
r
ea
d
0
.
0
0
2
m
p
itch
lead
s
cr
ew
with
co
p
p
er
n
u
t
is
u
s
ed
in
elev
atio
n
m
ec
h
an
is
m
an
d
f
o
r
s
lid
in
g
m
o
tio
n
.
T
h
e
r
o
tar
y
ac
t
u
ato
r
is
co
n
n
ec
ted
to
b
ev
el
g
e
ar
s
an
d
th
ese
b
e
v
el
g
ea
r
s
ar
e
f
u
r
th
er
c
o
n
n
ec
ted
to
th
e
s
p
u
r
g
ea
r
wh
ich
d
r
iv
es th
e
s
lid
er
b
ac
k
an
d
f
o
r
th
,
tr
an
s
m
is
s
io
n
r
atio
is
1
in
all
ca
s
es.
6.
CO
NCLU
SI
O
N
T
h
is
s
tu
d
y
id
en
tifie
d
o
p
tim
al
d
esig
n
p
ar
am
ete
r
s
f
o
r
th
e
to
p
p
latf
o
r
m
a
n
d
th
e
an
g
u
lar
r
o
tatio
n
o
f
th
e
lead
s
cr
ew
n
ec
ess
ar
y
to
m
im
ic
lin
ea
r
m
o
tio
n
ef
f
ec
tiv
ely
.
T
h
e
d
esig
n
an
d
p
ar
am
et
r
ic
s
tu
d
y
f
ac
ilit
ated
th
e
d
ev
elo
p
m
e
n
t
o
f
a
p
o
r
tab
le
r
e
h
ab
ilit
atio
n
k
n
ee
p
latf
o
r
m
.
T
h
e
s
im
u
latio
n
s
tu
d
ies
o
f
th
e
p
r
o
p
o
s
ed
lead
s
cr
ew
-
b
ased
s
lid
er
m
ec
h
an
is
m
d
em
o
n
s
tr
ated
p
r
o
m
is
in
g
r
esu
lts
,
in
clu
d
in
g
a
m
ax
im
u
m
s
lid
er
d
is
p
lace
m
en
t
o
f
0
.
4
5
0
m
,
a
m
ax
im
u
m
in
clin
atio
n
an
g
le
o
f
3
2
.
5
°
f
r
o
m
th
e
b
ase
p
o
s
itio
n
,
an
d
a
p
in
io
n
s
p
ee
d
o
f
2
.
8
9
r
ad
/s
.
Ad
d
itio
n
ally
,
th
e
s
y
s
tem
ex
h
i
b
ited
m
in
im
al
d
ef
o
r
m
atio
n
(
0
.
1
4
%)
an
d
e
q
u
iv
alen
t
s
tr
ain
(
0
.
0
5
%)
f
r
o
m
th
e
b
ase
to
th
e
f
u
lly
e
x
ten
d
ed
p
o
s
itio
n
,
with
d
ef
o
r
m
atio
n
r
an
g
in
g
f
r
o
m
4
μ
m
to
0
.
3
m
m
an
d
s
tr
ain
f
r
o
m
9
μ
m
to
1
.
7
m
m
,
r
esp
ec
tiv
ely
.
T
o
v
alid
ate
th
ese
f
in
d
in
g
s
,
a
3
D
-
p
r
in
te
d
m
o
d
el
was
f
ab
r
icate
d
,
a
n
d
e
x
p
er
im
en
tal
s
tu
d
ies
wer
e
co
n
d
u
cted
u
n
d
er
n
o
-
lo
a
d
co
n
d
itio
n
s
,
y
ield
in
g
s
im
ilar
r
e
s
u
lts
with
a
d
ev
iatio
n
o
f
±
5
%.
T
h
e
f
u
tu
r
e
s
co
p
e
o
f
th
is
r
esear
ch
in
clu
d
es
co
n
d
u
ctin
g
p
ilo
t
s
tu
d
ies
to
ex
p
er
im
en
tally
v
alid
ate
th
e
k
n
ee
r
eh
ab
ilit
atio
n
r
o
b
o
tic
s
y
s
tem
's
p
er
f
o
r
m
an
ce
in
clin
ical
s
ettin
g
s
.
T
h
ese
s
tu
d
ies
will
ass
es
s
th
e
s
y
s
tem
'
s
ef
f
ec
tiv
en
ess
,
s
af
ety
,
an
d
u
s
ab
ilit
y
,
en
s
u
r
in
g
its
f
ea
s
ib
ilit
y
f
o
r
th
er
ap
e
u
tic
u
s
e.
T
h
is
v
alid
ati
o
n
will
b
r
id
g
e
th
e
g
ap
b
etwe
en
th
e
o
r
etica
l
d
esig
n
an
d
r
ea
l
-
wo
r
ld
a
p
p
licatio
n
,
en
h
an
cin
g
r
eh
a
b
ilit
atio
n
o
u
t
co
m
es
f
o
r
p
atien
ts
with
k
n
ee
im
p
air
m
e
n
ts
.
RE
F
E
R
E
NC
E
S
[
1
]
A
.
S
.
A
.
D
o
ss
,
B
.
M
i
sh
r
a
,
S
.
M
o
h
a
mm
e
d
,
P
.
K
.
Li
n
g
a
m
p
a
l
l
y
,
a
n
d
M
.
S
h
o
r
t
,
“
R
o
b
o
t
i
c
a
r
m
f
o
r
b
i
o
m
e
d
i
c
a
l
a
p
p
l
i
c
a
t
i
o
n
s,
”
i
n
H
a
n
d
b
o
o
k
o
f
S
m
a
rt
M
a
t
e
ri
a
l
s
,
T
e
c
h
n
o
l
o
g
i
e
s,
a
n
d
D
e
v
i
c
e
s
,
C
h
a
m:
S
p
r
i
n
g
e
r
I
n
t
e
r
n
a
t
i
o
n
a
l
P
u
b
l
i
sh
i
n
g
,
2
0
2
1
,
p
p
.
1
–
2
4
.
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
0
3
0
-
5
8
6
7
5
-
1
_
3
8
-
1.
[
2
]
P
.
K
.
L
i
n
g
a
m
p
a
l
l
y
,
A
.
S
.
A
.
D
o
ss,
a
n
d
V
.
R
.
K
a
d
i
y
a
m
,
“
W
e
a
r
a
b
l
e
n
e
c
k
a
s
si
st
i
v
e
d
e
v
i
c
e
s
t
r
a
i
n
e
v
a
l
u
a
t
i
o
n
st
u
d
y
o
n
s
u
r
f
a
c
e
n
e
c
k
mu
sc
l
e
s
f
o
r
h
e
a
d
/
n
e
c
k
m
o
v
e
me
n
t
s
,
”
T
e
c
h
n
o
l
o
g
y
a
n
d
H
e
a
l
t
h
C
a
r
e
,
v
o
l
.
3
0
,
n
o
.
6
,
p
p
.
1
5
0
3
–
1
5
1
3
,
N
o
v
.
2
0
2
2
,
d
o
i
:
1
0
.
3
2
3
3
/
TH
C
-
2
2
0
1
0
1
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N:
2
7
2
2
-
2
5
8
6
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
,
Vo
l
.
1
3
,
No
.
4
,
Dec
em
b
er
2
0
2
4
:
4
2
3
-
4
3
1
430
[
3
]
A
.
B
i
g
g
s,
W
.
L.
J
e
n
k
i
n
s,
S
.
E.
U
r
c
h
,
a
n
d
K
.
D
.
S
h
e
l
b
o
u
r
n
e
,
“
R
e
h
a
b
i
l
i
t
a
t
i
o
n
f
o
r
p
a
t
i
e
n
t
s
f
o
l
l
o
w
i
n
g
A
C
L
r
e
c
o
n
st
r
u
c
t
i
o
n
:
a
K
n
e
e
sy
mm
e
t
r
y
mo
d
e
l
,
”
N
o
r
t
h
Am
e
r
i
c
a
n
j
o
u
rn
a
l
o
f
s
p
o
rt
s
p
h
y
s
i
c
a
l
t
h
e
r
a
p
y
:
N
AJ
S
PT
,
v
o
l
.
4
,
n
o
.
1
,
p
p
.
2
–
1
2
,
2
0
0
9
.
[
4
]
S
.
S
a
d
e
g
h
n
e
j
a
d
,
V
.
S
.
E.
A
b
a
d
i
,
a
n
d
B
.
Jafari
,
“
R
e
h
a
b
i
l
i
t
a
t
i
o
n
r
o
b
o
t
i
c
s
:
h
i
st
o
r
y
,
a
p
p
l
i
c
a
t
i
o
n
s,
a
n
d
r
e
c
e
n
t
a
d
v
a
n
c
e
s,
”
i
n
Me
d
i
c
a
l
a
n
d
H
e
a
l
t
h
c
a
re
R
o
b
o
t
i
c
s
,
E
l
se
v
i
e
r
,
2
0
2
3
,
p
p
.
6
3
–
8
5
.
d
o
i
:
1
0
.
1
0
1
6
/
B
9
7
8
-
0
-
4
4
3
-
1
8
4
6
0
-
4
.
0
0
0
0
8
-
1.
[
5
]
A
.
S
.
A
r
o
c
k
i
a
D
o
ss
,
P
.
K
.
L
i
n
g
a
mp
a
l
l
y
,
G
.
M
.
T.
N
g
u
y
e
n
,
a
n
d
D
.
S
c
h
i
l
b
e
r
g
,
“
A
c
o
mp
r
e
h
e
n
s
i
v
e
r
e
v
i
e
w
o
f
w
e
a
r
a
b
l
e
a
ssi
s
t
i
v
e
r
o
b
o
t
i
c
d
e
v
i
c
e
s
u
se
d
f
o
r
h
e
a
d
a
n
d
n
e
c
k
r
e
h
a
b
i
l
i
t
a
t
i
o
n
,
”
Re
s
u
l
t
s
i
n
En
g
i
n
e
e
ri
n
g
,
v
o
l
.
1
9
,
p
.
1
0
1
3
0
6
,
S
e
p
.
2
0
2
3
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
r
i
n
e
n
g
.
2
0
2
3
.
1
0
1
3
0
6
.
[
6
]
P
.
K
.
L
i
n
g
a
m
p
a
l
l
y
a
n
d
A
.
A
r
o
c
k
i
a
S
e
l
v
a
k
u
m
a
r
,
“
A
h
u
ma
n
o
i
d
n
e
c
k
u
s
i
n
g
p
a
r
a
l
l
e
l
m
a
n
i
p
u
l
a
t
o
r
s,
”
I
n
t
e
r
n
a
t
i
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
Ro
b
o
t
i
c
s
a
n
d
Au
t
o
m
a
t
i
o
n
f
o
r
H
u
m
a
n
i
t
a
r
i
a
n
A
p
p
l
i
c
a
t
i
o
n
s,
R
AH
A
2
0
1
6
-
C
o
n
f
e
re
n
c
e
Pr
o
c
e
e
d
i
n
g
s
,
2
0
1
7
,
d
o
i
:
1
0
.
1
1
0
9
/
R
A
H
A
.
2
0
1
6
.
7
9
3
1
8
6
8
.
[
7
]
P
.
K
.
Li
n
g
a
m
p
a
l
l
y
a
n
d
A
.
S
.
A
r
o
c
k
i
a
D
o
ss,
“
D
e
si
g
n
,
i
mp
l
e
m
e
n
t
a
t
i
o
n
,
a
n
d
e
x
p
e
r
i
m
e
n
t
a
l
st
u
d
y
o
n
3
-
R
P
S
p
a
r
a
l
l
e
l
ma
n
i
p
u
l
a
t
o
r
-
b
a
s
e
d
c
e
r
v
i
c
a
l
c
o
l
l
a
r
t
h
e
r
a
p
y
d
e
v
i
c
e
f
o
r
e
l
d
e
r
l
y
p
a
t
i
e
n
t
s
s
u
f
f
e
r
i
n
g
f
r
o
m
c
e
r
v
i
c
a
l
sp
i
n
e
i
n
j
u
r
i
e
s
,
”
H
a
n
d
b
o
o
k
o
f
S
m
a
r
t
Ma
t
e
r
i
a
l
s,
T
e
c
h
n
o
l
o
g
i
e
s
,
a
n
d
D
e
v
i
c
e
s
,
p
p
.
1
–
2
3
,
2
0
2
1
,
d
o
i
:
1
0
.
1
0
0
7
/
9
7
8
-
3
-
0
3
0
-
5
8
6
7
5
-
1
_
1
6
1
-
1.
[
8
]
E.
A
k
d
o
ğ
a
n
,
E.
T
a
ç
g
ı
n
,
a
n
d
M
.
A
.
A
d
l
i
,
“
K
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
u
si
n
g
a
n
i
n
t
e
l
l
i
g
e
n
t
r
o
b
o
t
i
c
sy
s
t
e
m
,
”
J
o
u
r
n
a
l
o
f
I
n
t
e
l
l
i
g
e
n
t
Ma
n
u
f
a
c
t
u
r
i
n
g
,
v
o
l
.
2
0
,
n
o
.
2
,
p
p
.
1
9
5
–
2
0
2
,
A
p
r
.
2
0
0
9
,
d
o
i
:
1
0
.
1
0
0
7
/
s
1
0
8
4
5
-
0
0
8
-
0
2
2
5
-
y.
[
9
]
R
.
S
o
n
g
,
“
Th
e
r
e
s
e
a
r
c
h
s
t
a
t
u
s
o
f
K
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
r
o
b
o
t
s
,
”
H
i
g
h
l
i
g
h
t
s
i
n
S
c
i
e
n
c
e
,
E
n
g
i
n
e
e
r
i
n
g
a
n
d
T
e
c
h
n
o
l
o
g
y
,
v
o
l
.
7
1
,
p
p
.
4
4
3
–
4
5
1
,
N
o
v
.
2
0
2
3
,
d
o
i
:
1
0
.
5
4
0
9
7
/
h
set
.
v
7
1
i
.
1
4
6
5
6
.
[
1
0
]
R
.
W
i
l
mart
,
E
.
G
a
r
o
n
e
,
a
n
d
B
.
I
n
n
o
c
e
n
t
i
,
“
T
h
e
u
se
o
f
r
o
b
o
t
i
c
s d
e
v
i
c
e
s
i
n
k
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
:
a
c
r
i
t
i
c
a
l
r
e
v
i
e
w
,
”
M
u
sc
l
e
L
i
g
a
m
e
n
t
s
a
n
d
T
e
n
d
o
n
s
J
o
u
r
n
a
l
,
v
o
l
.
0
9
,
n
o
.
0
1
,
M
a
r
.
2
0
1
9
,
d
o
i
:
1
0
.
3
2
0
9
8
/
m
l
t
j
.
0
1
.
2
0
1
9
.
0
7
.
[
1
1
]
C.
-
D
.
Li
a
o
e
t
a
l
.
,
“
C
o
n
t
i
n
u
o
u
s
p
a
ssi
v
e
m
o
t
i
o
n
a
n
d
i
t
s
e
f
f
e
c
t
s
o
n
K
n
e
e
f
l
e
x
i
o
n
a
f
t
e
r
t
o
t
a
l
K
n
e
e
a
r
t
h
r
o
p
l
a
s
t
y
i
n
p
a
t
i
e
n
t
s
w
i
t
h
K
n
e
e
o
st
e
o
a
r
t
h
r
i
t
i
s,
”
K
n
e
e
S
u
r
g
e
r
y
,
S
p
o
rt
s
T
ra
u
m
a
t
o
l
o
g
y
,
Ar
t
h
ro
s
c
o
p
y
,
v
o
l
.
2
4
,
n
o
.
8
,
p
p
.
2
5
7
8
–
2
5
8
6
,
A
u
g
.
2
0
1
6
,
d
o
i
:
1
0
.
1
0
0
7
/
s
0
0
1
6
7
-
0
1
5
-
3
7
5
4
-
x.
[
1
2
]
M
.
A
y
o
a
d
e
a
n
d
L
.
B
a
i
l
l
i
e
,
“
A
n
o
v
e
l
k
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
s
y
s
t
e
m
f
o
r
t
h
e
h
o
me
,
”
i
n
Pr
o
c
e
e
d
i
n
g
s
o
f
t
h
e
S
I
G
C
H
I
C
o
n
f
e
r
e
n
c
e
o
n
H
u
m
a
n
F
a
c
t
o
rs i
n
C
o
m
p
u
t
i
n
g
S
y
st
e
m
s
,
A
p
r
.
2
0
1
4
,
p
p
.
2
5
2
1
–
2
5
3
0
.
d
o
i
:
1
0
.
1
1
4
5
/
2
5
5
6
2
8
8
.
2
5
5
7
3
5
3
.
[
1
3
]
J.
K
.
M
o
h
a
n
t
a
,
S
.
M
o
h
a
n
,
P
.
D
e
e
p
a
s
u
n
d
a
r
,
a
n
d
R
.
K
i
r
u
b
a
-
S
h
a
n
k
a
r
,
“
D
e
v
e
l
o
p
m
e
n
t
a
n
d
c
o
n
t
r
o
l
o
f
a
n
e
w
si
t
t
i
n
g
-
t
y
p
e
l
o
w
e
r
l
i
mb
r
e
h
a
b
i
l
i
t
a
t
i
o
n
r
o
b
o
t
,
”
C
o
m
p
u
t
e
rs
&
El
e
c
t
ri
c
a
l
En
g
i
n
e
e
ri
n
g
,
v
o
l
.
6
7
,
p
p
.
3
3
0
–
3
4
7
,
A
p
r
.
2
0
1
8
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
c
o
mp
e
l
e
c
e
n
g
.
2
0
1
7
.
0
9
.
0
1
5
.
[
1
4
]
E.
M
.
B
o
u
h
a
b
b
a
,
A
.
A
.
S
h
a
f
i
e
,
M
.
R
.
K
h
a
n
,
a
n
d
K
.
A
r
i
f
f
i
n
,
“
L
o
w
e
r
-
Li
m
b
r
e
h
a
b
i
l
i
t
a
t
i
o
n
r
o
b
o
t
d
e
si
g
n
,
”
I
O
P
C
o
n
f
e
re
n
c
e
S
e
ri
e
s:
Ma
t
e
r
i
a
l
s
S
c
i
e
n
c
e
a
n
d
E
n
g
i
n
e
e
ri
n
g
,
v
o
l
.
5
3
,
D
e
c
.
2
0
1
3
,
d
o
i
:
1
0
.
1
0
8
8
/
1
7
5
7
-
8
9
9
X
/
5
3
/
1
/
0
1
2
0
3
8
.
[
1
5
]
E.
A
k
d
o
ğ
a
n
a
n
d
M
.
A
.
A
d
l
i
,
“
T
h
e
d
e
s
i
g
n
a
n
d
c
o
n
t
r
o
l
o
f
a
t
h
e
r
a
p
e
u
t
i
c
e
x
e
r
c
i
se
r
o
b
o
t
f
o
r
l
o
w
e
r
l
i
mb
r
e
h
a
b
i
l
i
t
a
t
i
o
n
:
P
h
y
s
i
o
t
h
e
r
a
b
o
t
,
”
Me
c
h
a
t
r
o
n
i
c
s
,
v
o
l
.
2
1
,
n
o
.
3
,
p
p
.
5
0
9
–
5
2
2
,
A
p
r
.
2
0
1
1
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
me
c
h
a
t
r
o
n
i
c
s.2
0
1
1
.
0
1
.
0
0
5
.
[
1
6
]
A
.
S
.
A
.
D
o
ss,
P
.
K
.
Li
n
g
a
m
p
a
l
l
y
,
a
n
d
L
.
N
u
r
a
h
m
i
,
“
S
y
n
t
h
e
si
s
o
f
a
p
a
r
a
l
l
e
l
ma
n
n
i
p
u
l
a
t
o
r
b
a
se
d
r
e
h
a
b
i
l
i
t
a
t
i
o
n
c
e
r
v
i
c
a
l
c
o
l
l
a
r
f
o
r
C
-
sp
i
n
e
d
i
n
j
u
r
e
d
p
a
t
i
e
n
t
s,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
r
n
a
l
o
f
Ro
b
o
t
i
c
s
a
n
d
A
u
t
o
m
a
t
i
o
n
,
v
o
l
.
3
6
,
n
o
.
1
,
2
0
2
1
,
d
o
i
:
1
0
.
2
3
1
6
/
J.2
0
2
1
.
2
0
6
-
0
4
2
6
.
[
1
7
]
P
.
Ja
i
n
,
T.
K
.
B
e
r
a
,
S
.
R
a
f
i
q
u
e
,
A
.
S
i
n
g
l
a
,
a
n
d
M
.
I
sak
ss
o
n
,
“
C
o
mp
a
r
a
t
i
v
e
st
u
d
y
o
f
k
n
e
e
j
o
i
n
t
t
o
r
q
u
e
e
s
t
i
m
a
t
i
o
n
s
f
o
r
l
i
n
e
a
r
a
n
d
r
o
t
a
r
y
a
c
t
u
a
t
o
r
s
u
si
n
g
b
o
n
d
g
r
a
p
h
a
p
p
r
o
a
c
h
f
o
r
st
a
n
d
–
si
t
–
s
t
a
n
d
mo
t
i
o
n
s,”
I
n
t
e
r
n
a
t
i
o
n
a
l
J
o
u
rn
a
l
o
f
Ad
v
a
n
c
e
d
Ro
b
o
t
i
c
S
y
st
e
m
s
,
v
o
l
.
1
7
,
n
o
.
5
,
S
e
p
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
7
7
/
1
7
2
9
8
8
1
4
2
0
9
6
3
7
4
2
.
[
1
8
]
D
.
S
h
i
,
W
.
Z
h
a
n
g
,
W
.
Z
h
a
n
g
,
a
n
d
X
.
D
i
n
g
,
“
A
R
e
v
i
e
w
o
n
L
o
w
e
r
L
i
mb
R
e
h
a
b
i
l
i
t
a
t
i
o
n
Ex
o
s
k
e
l
e
t
o
n
R
o
b
o
t
s,”
C
h
i
n
e
s
e
J
o
u
r
n
a
l
o
f
Me
c
h
a
n
i
c
a
l
E
n
g
i
n
e
e
r
i
n
g
(
E
n
g
l
i
sh
E
d
i
t
i
o
n
)
,
v
o
l
.
3
2
,
n
o
.
1
,
p
p
.
1
–
1
,
2
0
1
9
,
d
o
i
:
1
0
.
1
1
8
6
/
s
1
0
0
3
3
-
0
1
9
-
0
3
8
9
-
8.
[
1
9
]
G
.
G
R
EB
EN
I
Ş
A
N
a
n
d
I
.
E
.
R
A
D
U
,
“
M
e
c
h
a
n
i
c
a
l
r
e
p
o
r
t
o
f
p
l
a
st
i
c
d
e
f
o
r
ma
t
i
o
n
a
n
a
l
y
si
s,
u
s
i
n
g
e
x
p
l
i
c
i
t
d
y
n
a
mi
c
s
m
o
d
u
l
e
(
A
N
S
Y
S
®)
,
”
AN
N
ALS
O
F
T
H
E
O
R
AD
EA
U
N
I
VE
RS
I
T
Y
.
F
a
sc
i
c
l
e
o
f
Ma
n
a
g
e
m
e
n
t
a
n
d
T
e
c
h
n
o
l
o
g
i
c
a
l
E
n
g
i
n
e
e
ri
n
g
.
,
v
o
l
.
X
X
I
V
(
X
I
V
)
,
n
o
.
3
,
2
0
1
5
,
d
o
i
:
1
0
.
1
5
6
6
0
/
A
U
O
F
M
TE.
2
0
1
5
-
3
.
1
3
1
9
0
.
[
2
0
]
M
.
B
i
r
o
n
,
“
Th
e
r
mo
p
l
a
st
i
c
c
o
m
p
o
si
t
e
s,”
i
n
T
h
e
rm
o
p
l
a
st
i
c
s
a
n
d
T
h
e
rm
o
p
l
a
st
i
c
C
o
m
p
o
s
i
t
e
s
,
El
s
e
v
i
e
r
,
2
0
0
7
,
p
p
.
7
6
7
–
8
2
8
.
d
o
i
:
1
0
.
1
0
1
6
/
B
9
7
8
-
1
8
5
6
1
7
4
7
8
-
7
.
5
0
0
0
9
-
X.
[
2
1
]
W
.
M
e
n
g
,
Q
.
L
i
u
,
Z.
Zh
o
u
,
Q
.
A
i
,
B
.
S
h
e
n
g
,
a
n
d
S
.
(
S
h
a
n
e
)
X
i
e
,
“
R
e
c
e
n
t
d
e
v
e
l
o
p
me
n
t
o
f
me
c
h
a
n
i
sms
a
n
d
c
o
n
t
r
o
l
st
r
a
t
e
g
i
e
s
f
o
r
r
o
b
o
t
-
a
ss
i
s
t
e
d
l
o
w
e
r
l
i
m
b
r
e
h
a
b
i
l
i
t
a
t
i
o
n
,
”
M
e
c
h
a
t
r
o
n
i
c
s
,
v
o
l
.
3
1
,
p
p
.
1
3
2
–
1
4
5
,
O
c
t
.
2
0
1
5
,
d
o
i
:
1
0
.
1
0
1
6
/
j
.
m
e
c
h
a
t
r
o
n
i
c
s
.
2
0
1
5
.
0
4
.
0
0
5
.
[
2
2
]
C
.
C
a
n
t
u
,
J.
Ta
m
e
z
-
D
u
q
u
e
,
S
.
S
h
i
m
o
d
a
,
a
n
d
R
.
S
o
t
o
,
“
D
e
s
i
g
n
o
f
a
c
o
n
t
r
o
l
s
y
s
t
e
m
f
o
r
a
k
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
o
r
t
h
o
s
i
s
u
si
n
g
a
r
e
c
o
v
e
r
y
s
t
a
t
u
s,
”
i
n
2
0
1
7
I
n
t
e
rn
a
t
i
o
n
a
l
S
y
m
p
o
si
u
m
o
n
We
a
r
a
b
l
e
Ro
b
o
t
i
c
s
a
n
d
R
e
h
a
b
i
l
i
t
a
t
i
o
n
(
W
e
R
o
b
)
,
N
o
v
.
2
0
1
7
,
p
p
.
1
–
2
.
d
o
i
:
1
0
.
1
1
0
9
/
W
E
R
O
B
.
2
0
1
7
.
8
3
8
3
8
4
9
.
[
2
3
]
T.
D
.
C
.
T
h
a
n
h
a
n
d
T
.
T
.
P
h
u
c
,
“
N
e
u
r
a
l
n
e
t
w
o
r
k
c
o
n
t
r
o
l
o
f
p
n
e
u
ma
t
i
c
a
r
t
i
f
i
c
i
a
l
mu
s
c
l
e
m
a
n
i
p
u
l
a
t
o
r
f
o
r
K
n
e
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
,
”
S
c
i
e
n
c
e
& T
e
c
h
n
o
l
o
g
y
D
e
v
e
l
o
p
m
e
n
t
,
v
o
l
.
1
1
,
n
o
.
0
3
,
p
p
.
1
6
–
2
9
,
2
0
0
8
.
[
2
4
]
P
.
K
.
Li
n
g
a
m
p
a
l
l
y
,
K
.
C
.
R
a
m
a
n
a
t
h
a
n
,
R
.
S
h
a
n
mu
g
a
m,
L.
C
e
p
o
v
a
,
a
n
d
S
.
S
a
l
u
n
k
h
e
,
“
W
e
a
r
a
b
l
e
A
ssi
s
t
i
v
e
R
e
h
a
b
i
l
i
t
a
t
i
o
n
R
o
b
o
t
i
c
D
e
v
i
c
e
s
—
A
C
o
m
p
r
e
h
e
n
si
v
e
R
e
v
i
e
w
,
”
M
a
c
h
i
n
e
s
,
v
o
l
.
1
2
,
n
o
.
6
,
p
.
4
1
5
,
2
0
2
4
.
[
2
5
]
P
.
K
.
Jamw
a
l
,
S
.
H
u
ss
a
i
n
,
Y
.
H
.
Ts
o
i
,
a
n
d
S
.
Q
.
X
i
e
,
“
M
u
s
c
u
l
o
s
k
e
l
e
t
a
l
m
o
d
e
l
f
o
r
p
a
t
h
g
e
n
e
r
a
t
i
o
n
a
n
d
m
o
d
i
f
i
c
a
t
i
o
n
o
f
a
n
a
n
k
l
e
r
e
h
a
b
i
l
i
t
a
t
i
o
n
r
o
b
o
t
,
”
I
E
EE
T
r
a
n
sa
c
t
i
o
n
s
o
n
H
u
m
a
n
-
Ma
c
h
i
n
e
S
y
st
e
m
s
,
v
o
l
.
5
0
,
n
o
.
5
,
p
p
.
3
7
3
–
3
8
3
,
O
c
t
.
2
0
2
0
,
d
o
i
:
1
0
.
1
1
0
9
/
TH
M
S
.
2
0
2
0
.
2
9
8
9
6
8
8
.
[
2
6
]
D
.
S
h
a
r
ma
e
t
a
l
.
,
“
D
e
s
i
g
n
a
n
d
e
v
a
l
u
a
t
i
o
n
o
f
v
a
r
i
o
u
s
k
n
e
e
a
ss
i
st
i
v
e
mec
h
a
n
i
sms
f
o
r
r
e
h
a
b
i
l
i
t
a
t
i
o
n
,
”
i
n
AI
P
C
o
n
f
e
re
n
c
e
Pro
c
e
e
d
i
n
g
s
,
2
0
2
3
,
v
o
l
.
2
9
4
6
,
n
o
.
1
,
p
.
0
2
0
0
0
3
.
d
o
i
:
1
0
.
1
0
6
3
/
5
.
0
1
7
9
0
1
0
.
B
I
O
G
RAP
H
I
E
S O
F
AUTH
O
RS
Dev
a
s
his
h
S
ha
rm
a
is
a
n
u
n
d
e
rg
ra
d
u
a
te
stu
d
e
n
t
p
u
rsu
i
n
g
a
Ba
c
h
e
lo
r'
s
in
M
e
c
h
a
tro
n
ics
in
th
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
i
n
e
e
rin
g
,
HITS
-
Ch
e
n
n
a
i,
Tam
il
Na
d
u
,
In
d
ia.
His
re
se
a
rc
h
i
n
tere
sts
a
re
in
th
e
field
s
o
f
ro
b
o
t
ics
,
m
e
c
h
a
tro
n
ics
,
a
n
d
in
telli
g
e
n
t
a
u
to
m
a
ti
o
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
o
r
2
0
1
3
0
0
3
2
@s
tu
d
e
n
t.
h
i
n
d
u
sta
n
u
n
i
v
.
a
c
.
in
o
r
d
e
v
a
sh
ish
0
0
5
7
@
g
m
a
il
.
c
o
m
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
AE
S
I
n
t
J
R
o
b
&
A
u
to
m
I
SS
N:
2
7
2
2
-
2
5
8
6
Desig
n
a
n
d
d
ev
elo
p
men
t o
f k
n
ee
r
eh
a
b
ilit
a
tio
n
r
o
b
o
t (
Dev
a
s
h
is
h
S
h
a
r
ma
)
431
S
a
h
il
Ah
a
m
e
d
S
h
a
i
k
is
a
n
u
n
d
e
rg
ra
d
u
a
te
stu
d
e
n
t
p
u
rs
u
in
g
a
Ba
c
h
e
lo
r'
s
in
M
e
c
h
a
tro
n
ics
,
i
n
t
h
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
in
e
e
rin
g
,
HITS
-
C
h
e
n
n
a
i,
Ch
e
n
n
a
i,
Tam
il
Na
d
u
,
I
n
d
ia.
His
re
se
a
rc
h
in
tere
sts
a
re
in
th
e
f
ield
s
o
f
ro
b
o
ti
c
s,
m
e
c
h
a
tro
n
ics
,
a
n
d
in
telli
g
e
n
t
a
u
to
m
a
ti
o
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
2
0
1
3
0
0
0
6
@s
tu
d
e
n
t.
h
in
d
u
sta
n
u
n
iv
.
a
c
.
i
n
o
r
sa
h
il
8
6
4
6
9
@g
m
a
il
.
c
o
m
.
S
a
r
a
n
R
a
ja
g
o
p
a
l
is
is
a
n
u
n
d
e
rg
ra
d
u
a
te
stu
d
e
n
t
p
u
rs
u
in
g
a
Ba
c
h
e
lo
r’s
i
n
M
e
c
h
a
tro
n
ics
,
i
n
t
h
e
De
p
a
rtme
n
t
o
f
M
e
c
h
a
tro
n
ics
En
g
in
e
e
rin
g
,
HITS
-
C
h
e
n
n
a
i,
Ch
e
n
n
a
i,
Tam
il
Na
d
u
,
I
n
d
ia.
His
re
se
a
rc
h
in
tere
sts
a
re
in
th
e
f
ield
s
o
f
ro
b
o
ti
c
s,
m
e
c
h
a
tro
n
ics
,
a
n
d
in
telli
g
e
n
t
a
u
to
m
a
ti
o
n
.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
2
0
1
3
0
0
1
1
@s
tu
d
e
n
t.
h
in
d
u
sta
n
u
n
iv
.
a
c
.
i
n
o
r
sa
ra
n
9
8
8
4
4
@
g
m
a
il
.
c
o
m
.
Ma
n
ju
Mo
h
a
n
(M
e
m
b
e
r,
IEE
E)
re
c
e
iv
e
d
h
e
r
P
h
.
D.
in
m
a
c
h
in
e
lea
rn
in
g
fro
m
th
e
HITS
-
Ch
e
n
n
a
i,
i
n
2
0
2
3
.
S
h
e
e
a
rn
e
d
h
e
r
M
.
Tec
h
.
i
n
VL
S
I
a
n
d
e
m
b
e
d
d
e
d
s
y
ste
m
s
in
2
0
1
4
a
n
d
B.
Tec
h
.
i
n
El
e
c
tro
n
ics
a
n
d
Co
m
m
u
n
ica
ti
o
n
E
n
g
i
n
e
e
rin
g
i
n
2
0
0
8
,
b
o
th
fro
m
M
a
h
a
tma
G
a
n
d
h
i
Un
iv
e
rsity
,
Ke
ra
la.
C
u
rre
n
t
ly
,
s
h
e
is
a
KTP
e
n
g
i
n
e
e
r
with
t
h
e
S
c
h
o
o
l
o
f
En
g
in
e
e
ri
n
g
a
n
d
Tec
h
n
o
l
o
g
y
a
t
As
to
n
Un
iv
e
rsity
,
Birmin
g
h
a
m
,
UK
.
Wi
t
h
1
3
y
e
a
rs
o
f
e
x
p
e
rien
c
e
b
r
id
g
in
g
a
c
a
d
e
m
ia
a
n
d
in
d
u
str
y
,
h
e
r
re
se
a
rc
h
in
tere
sts
i
n
c
lu
d
e
m
a
c
h
in
e
l
e
a
rn
in
g
,
e
m
b
e
d
d
e
d
s
y
ste
m
s,
sig
n
a
l
p
ro
c
e
ss
in
g
,
a
n
d
a
u
t
o
m
a
ti
o
n
.
S
h
e
c
a
n
b
e
c
o
n
tac
ted
a
t
m
.
m
o
h
a
n
@a
sto
n
.
a
c
.
u
k
o
r
m
a
n
ju
m
o
h
a
n
8
@g
m
a
il
.
c
o
m
.
K
u
p
p
a
n
Chetty
Ra
m
a
n
a
th
a
n
(S
e
n
io
r
M
e
m
b
e
r,
IEE
E;
M
e
m
b
e
r,
IE
T)
re
c
e
iv
e
d
h
is
P
h
.
D.
d
e
g
re
e
in
ro
b
o
ti
c
s
a
n
d
c
o
n
tro
ls
fro
m
th
e
In
d
ian
In
sti
tu
te
o
f
Tec
h
n
o
lo
g
y
M
a
d
ra
s
(IIT
M
a
d
ra
s)
in
2
0
1
0
,
h
is
M
.
Tec
h
.
d
e
g
re
e
in
S
e
n
s
o
r
S
y
ste
m
s
Tec
h
n
o
l
o
g
y
fro
m
Ve
ll
o
re
I
n
stit
u
te
o
f
Tec
h
n
o
l
o
g
y
,
Ve
ll
o
re
,
i
n
2
0
0
4
,
a
n
d
h
is
B.
Tec
h
.
d
e
g
re
e
in
I
n
stru
m
e
n
tati
o
n
a
n
d
Co
n
tro
l
En
g
i
n
e
e
rin
g
fro
m
M
a
d
u
ra
i
Ka
m
a
ra
j
Un
iv
e
rsity
,
Tam
il
Na
d
u
,
I
n
d
ia,
in
2
0
0
2
.
Cu
rre
n
tl
y
,
h
e
se
rv
e
s
a
s
a
p
r
o
fe
ss
o
r
i
n
th
e
S
c
h
o
o
l
o
f
M
e
c
h
a
n
ica
l
E
n
g
in
e
e
rin
g
a
t
S
AST
RA
De
e
m
e
d
Un
iv
e
rsity
.
His
c
a
re
e
r
sp
a
n
s
m
o
re
th
a
n
1
8
y
e
a
rs
a
c
ro
ss
b
o
th
a
c
a
d
e
m
ia
a
n
d
i
n
d
u
stry
,
wit
h
a
fo
c
u
s
o
n
ro
b
o
t
ics
,
m
e
c
h
a
tro
n
i
c
s,
a
n
d
a
u
t
o
m
a
ti
o
n
.
His
re
se
a
rc
h
i
n
tere
sts
in
c
l
u
d
e
c
o
o
p
e
ra
ti
v
e
a
n
d
i
n
telli
g
e
n
t
ro
b
o
ti
c
s,
c
li
m
b
in
g
,
a
ss
isti
v
e
a
n
d
re
h
a
b
il
it
a
ti
o
n
ro
b
o
ti
c
s,
i
n
d
u
strial
a
u
to
m
a
ti
o
n
,
a
n
d
m
e
c
h
a
tro
n
ic
sy
ste
m
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
k
u
p
p
a
n
c
h
e
tt
y
@m
e
c
h
.
sa
stra
.
e
d
u
o
r
rm
k
u
p
p
a
n
@g
m
a
il
.
c
o
m
.
Pa
v
a
n
K
a
ly
a
n
Lin
g
a
m
p
a
ll
y
is
a
n
a
ss
istan
t
p
r
o
fe
ss
o
r
i
n
th
e
S
c
h
o
o
l
o
f
M
e
c
h
a
n
ica
l
En
g
i
n
e
e
rin
g
a
t
S
AST
RA
De
e
m
e
d
to
b
e
Un
iv
e
rsit
y
.
He
re
c
e
iv
e
d
h
is
P
h
.
D.
in
r
o
b
o
ti
c
s
a
n
d
a
u
to
m
a
ti
o
n
fr
o
m
VIT
C
h
e
n
n
a
i,
T
a
m
il
Na
d
u
,
in
2
0
2
2
,
h
is
M
.
Tec
h
.
in
m
e
c
h
a
tro
n
ics
fro
m
JN
TU
Hy
d
e
ra
b
a
d
i
n
2
0
1
5
,
h
is
M
.
S
c
.
i
n
Ad
v
a
n
c
e
d
M
e
c
h
a
n
ica
l
E
n
g
i
n
e
e
rin
g
fr
o
m
Bru
n
e
l
Un
i
v
e
rsity
,
Lo
n
d
o
n
,
in
2
0
1
2
,
a
n
d
a
B.
Tec
h
.
in
M
e
c
h
a
n
ica
l
En
g
in
e
e
rin
g
fro
m
JN
TU
Hy
d
e
ra
b
a
d
in
2
0
0
9
.
His
re
se
a
r
c
h
in
tere
sts
in
c
lu
d
e
p
a
ra
ll
e
l
m
e
c
h
a
n
ism
s,
re
h
a
b
il
it
a
ti
o
n
a
n
d
a
ss
isti
v
e
d
e
v
ice
s
,
b
io
m
e
d
ica
l,
m
e
c
h
a
tro
n
ics
,
a
n
d
ro
b
o
ti
c
s.
He
c
a
n
b
e
c
o
n
tac
ted
a
t
p
a
v
a
n
k
a
ly
a
n
@m
e
c
h
.
sa
stra
.
e
d
u
.
Evaluation Warning : The document was created with Spire.PDF for Python.