Fig. 1 Schematic of subject's arm with robotic system. The robot was used to perturb the subject's arm using a high-torque motor and measure the reaction torque applied by the arm. More

Fig. 2 ( a ) Block diagram illustrating the implementation of the admittance controller. Torque measurements are fed back to generate the velocity commanded to the actuator. ( b ) Free body diagram illustrating the rotational dynamics of the robot, arm, and admittance controller ( c ) block diagra... More

Fig. 3 ( a ) Bode plot of combined admittance control and approximated arm dynamics with the highest bandwidth. The transfer function used for the approximation is described in Appendix A. ( b ) Power spectral density of PRBS perturbation signal that confirms the frequency content in the band of i... More

Fig. 4 ( a ) PRBS signal used during experiments. ( b ) Torque measured during an experiment in the OFF condition together with the estimated torque, which was computed based on the estimated model parameters. The estimated torque was calculated as the inertia, viscosity, and stiffness estimates m... More

Fig. 5 ( a ) mUPDRS scores corrected using the LME model. The LME model corrects for the individual examiner bias and variance. ( b ) Angular impulse scores for each condition. ( c ) Work scores for each condition. More

Fig. 6 ( a ) Changes in the impulse score following a percentage change in the viscous damping or stiffness parameter. The nominal inertia, viscous damping, and stiffness used in this analysis were equal to the median estimates of these parameters. The values of these parameters are ( J p ... More

Fig. 7 Torque versus angular position trajectories when sinusoidal perturbation is applied to the position commanded to the robot More

Fig. 8 ( a ) Median and interquartile ranges of the inertia estimates in each condition. These estimates were found through the least squares approach. No significant differences in the inertia estimates were found between conditions. ( b ) Median and interquartile ranges of the viscous damping es... More

Fig. 1 ( a )–( c ) Typical geometry of cryo-containers ( a ) SPL Life Science Co., Ltd., ( b ) Woosung Cryotech Co., Ltd., ( c ) Thermo Scientific. Co. Ltd., ( d ) Temperature change with time in ( c ) stored inside VN2 tank, ( e ) and ( f ) designs of cryo-container proposed in this paper, ( e ) ... More

Fig. 2 5 × 5 storage container model 1 to be examined More

Fig. 3 9 × 9 storage container model 2 to be examined More

Fig. 4 ( a ) Contact condition, ( b ) boundary condition, and ( c ) load condition for thermal analysis of cryo-container More

Fig. 5 Equivalent stress distribution for each model More

Fig. 6 Schematic of the inside of the vapor-type tank for the calculation of the inlet flow velocity during flow analysis More

Fig. 7 Example of flow analysis modeling and boundary condition setting for storage containers More

Fig. 8 Inlet setting for the 5 × 5 and 9 × 9 storage containers (marked in cyan) More

Fig. 9 Flow trends of nitrogen gas inside the storage containers in the cryogenic steady-state More

Fig. 10 Fabrication of cryogenic storage container prototypes ( a ) the Injection mold and product for fabricating 5 × 5_final and ( b ) the Injection mold and product for fabricating 9 × 9_final More