Browsing Bio-Robotics & Human Modeling Laboratory by Title
Now showing items 1-20 of 27
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1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball
(Georgia Institute of TechnologyBrill Academic Publishers, 2010)This paper demonstrates that a 1-DOF planar ball-throwing robot has the capability of controlling three kinematic variables of a ball independently: translational velocity, angular velocity, and direction. The throwingmotion ... -
Analysis of an MRI Compatible Force Sensor for Sensitivity and Precision
(Georgia Institute of Technology, 2013-02)Magnetic resonance imaging (MRI) compatible force sensors are important components in medical robotics, as they enable force feedback in a challenging environment for surgical and assistive robots. This paper analyzes a ... -
Analysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-Antagonist Arrangements
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2011-09) -
Design of an MRI Compatible Haptic Interface
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)This paper proposes an MRI-compatible, 1-axis force sensing unit which is designed to be used as a haptic interface on an MRI compatible robot. Recently, it became a popular research direction to enable MRI in surgical ... -
Discrete Switching Vibration Suppression for Flexible Systems with Redundant Actuation
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-07)If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero ... -
Dynamic Cellular Actuator Arrays and Expanded Fingerprint Method for Dynamic Modeling
(Georgia Institute of Technology, 2014-07)A key step to understanding and producing natural motion is creating a physical, well understood actuator with a dynamic model resembling biological muscle. This actuator can then serve as the basis for building viable, ... -
Dynamics-based motion de-blurring for a PZT-driven, compliant camera orientation mechanism
(Georgia Institute of Technology, 2015-02)This paper proposes a method for removing motion blur from images captured by a fast-moving robot eye. Existing image techniques focused on recovering blurry images due to camera shake with long exposure time. In addition, ... -
Experimental Verification of Discrete Switching Vibration Suppression
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-01-20)Control system design for flexible robotic systems requires special care with regard to the control system design to prevent oscillation in the system's resonant modes. If the resonant frequencies of such a system are ... -
Experimental Verification of Discrete Switching Vibration Suppression
(Georgia Institute of Technology, 2012-04)Control system design for flexible robotic systems requires special care with regard to the control system design to prevent oscillation in the system's resonant modes. If the resonant frequencies of such a system are ... -
A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays
(Georgia Institute of TechnologySAGE Publications, 2011)This paper presents a “Fingerprint Method” for modeling and subsequently characterizing stochastically controlled actuator arrays. The actuator arrays are built from small actuator cells with structural elasticity. These ... -
A Force and Displacement Self-Sensing Piezoelectric MRI-Compatible Tweezer End Effector with an On Site Calibration Procedure
(Georgia Institute of Technology, 2014-04)This paper describes a self-sensing technique for a piezoelectrically driven magnetic resonance imaging (MRI)-compatible tweezer style end effector, suitable for robot assisted MRI guided surgery. Nested strain amplification ... -
Improved Stability of Haptic Human-Robot Interfaces using Measurement of Human Arm Stiffness
(Georgia Institute of Technology, 2014-06)Necessary physical contact between an operator and a force feedback haptic device creates a coupled system consisting of human and machine. This contact, combined with the natural human tendency to increase arm stiffness ... -
Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-08)Healthy individuals modulate muscle activation patterns according to their intended movement and external environment. Persons with neurological disorders (e.g., stroke and spinal cord injury), however, have problems in ... -
Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2009-10) -
Intersample Discretization of Control Inputs for Flexible Systems with Quantized Cellular Actuation
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2010-09) -
Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ... -
Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2010-10)Design and analysis of piezoelectric actuators having over 20% effective strain using an exponential strain amplification mechanism are presented in this paper. Piezoelectric ceramic material, such as lead zirconate titanate ... -
Modeling & Characterizing Stochastic Actuator Arrays
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-10)If the modal response for a single degree of freedom flexible system is known, a command generation architecture can be determined which schedules on/off actuator effort such that the resulting motion will have zero ... -
Motor Task Planning for Neuromuscular Function Tests using an Individual Muscle Control Technique
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2009-06)A functionality test at the level of individual muscles may be effective for neuromuscular function tests. This paper proposes a novel computational method for neuromuscular function test planning using an individual muscle ... -
Nested piezoelectric cellular actuators for a biologically inspired camera positioning mechanism
(Georgia Institute of Technology, 2013-10)Using successive stages, or nesting compliant amplification mechanisms, soft actuators with performance suitable for robotic applications can be constructed with piezoelectric ceramic as the active material. This paper ...