• The Concept and Implementation of a Passive Trajectory Enhancing Robot 

      Book, Wayne John; Charles, Robert; Davis, Hurley T.; Gomes, Mario Waldorff (Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 1996-11)
      A novel controlled passive device is described which allows its end effector to be pushed only along a specified but arbitrary path. The force to move the end effector must be provided by an external source such as a human, ...
    • An investigation of a passively controlled haptic interface 

      Davis, Hurley T.; Book, Wayne John (Georgia Institute of TechnologyAmerican Nuclear Society, 1997)
      Haptic interfaces enhance cooperation between humans and robotic manipulators by providing force and tactile feedback to the human user during the execution of arbitrary tasks. The use of active actuators in haptic displays ...
    • Torque control of a redundantly actuated passive manipulator 

      Davis, Hurley T.; Book, Wayne John (Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 1997-06)
      The study of passivity in the robotics domain has been motivated by safety and stability concerns in applications such as haptic displays, surgical robots, teleoperation, and manufacl1u·ing. This paper describes a ...