Bio-Robotics & Human Modeling Laboratory
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Recent Submissions
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Intersample Discretization of Control Inputs for Flexible Systems with Quantized Cellular Actuation
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2010-09) -
Analysis of Antagonist Stiffness for Nested Compliant Mechanisms in Agonist-Antagonist Arrangements
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2011-09) -
Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2009-10) -
Pinpointed Muscle Force Control Taking Into Account the Control DOF of Power-assisting Device
(Georgia Institute of TechnologyAmerican Society of Mechanical Engineers, 2010-09) -
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 ... -
Piezoelectric Self-Sensing Technique for Tweezer Style End-effector
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-12)This paper presents the application of a piezoelectric self-sensing technique based on discharged current to robotic tweezers incorporating a rhombus strain amplification mechanism driven by serially connected piezoelectric ... -
Piezoelectric Tweezer-type End-effector with Force- and Displacement-Sensing Capability
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-06)This paper presents the design and development of robotic tweezers with a force- and displacement-sensing capability driven by piezoelectric stack actuators. In order to satisfy sufficient stroke and tip-force for future ... -
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 ... -
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 ... -
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 ... -
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 ... -
Wearable Sensorimotor Enhancer for a Fingertip based on Stochastic Resonance
(Georgia Institute of TechnologyInstitute of Electrical and Electronics Engineers, 2011-05)This paper reports the initial experimental results of a wearable sensorimotor enhancer for a fingertip. A shorttime exposure of tactile receptors to sub-sensory white-noise vibration is known to improve the tactile ... -
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 ... -
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 ... -
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 ... -
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 ... -
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 ...
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