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Individual Muscle Control using an Exoskeleton Robot for Muscle Function Testing
(Georgia Institute of Technology, 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 ...
Design of an MRI Compatible Haptic Interface
(Georgia Institute of Technology, 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 ...
1-DOF Dynamic Pitching Robot that Independently Controls Velocity, Angular Velocity, and Direction of a Ball
(Georgia Institute of Technology, 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 ...
Piezoelectric Tweezer-type End-effector with Force- and Displacement-Sensing Capability
(Georgia Institute of Technology, 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 ...
Wearable Sensorimotor Enhancer for a Fingertip based on Stochastic Resonance
(Georgia Institute of Technology, 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 ...
Piezoelectric Self-Sensing Technique for Tweezer Style End-effector
(Georgia Institute of Technology, 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 ...
Experimental Verification of Discrete Switching Vibration Suppression
(Georgia Institute of Technology, 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 ...
Large Effective-Strain Piezoelectric Actuators Using Nested Cellular Architecture with Exponential Strain Amplification Mechanisms
(Georgia Institute of Technology, 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 Technology, 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 ...
A fingerprint method for variability and robustness analysis of stochastically controlled cellular actuator arrays
(Georgia Institute of Technology, 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 ...