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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 ...
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 ...
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 ...
Motor Task Planning for Neuromuscular Function Tests using an Individual Muscle Control Technique
(Georgia Institute of Technology, 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 ...
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 ...
Discrete Switching Vibration Suppression for Flexible Systems with Redundant Actuation
(Georgia Institute of Technology, 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 ...
Modeling & Characterizing Stochastic Actuator Arrays
(Georgia Institute of Technology, 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 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 ...