5 accepted papers
The safety-critical nature of vehicle steering is one of the main motivations for exploring the space of possible cyber-physical attacks against the steering systems of modern vehicles. This paper investigates the adversarial capabilities for destabilizing the interaction dynamics between human driv…
This paper presents an innovative robotic mechanism for generating peristaltic motion for robotic locomotion systems. The designed underactuated peristaltic robot utilizes a minimum amount of electromechanical hardware. Such a minimal electromechanical design not only reduces the number of potential…
This letter presents a method of designing relative-degree-two nonholonomic virtual constraints (NHVCs) that allow for stable bipedal robotic walking across variable terrain slopes. Relative-degree-two NHVCs are virtual constraints that encode velocity-dependent walking gaits via momenta conjugate t
The thumb of a natural hand or a prosthetic hand plays a significant role in realizing a hand's grasping and manipulation activities. This requires that mechanical design of a prosthetic hand should allow its thumb to perform both abduction/adduction and flexion/extension in order to mimic a natural
The potential of multi-degrees-of-freedom (DOFs) local magnetic actuation (LMA) has been established in recent years for dexterous minimally invasive surgical manipulations. Nonetheless, having multiple magnetic based units, one for each DOF, within a close vicinity to each other leads to magnetic f