3 accepted papers
In this paper we examine a novel method of core-located actuation that we believe can be used to vary gaits in a compass-gait walker, using critical analysis of a ball-in-tray mechanism to apply forces at the robot's "pelvis". The dynamic equations of motion of a tilting ball-tray system with severa…
The human thumb's state contribution to grasping and dexterous manipulation of objects is a function of the kinematic multiplicity of joints and structure of the bones, joints, and ligaments. This paper looks at the design and evaluation of a human-like thumb for use in a robotic hand, where the thu…
Two leading qualities of skeletal muscle that produce good performance in uncertain environments are damage tolerance and the ability to modulate impedance. For this reason, robotics researchers are greatly interested in discovering the key characteristics of muscles that give them these properties…