8 accepted papers
This research focuses on soft robotic bladders that are used to monitor and control the interaction between a user's head and the shell of a Smart Helmet. Compression of these bladders determines impact dissipation; hence the focus of this paper is sensing and estimation of bladder compression. An I…
This letter evaluates the capabilities of a soft robotic pneumatic actuator derived from the terrain display haptic device, the “Smart Shoe.” The bladder design of the Smart Shoe is upgraded to include a pressure supply and greater output flow capabilities. Forcing characteristics are identified and
With a growing number of applications in the world for UAVs, there is a clear limitation regarding the need for extended battery life. With the current flight times, many users would benefit greatly with an innovative option of field charging these devices. The objective of this project is to invest…
Path following accuracy and error convergence with graceful motion in vehicle steering control is challenging due to the competing nature of these requirements, especially across a range of operating speeds. This work is founded upon slip-based kinematic and dynamic models, which allow derivation of…
We design and test a 3 DoF parallel cable system capable of applying precise and accurate impulses to walking and running subjects for the University of Utah's Treadport Active Wind Tunnel (TPAWT). Using Nexus VICON motion capture and gait algorithms, perturbations can be applied at different points…
Articulated wheeled mobile robots (AWMRs) have reconfigurable body structures that permit them to traverse rough terrains. Predicting trajectories of these robots on a rough surface is vital to carry out path planning. Several model-based approaches have been proposed in the past to predict these tr
The exploration of an “intelligent” orthotic shoe sole to negate, or minimize, longitudinal slip by momentarily increasing friction force is presented. The conceptual device takes the form of a rubberized shoe sole containing pockets of air that can be released via valves controlled by a microproces…
Much research has been done recently on getting various UAVs to perch on various surfaces, however very little research has looked at how to detect when this perch has failed, especially when the surface the UAV is perched on is moving. This paper proposes a method to detect these types of falls usi…