7 accepted papers
This paper presents the development and experimental evaluation of a portable haptic exoskeleton glove system designed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The proposed glove system involves force perception, linkage-driven finger mechanis…
This paper presents the design and development of a novel, low-profile, exoskeleton robotic glove aimed for people who suffer from brachial plexus injuries to restore their lost grasping functionality. The key idea of this new glove lies in its new finger mechanism that takes advantage of the rigid…
This paper presents a systematical approach to develop a novel reduced complexity quadruped (RCQ) robot designed for serpentine robotic tail research purposes. The critical design requirements are determined based on careful dynamic analysis and synthesis results. Guided by formulated design require…
This paper presents the design, modeling, analysis, and experimental results of a bipedal robotic system that utilizes two interconnected single degree-of-freedom leg mechanisms to produce stable forward locomotion and steering. The legs are composed of double four-bar mechanism connected in series…
This paper presents a neural network based heterogeneous sensor fusion approach towards real-time traversability estimation of mobile robots using sensor data. Even though significant advances have been made for autonomous navigation in structured terrain conditions, obtaining reliable traversabilit…
This paper presents dynamic modeling and control of an articulated robotic tail to maneuver and stabilize a reduced degree-of-freedom (DOF) quadruped robot. Conventional legged robotic systems consist of leg mechanisms that provide simultaneous propulsion, maneuvering and stabilization. However, in…
This paper presents the mechanical design and analysis of a novel leg mechanism that has only one active degree of freedom (DOF). The proposed mechanism is intended towards simplifying the mechanical and control complexity identified with the robotic legs implemented on quadrupedal platforms capable…