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A custom brace design to connect a user limb to an exoskeleton link with minimal discomfort
(IEEE, 2021)
Exoskeletons are increasingly helping people with different applications. Regardless of what they were built for, exoskeletons have a common discomfort problem from the misalignment of robot and human joints. In this paper, ...
Fast and efficient terrain-aware motion planning for exploration rovers
(IEEE, 2021)
This paper presents a fast, energy-efficient, and low computational cost traversal solution on sloped terrain. The use of grid-based search algorithms requires high computational power and takes a long time because almost ...
Learning medical suturing primitives for autonomous suturing
(IEEE, 2021)
This paper focuses on a learning from demonstration approach for autonomous medical suturing. A conditional neural network is used to learn and generate suturing primitives trajectories which were conditioned on desired ...
A comparative evaluation of sepiolite and nano-montmorillonite on the rheology of cementitious materials for 3D printing
(Elsevier, 2022-10-03)
Through the last decade, methods of digital manufacturing of concrete gained a significant interest compared to conventional concrete. The main challenge in additive manufacturing (3D printing) is to design a highly ...
Adaptive shared control with human intention estimation for human agent collaboration
(IEEE, 2022)
In this paper an adaptive shared control frame-work for human agent collaboration is introduced. In this framework the agent predicts the human intention with a confidence factor that also serves as the control blending ...
Simulation-based design and locomotion control implementation for a lower body exoskeleton
(IEEE, 2022)
This paper proposes a simulation-based design and locomotion control methodology for an exoskeleton that is aimed at providing assistance to users with ambulatory difficulties. To increase the power-to-weight ratio while ...
Contact force distribution using centroidal momentum feedback for quadruped locomotion
(IEEE, 2023)
This paper proposes a method to distribute contact forces to eliminate undesired torso orientation fluctuations and regulate heading during dynamic quadruped trot-walking motion. The proposed method makes use of centroidal ...
Reducing charging costs for electric vehicles with bi-directional charging
(IEEE, 2023)
Electric vehicles (EVs) have gained popularity as eco-friendly and energy-efficient modes of transportation. How-ever, the high cost of charging infrastructure remains a significant barrier to the widespread adoption of ...
A solenoid injector based drop-on-demand system for generating large droplets
(American Institute of Physics Inc., 2023-09-01)
This paper proposes a drop-on-demand (DOD) system that can produce single droplets of highly repeatable size in the order of 2 mm. This system utilizes an on-the-shelf solenoid injector used in automotive applications. The ...
Designing redundant cable-driven parallel robots for additive manufacturing using end-effector compliance index
(IEEE, 2023)
This paper presents a methodology for optimizing cable anchor points for cable-driven parallel robots (CDPRs) for specific additive manufacturing tasks. Much of a CDPR's workspace is generally not used for printing tasks. ...
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