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RISDesign of Nonlinear Rotational Stiffness Using a Noncircular Pulley Spring Mechanism
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: We present a new methodology for designing a nonlinear rotational spring with a desired passive torque profile by using a noncircular pulleyspring mechanism. A synthesis procedure for the shape of the noncircular pulley ...
A Novel Joint Design for Robotic Hands With Humanlike Nonlinear Compliance
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Robotic hands are typically too rigid to react against unexpected impacts and disturbances in order to prevent damage. Human hands have great versatility and robustness due, in part, to the passive compliance at the hand ...
Series Elastic Actuators for Small-Scale Robotic Applications
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Torque control of small-scale robotic devices such as hand exoskeletons is challenging due to the unavailability of miniature and compact bidirectional torque actuators. In this work, we present a miniature Bowden-cable-based ...
Accurate, Robust, and Real Time Pose Estimation of Finger
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Many robotic applications need an accurate, robust, and fast estimation of finger pose. We present a novel finger pose estimation method using a motion capture system. The method combines a system identification stage and ...
Variable Thumb Moment Arm Modeling and Thumb-Tip Force Production of a Human-Like Robotic Hand
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The anatomically correct testbed (ACT) hand mechanically simulates the musculoskeletal structure of the fingers and thumb of the human hand. In this work, we analyze the muscle moment arms (MAs) and thumb-tip force vectors ...
Design and Performance of a Motor Driven Mechanism to Conduct Experiments With the Human Index Finger
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: Passive properties of the human hands, defined by the joint stiffness and damping, play an important role in hand biomechanics and neuromuscular control. Introduction of mechanical element that generates humanlike passive ...
On Integration of Additive Manufacturing During the Design and Development of a Rehabilitation Robot: A Case Study
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The field of rehabilitation robotics has emerged to address the growing desire to improve therapy modalities after neurological disorders, such as a stroke. For rehabilitation robots to be successful as clinical devices, ...
A Simulation Framework for Virtual Prototyping of Robotic Exoskeletons
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: A number of robotic exoskeletons are being developed to provide rehabilitation interventions for those with movement disabilities. We present a systematic framework that allows for virtual prototyping (i.e., design, control, ...
Design of a Single Degree-of-Freedom, Adaptable Electromechanical Gait Trainer for People With Neurological Injury
Publisher: The American Society of Mechanical Engineers (ASME)
Abstract: The cost of therapy is one of the most significant barriers to recovery after neurological injury. Robotic gait trainers move the legs through repetitive, natural motions imitating gait. Recent meta-analyses conclude that ...