Abstract: Remote-actuated mechanisms that employ tendon sheaths or tether units can transmit mechanical force without directly connecting the actuators to the mechanism, but suffer from undesirable side effects like mechanical ...

Abstract: Real-time motion planning of robots in a dynamic environment requires a continuous evaluation of the determined trajectory so as to avoid moving obstacles. This is even more challenging when the robot also needs to perform ...

Abstract: Safe tool-tissue interaction is critical in medicine. The exerted force or torque on the tissue is required to be under control. This paper presents a design framework for producing simple mechanisms with adjustable constant ...

Abstract: The field of aerial robotics has advanced rapidly, but the design knowledge has not yet been codified into reusable design guidelines. Design guidelines have been developed for many mechanical design areas to advance the ...

Abstract: This paper presents the design and development of a new type of piezoelectric-driven robot, which consists of a piezoelectric unimorph actuator integrated as part of the structure of a four-bar linkage to generate locomotion. ...

Abstract: The accuracy of many freehand medical procedures can be improved with assistance from realtime localization. Magnetic localization systems based on harnessing passive permanent magnets (PMs) are of great interest to track ...

Abstract: Design and other fundamental topics in engineering are often isolated to dedicated courses. An opportunity exists to foster a culture of engineering design and multidisciplinary problem solving throughout the curriculum. ...

Abstract: This paper presents the design, modeling, and analysis of the force behavior acting on a wheel-legs (whegs) type robot which utilizes bilayer dry adhesives for wall-climbing. The motion of the robot is modeled as a ...