Abstract: This paper presents three-dimensional static modeling of the human lumbar spine to be used in the formation of anatomically-correct movement patterns for a fully cable-actuated robotic lumbar ...

Abstract: We consider the problems of kinematic and dynamic constraints, with actuator saturation and wheel slippage avoidance, for motion planning of a holonomic three-wheeled omni-directional robot. That ...

Abstract: The Naturally-Transitioning Rate-to-Force Controller (NTRFC) is presented for teleoperation of manipulators. Our goal is to provide a single controller which handles free motion, constrained motion, ...

Abstract: We present a method for measurement of human tissue compliance in vivo using a commercial haptic interface to apply known step changes in force while recording the resulting displacements. We ...