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Adv Robot 2020 16;34(17):1137-1155. Epub 2020 Jun 16.

Department of Biology, Northeastern University, Boston, Massachusetts 02115, USA.

Manipulation of objects with underactuated dynamics remains a challenge for robots. In contrast, humans excel at 'tool use' and more insight into human control strategies may inform robotic control architectures. We examined human control of objects that exhibit complex - underactuated, nonlinear, and potentially chaotic dynamics, such as transporting a cup of coffee. Read More

Adv Robot 2016;30(3):165-177. Epub 2016 Mar 7.

Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA 37212.

Chronic hand impairment is common following stroke. This paper presents an actuated thumb exoskeleton (ATX) to facilitate research in examining motor control and hand rehabilitation. The ATX presented in this work aims to provide independent bi-directional actuation in each of the 5 degrees-of-freedom (DOF) of the thumb using a novel flexible shaft based mechanism that has 5 active DOF and 3 passive DOF. Read More

Adv Robot 2015;29(13):817-829

http://rpk.lcsr.jhu.edu.

Hyper-redundant (or snakelike) manipulators have many more degrees of freedom than are required to position and orient an object in space. They have been employed in a variety of applications ranging from search-and-rescue to minimally invasive surgical procedures, and recently they even have been proposed as solutions to problems in maintaining civil infrastructure and the repair of satellites. The kinematic and dynamic properties of snakelike robots are captured naturally using a continuum backbone curve equipped with a naturally evolving set of reference frames, stiffness properties, and mass density. Read More

Adv Robot 2011 Jan;25(15):1879-1901

Washington University; Saint Louis, Missouri 63130.

Background And Purpose: Stroke is the leading cause of long term disability in the United States, and for many it causes loss of gait function. The purpose of this research is to examine stroke survivors' gait adaptations to training on the Powered Ankle Foot Orthosis (PAFO). Of particular interest is the stroke survivors' ability to learn how to store and release energy properly while using the device. Read More

Adv Robot 2009 ;23(6):747-766

Zanvyl Krieger Mind/Brain Institute, Johns Hopkins University, Baltimore, MD 21218, USA.

An understanding of texture perception by robotic systems can be developed by examining human texture perception through a probe. Like texture perception through direct touch with the finger, texture perception by indirect means of a probe is multi-dimensional, comprising rough, hard, and sticky texture continua. In this study, we describe the individual subject variability in probe-mediated texture perception, and compare similarities and differences of texture perception between direct touch and indirect touch. Read More

Adv Robot 2006 ;20(10):1147-1163

Department of Adaptive Machine Systems, Graduate School of Engineering, Osaka University, 2-1 Yamada-oka, Suita, Osaka 565-0871, Japan.

Our research goal is to discover the principles underlying natural communication among individuals and to establish a methodology for the development of expressive humanoid robots. For this purpose we have developed androids that closely resemble human beings. The androids enable us to investigate a number of phenomena related to human interaction that could not otherwise be investigated with mechanical-looking robots. Read More

Adv Robot 2001 Dec;15(8):847-58

Clemson Univ, Dept Elect & Comp Engn; Clemson, SC 29634, USA.

The area of tentacle and trunk type biological manipulation is not new, but there has been little progress in the development and application of a physical device to simulate these types of manipulation. Our research in this area is based on using an 'elephant trunk' robot. In this paper, we review the construction of the robot and how it compares to biological manipulators. Read More