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Proceedings Papers

Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants

Federico Thomas, M. Alba Perez-Gracia

Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A072, August 6–9, 2017

Paper No: DETC2017-67706

DOI: https://doi.org/10.1115/DETC2017-67706

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Topics: Kinematics, Robots, Algebra, Computers, Polynomials

Proceedings Papers

Synthesis of Spatial 3R Chains With Configuration-Specific Twist System

Neda Hassanzadeh, Mason Wegert, M. Alba Perez-Gracia

Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A050, August 6–9, 2017

Paper No: DETC2017-67905

DOI: https://doi.org/10.1115/DETC2017-67905

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Topics: Chain, End effectors, Linkages, Trajectories (Physics)

Proceedings Papers

Design of a Multi-Palm Robotic Hand for Assembly Tasks

Reza Movassagh-Khaniki, Neda Hassanzadeh, Abhijit Makhal, Alba Perez-Gracia

Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A079, August 21–24, 2016

Paper No: DETC2016-59980

DOI: https://doi.org/10.1115/DETC2016-59980

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Topics: Design, End effectors, Manufacturing, Robotics, Grippers, Manipulators, Robots, Emergencies, Grasping, Kinematics

Proceedings Papers

Quantification of Upper-Body Synergies: A Case Comparison for Stroke and Non-Stroke Victims

Omid Heidari, John O. Roylance, Alba Perez-Gracia, Eydie Kendall

Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A032, August 21–24, 2016

Paper No: DETC2016-59314

DOI: https://doi.org/10.1115/DETC2016-59314

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Topics: Chain, Degrees of freedom, Kinematics, Linkages, Principal component analysis, Tree (Data structure)

Proceedings Papers

A Design Implementation Process for Robotic Hand Synthesis

Neda Hassanzadeh, Xiangwei He, Alba Perez-Gracia

Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A033, August 2–5, 2015

Paper No: DETC2015-46098

DOI: https://doi.org/10.1115/DETC2015-46098

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Topics: Design, End effectors, Kinematics, Robotics, Manufacturing, Computer software, Computer-aided design, Databases, Geometry, Internal friction

Journal Articles

Dimensional Synthesis of Wristed Binary Hands

Neda Hassanzadeh, Alba Perez-Gracia

J. Mechanisms Robotics. April 2016, 8(2): 021006.

Paper No: JMR-15-1011

DOI: https://doi.org/10.1115/1.4031339

Published Online: November 24, 2015

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Topics: Chain, Design, End effectors, Kinematics, Robotics, Topology, Fractals, Grasping

Journal Articles

Link-Based Performance Optimization of Spatial Mechanisms

Yimesker Yihun, Ken W. Bosworth, Alba Perez-Gracia

J. Mech. Des. December 2014, 136(12): 122303.

Paper No: MD-14-1190

DOI: https://doi.org/10.1115/1.4028304

Published Online: October 20, 2014

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Topics: Linkages, Optimization

Proceedings Papers

Link-Based Performance Optimization of Spatial Mechanisms

Yimesker Yihun, Ken Bosworth, Alba Perez-Gracia

Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A040, August 4–7, 2013

Paper No: DETC2013-12081

DOI: https://doi.org/10.1115/DETC2013-12081

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Topics: Optimization, Kinematics, Design, Dimensions, Linkages, Algorithms, Friction, Genetic algorithms, Stress

Proceedings Papers

Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks

Edgar Simo-Serra, Francesc Moreno-Noguer, Alba Perez-Gracia

Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 377-386, August 28–31, 2011

Paper No: DETC2011-47818

DOI: https://doi.org/10.1115/DETC2011-47818

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Topics: Design, Robotics, Chain, Genetic algorithms, Kinematic chains, Kinematics, Trajectories (Physics), Tree (Data structure)

Journal Articles

Synthesis of Spatial RPRP Closed Linkages for a Given Screw System

Alba Perez-Gracia

J. Mechanisms Robotics. May 2011, 3(2): 021009.

DOI: https://doi.org/10.1115/1.4003846

Published Online: April 11, 2011

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Topics: Chain, Linkages, Screws

Proceedings Papers

Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications

Anthony L. Crawford, Alba Perez-Gracia

Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 29-36, August 15–18, 2010

Paper No: DETC2010-28418

DOI: https://doi.org/10.1115/DETC2010-28418

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Topics: Artificial limbs, Design, End effectors, Muscle, Signals, Electromyography, Actuators, Approximation, Kinematics, Skin

Proceedings Papers

A Hybrid Optimal Control Strategy for a Smart Prosthetic Hand

Cheng-Hung Chen, D. Subbaram Naidu, Alba Perez-Gracia, Marco P. Schoen

Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 89-96, October 12–14, 2009

Paper No: DSCC2009-2507

DOI: https://doi.org/10.1115/DSCC2009-2507

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Topics: Artificial limbs, Optimal control, Control equipment, Dynamics (Mechanics), Engineering simulation, Errors, Feedback, Kinematics, Simulation

Proceedings Papers

Distributed Actuation and Shape Control of Ionic Polymer Metal Composites

Bryce M. Knight, Marco P. Schoen, Alba Perez-Gracia

Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1499-1505, November 5–10, 2006

Paper No: IMECE2006-15826

DOI: https://doi.org/10.1115/IMECE2006-15826

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Topics: Metallic composites, Polymers, Shapes, Actuators, Aerospace industry, Biomedical engineering, Deformation, Displacement, Energy consumption, Performance

Proceedings Papers

Vision-Based Kinematic Synthesis of Hand Motion

Karthikeyan Duraisamy, Alba Perez-Gracia, Marco P. Schoen

Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1365-1374, November 5–10, 2006

Paper No: IMECE2006-14870

DOI: https://doi.org/10.1115/IMECE2006-14870

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Topics: Kinematics, Signals, Dimensions, Prostheses, Algorithms, Dynamics (Mechanics), Muscle, Algebra, Chain

Journal citation

NARROW

Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants

Synthesis of Spatial 3R Chains With Configuration-Specific Twist System

Design of a Multi-Palm Robotic Hand for Assembly Tasks

Quantification of Upper-Body Synergies: A Case Comparison for Stroke and Non-Stroke Victims

A Design Implementation Process for Robotic Hand Synthesis

Dimensional Synthesis of Wristed Binary Hands

Link-Based Performance Optimization of Spatial Mechanisms

Link-Based Performance Optimization of Spatial Mechanisms

Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks

Synthesis of Spatial RPRP Closed Linkages for a Given Screw System

Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications

A Hybrid Optimal Control Strategy for a Smart Prosthetic Hand

Distributed Actuation and Shape Control of Ionic Polymer Metal Composites

Vision-Based Kinematic Synthesis of Hand Motion

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