This paper studies the force capability of a particular class of underactuated fingers. Force capability is defined as the ability to create an external wrench onto a fixed object. The concept of underactuation in robotic fingers, with fewer actuators than degrees of freedom (DOF) through the use of springs and mechanical limits, allows the hand to adjust itself to an irregularly shaped object ...

This paper focuses firstly, on the kinematics structure required for a humanoid service robot arm and secondly, on transferring human motion obtained from visual motion capture to the humanoid arm. The kinematics structure of a ten Degree of Freedom (DOF) humanoid arm which has a two DOF shoulder girdle and has a four DOF glenohumeral joint is presented. A method of obtaining the sternum positi...

There are many design factors and choices when mounting a vision system for robot control. Such factors may include the kinematic and dynamic characteristics in the robot’s degrees of freedom (DOF), which determine at what velocities and fields-of-view a camera can achieve. Another factor is that additional motion components (such as pan-tilt units) are often mounted on a robot and introduce sy...

This paper reports a novel four-degrees-of-freedom (DOF) nonresonant micromachined gyroscope design concept that addresses two major MEMS gyroscope design challenges: eliminating the mode-matching requirement and minimizing instability and drift due to mechanical coupling between the drive and sense modes. The proposed approach is based on utilizing dynamical amplification both in the 2-DOF dri...

Interference management in a three-user interference channel with alternating connectivity with only topological knowledge at the transmitters is considered. The network has a Wyner-type channel flavor, i.e., for each connectivity state the receivers observe at most one interference signal in addition to their desired signal. Degrees of freedom (DoF) upper bounds and lower bounds are derived. T...

We investigate the symmetric degrees of freedom (DoF) of the K-pair (2K users) two-way relay Multiple-Input Multiple-Output (MIMO) Gaussian interference channel for K = 2, 3 where each user is equipped with M antennas and the relay node is equipped with N antennas. The two users of each pair communicate with each other via the help of the relay only. Expressing the DoF characterization as a fun...

This paper proposes a potential‐based path planning algorithm of articulated robots with 2‐DOF joints. The algorithm is an extension of a previous algorithm developed for 3‐DOF joints. While 3‐DOF joints result in a more straightforward potential minimization algorithm, 2‐DOF joints are obviously more practical for active operations. The proposed approach computes r...

This paper investigates the six degrees of freedom (6-DOF) flight dynamics and stability of the hawkmoth Manduca sexta using a multibody dynamics approach that encompasses the effects of the time varying inertia tensor of all the body segments including two wings. The quasi-steady translational and unsteady rotational aerodynamics of the flapping wings are modeled with the blade element theory ...

The research presented in this thesis describes a substantial part of the design of a prototypical surgical training simulator. The results are intended to be applied in future simulators used to educate and train surgeons for bone milling operations. In earlier work we have developed a haptic bone milling surgery simulator prototype based on three degrees-of-freedom force feedback. The contrib...

A slow embryonic heart rate in early-mid gestation is associated with increased risk of embryonic death and malformation, however, the long-term consequences remain unknown. We administered Dofetilide (Dof, 2.5 mg/kg), a drug that produces embryo-specific bradycardia, to pregnant rats from gestational days 11-14. Embryonic heart rate and rhythm were determined using embryo culture. Cardiovascul...