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Full-Text Articles in Engineering
Development Of An Active Finger Motion Simulator: With In-Vitro Assessments Of Tendon Loads And Joint Kinematics, Mohammad Haddara
Development Of An Active Finger Motion Simulator: With In-Vitro Assessments Of Tendon Loads And Joint Kinematics, Mohammad Haddara
Electronic Thesis and Dissertation Repository
Musculoskeletal injuries of the finger far outnumber those of other joints, and while in-vitro motion simulators are useful for studying joint biomechanics and evaluating surgical repairs, considerably less simulator development has been reported for the finger compared to other joints. Replication of active musculoskeletal movement during in-vitro testing has been shown to be more representative of in-vivo motion patterns, and closed-loop motion controllers are the current state-of-the-art for in-vitro kinematics studies. However, an in-vitro motion simulator with closed-loop tendon load control and simultaneous tendon excursion control has not yet been reported for the finger. This thesis outlines the design and …
Grasp Evaluation Method For Applying Static Loads Leading To Beam Failure, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.
Grasp Evaluation Method For Applying Static Loads Leading To Beam Failure, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.
Electrical and Computer Engineering Publications
This paper deals with the problem of purposefully failing or yielding an object by a robotic gripper. We propose a grasp quality measure fabricated for robotic harvesting in which picking a crop from its stem is desired. The proposed metric characterizes a suitable grasp configuration for systematically controlling the failure behavior of an object to break it at the desired location while avoiding damage on other areas. Our approach is based on failure task information and gripper wrench insertion capability. Failure task definition is accomplished using failure theories. Gripper wrench insertion capability is formulated by modeling the friction between the …