181 citations · 243 across the 12 of their papers we have counts for
15 papers
Design Considerations for 3RRR Parallel Robots with Lightweight, Approximate Static-Balancing
Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan
Balancing parallel robots throughout their workspace while avoiding the use of balancing masses and respecting design practicality constraints is difficult. Medical robots demand s…
Task and Configuration Space Compliance of Continuum Robots via Lie Group and Modal Shape Formulations
Andrew L. Orekhov, Garrison L. H. Johnston, Nabil Simaan
Continuum robots suffer large deflections due to internal and external forces. Accurate modeling of their passive compliance is necessary for accurate environmental interaction, es…
Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Collaborative robots must simultaneously be safe enough to operate in close proximity to human operators and powerful enough to assist users in industrial tasks such as lifting hea…
Model-Based Pose Estimation of Steerable Catheters under Bi-Plane Image Feedback
Jared Lawson, Rohan Chitale, Nabil Simaan
Small catheters undergo significant torsional deflections during endovascular interventions. A key challenge in enabling robot control of these catheters is the estimation of their…
Lie Group Formulation and Sensitivity Analysis for Shape Sensing of Variable Curvature Continuum Robots with General String Encoder Routing
Andrew L. Orekhov, Elan Z. Ahronovich, Nabil Simaan
This paper considers a combination of actuation tendons and measurement strings to achieve accurate shape sensing and direct kinematics of continuum robots. Assuming general string…
Long Horizon Planning through Contact using Discrete Search and Continuous Optimization
Ramkumar Natarajan, Garrison L. H. Johnston, Nabil Simaan +2
Robots often have to perform manipulation tasks in close proximity to people. As such, it is desirable to use a robot arm that has limited joint torques to not injure the nearby pe…