38 citations · 161 across the 11 of their papers we have counts for
11 papers
A two-speed actuator for robotics with fast seamless gear shifting
Alexandre Girard, H. Harry Asada
This paper present a novel dual-speed actuator adapted to robotics. In many applications, robots have to bear large loads while moving slowly and also have to move quickly through…
Leveraging Natural Load Dynamics with Variable Gear-ratio Actuators
Alexandre Girard, H. Harry Asada
This paper presents a robotic system where the gear-ratio of an actuator is dynamically changed to either leverage or attenuate the natural load dynamics. Based on this principle,…
Underwater Intention Recognition using Head Motion and Throat Vibration for Supernumerary Robotic Assistance
Yuqin Guo, Rongzheng Zhang, Wanghongjie Qiu +3
This study presents a multi-modal mechanism for recognizing human intentions while diving underwater, aiming to achieve natural human-robot interactions through an underwater super…
Handle Anywhere: A Mobile Robot Arm for Providing Bodily Support to Elderly Persons
Roberto Bolli, Paolo Bonato, Harry Asada
Age-related loss of mobility and increased risk of falling remain important obstacles toward facilitating aging-in-place. Many elderly people lack the coordination and strength nec…
A practical optimal control approach for two-speed actuators
Alexandre Girard, H. Harry Asada
This paper addresses the closed-loop control of an actuator with both a continuous input variable (motor torque) and a discrete input variable (mode selection). In many application…
Mapping Human Muscle Force to Supernumerary Robotics Device for Overhead Task Assistance
Jianwen Luo, Sicong Liu, Chengyu Lin +6
Supernumerary Robotics Device (SRD) is an ideal solution to provide robotic assistance in overhead manual manipulation. Since two arms are occupied for the overhead task, it is des…
Hybrid Open-Loop Closed-Loop Control of Coupled Human-Robot Balance During Assisted Stance Transition with Extra Robotic Legs
Daniel J. Gonzalez, H. Harry Asada
A new approach to the human-robot shared control of the Extra Robotic Legs (XRL) wearable augmentation system is presented. The XRL system consists of two extra legs that bear the…
Passive Quadrupedal Gait Synchronization for Extra Robotic Legs Using a Dynamically Coupled Double Rimless Wheel Model
Daniel J. Gonzalez, H. Harry Asada
The Extra Robotic Legs (XRL) system is a robotic augmentation worn by a human operator consisting of two articulated robot legs that walk with the operator and help bear a heavy ba…
Design of Extra Robotic Legs for Augmenting Human Payload Capabilities by Exploiting Singularity and Torque Redistribution
Daniel J. Gonzalez, H. Harry Asada
We present the design of a new robotic human augmentation system that will assist the operator in carrying a heavy payload, reaching and maintaining difficult postures, and ultimat…
Design and Analysis of 6-DOF Triple Scissor Extender Robots with Applications in Aircraft Assembly
Daniel J. Gonzalez, H. Harry Asada
A new type of parallel robot mechanism with an extendable structure is presented, and its kinematic properties and design parameters are analyzed. The Triple Scissor Extender (TSE)…
Triple Scissor Extender: A 6-DOF Lifting and Positioning Robot
Daniel J. Gonzalez, H. Harry Asada
We present a novel 6 DOF robotic mechanism for reaching high ceilings and positioning an end-effector. The end-effector is supported with three scissor mechanisms that extend towar…