7 papers
Physical Twins: Accelerating and Enabling Robot Learning with Phantom Platforms
Elizabeth Peiros, Derek Chen, Lucas Yager +4
Improvements in human-robot physical interaction (pHRI) can have major implications for physical therapy, search and rescue, and telemedicine. However, a major challenge concerns h…
Bi-manual Stabilization of the Cervical Spine for Safe Physical Human-Robot Interaction in Rolling Maneuvers
Elizabeth Peiros, Moira Bohley, Lucas Yager +6
The neck, specifically the cervical spine, is a highly fragile and mobile part of the body with a high risk of catastrophic injury. Whether someone is injured on a battlefield, in…
Dynamically Extensible and Retractable Robotic Leg Linkages for Multi-task Execution in Search and Rescue Scenarios
William Harris, Lucas Yager, Syler Sylvester +2
Search and rescue (SAR) robots are required to quickly traverse terrain and perform high-force rescue tasks, necessitating both terrain adaptability and controlled high-force outpu…
Haptic Shoulder for Rendering Biomechanically Accurate Joint Limits for Human-Robot Physical Interactions
Elizabeth Peiros, Calvin Joyce, Tarun Murugesan +4
Human-robot physical interaction (pHRI) is a rapidly evolving research field with significant implications for physical therapy, search and rescue, and telemedicine. However, a maj…
NASU -- Novel Actuating Screw Unit: Origami-inspired Screw-based Propulsion on Mobile Ground Robots
Calvin Joyce, Jason Lim, Roger Nguyen +5
Screw-based locomotion is a robust method of locomotion across a wide range of media including water, sand, and gravel. A challenge with screws is their significant number of impac…
Finding Biomechanically Safe Trajectories for Robot Manipulation of the Human Body in a Search and Rescue Scenario
Elizabeth Peiros, Zih-Yun Chiu, Yuheng Zhi +2
There has been increasing awareness of the difficulties in reaching and extracting people from mass casualty scenarios, such as those arising from natural disasters. While platform…
Mobility Analysis of Screw-Based Locomotion and Propulsion in Various Media
Jason Lim, Calvin Joyce, Elizabeth Peiros +6
Robots "in-the-wild" encounter and must traverse widely varying terrain, ranging from solid ground to granular materials like sand to full liquids. Numerous approaches exist, inclu…