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Proceedings Papers

Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India

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V. N. Murthy Arelekatti, Amos G. Winter, V
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A043, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47385
https://doi.org/10.1115/DETC2015-47385
View Paper titled, Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India
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Topics: Artificial limbs, Design, Knee, Kinematics, Engineering prototypes, Dampers, Developing nations, Feedback, Friction, Locks (Waterways)
Proceedings Papers

Pseudo-Rigid-Body Models for End-Loaded Heavy Cantilever Beams

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Philip J. Logan, Craig P. Lusk
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A007, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46526
https://doi.org/10.1115/DETC2015-46526
View Paper titled, Pseudo-Rigid-Body Models for End-Loaded Heavy Cantilever Beams
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Topics: Cantilever beams, Stress, Deflection, Compliant mechanisms, Design, Differential equations, Errors, Phase space, Springs, Stiffness
Proceedings Papers

Extended Nonlinear Analysis of Exactly-Constrained Compliant Compound Parallelogram Mechanisms

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Guangbo Hao, Haiyang Li, George Joseph
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A001, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46158
https://doi.org/10.1115/DETC2015-46158
View Paper titled, Extended Nonlinear Analysis of Exactly-Constrained Compliant Compound Parallelogram Mechanisms
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Topics: Displacement, Dynamic analysis, Excitation, Finite element analysis, Stiffness, Temperature, Temperature effects
Proceedings Papers

Force Transfer Characterization of a Soft Exosuit for Gait Assistance

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Brendan Quinlivan, Alan Asbeck, Diana Wagner, Tommaso Ranzani, Sheila Russo, Conor Walsh
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A049, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47871
https://doi.org/10.1115/DETC2015-47871
View Paper titled, Force Transfer Characterization of a Soft Exosuit for Gait Assistance
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Topics: Design, Exoskeleton devices, Inertia (Mechanics), Pressure, Safety, Textiles, Weight (Mass)
Proceedings Papers

Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients

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Tzu-Yu Tseng, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A037, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46706
https://doi.org/10.1115/DETC2015-46706
View Paper titled, Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients
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Topics: Design, Gravity (Force), Muscle, Knee, Antigravity, Electromyography, Computer software, Engineering prototypes, Rehabilitation devices, Signals
Proceedings Papers

Dynamic Modeling for a Continuum Robot With Compliant Structure

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Yong Guo, Rongjie Kang, Lisha Chen, Jian Dai
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A013, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46683
https://doi.org/10.1115/DETC2015-46683
View Paper titled, Dynamic Modeling for a Continuum Robot With Compliant Structure
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Topics: Dynamic modeling, Robots, Control modeling, Dampers, Deformation, Design, Dynamic models, Engineering prototypes, Robotics, Safety
Proceedings Papers

Flexure Design for Eight-Bar Rectilinear Motion Mechanism

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Yang Liu, J. Michael McCarthy
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A025, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47863
https://doi.org/10.1115/DETC2015-47863
View Paper titled, Flexure Design for Eight-Bar Rectilinear Motion Mechanism
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Topics: Bending (Stress), Design, Linkages, Microelectromechanical systems, End effectors, Errors
Proceedings Papers

Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization

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Joshua T. Bryson, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A055, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46837
https://doi.org/10.1115/DETC2015-46837
View Paper titled, Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
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Topics: Cables, Design, Particle swarm optimization, Robots, Tension, Optimization, Actuators, Architecture, Manipulators
Proceedings Papers

Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms

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Quentin Boehler, Marc Vedrines, Salih Abdelaziz, Philippe Poignet, Pierre Renaud
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A019, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47240
https://doi.org/10.1115/DETC2015-47240
View Paper titled, Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Springs, Traction, Additive manufacturing, Friction, Geometry, Materials properties, Rubber, Torsion
Proceedings Papers

P arallel A rticulated- C able E xercise R obot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation

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Aliakbar Alamdari, Venkat Krovi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A031, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46389
https://doi.org/10.1115/DETC2015-46389
View Paper titled, P arallel A rticulated- C able E xercise R obot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation
Open the PDF for P arallel A rticulated- C able E xercise R obot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation in another window
Topics: Cables, Robots, Design, Trajectories (Physics), Actuators, Case studies, Control equipment, Degrees of freedom, Equations of motion, Kinematic analysis
Proceedings Papers

An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip

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Marijn Nijenhuis, J. P. Meijaard, Just L. Herder, Shorya Awtar, Dannis M. Brouwer
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A008, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46591
https://doi.org/10.1115/DETC2015-46591
View Paper titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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Topics: Bending (Stress), Stiffness, Strips, Deformation, Flexure mechanisms, Warping, Computer software, Degrees of freedom, Displacement, Errors
Proceedings Papers

Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model

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Vamsi Lodagala, Krutika Karthik, Ashok Midha
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A026, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47914
https://doi.org/10.1115/DETC2015-47914
View Paper titled, Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model
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Topics: Deflection, Errors, Modeling
Proceedings Papers

Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation

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Evagoras G. Xydas, Andreas Mueller
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A038, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46828
https://doi.org/10.1115/DETC2015-46828
View Paper titled, Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation
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Topics: Linkages, Springs, Robots, Torque, Actuators, Closed kinematic chains, Collaboration, Computer control, Computer software, Design
Proceedings Papers

Ro botic P hysical E xercise and S ystem (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy

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Aliakbar Alamdari, Venkat Krovi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A032, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46393
https://doi.org/10.1115/DETC2015-46393
View Paper titled, Ro botic P hysical E xercise and S ystem (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy
Open the PDF for Ro botic P hysical E xercise and S ystem (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy in another window
Topics: Cables, Motors, Patient treatment, Robotics, Ropes, Control equipment, Multibody systems, Case studies, Equilibrium (Physics), Feedback
Proceedings Papers

Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models

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Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A020, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47267
https://doi.org/10.1115/DETC2015-47267
View Paper titled, Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
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Topics: Geometry, Deformation, Accounting, Compliant mechanisms, Finite element analysis, Optimization, Stress
Proceedings Papers

Synthesis of Constant Torque Compliant Mechanisms

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Hong Zhou, Hari Nair Prakashah
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A002, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46179
https://doi.org/10.1115/DETC2015-46179
View Paper titled, Synthesis of Constant Torque Compliant Mechanisms
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Topics: Compliant mechanisms, Torque, Rotation, Splines, Interpolation, Aerospace industry, Automobiles, Biomedicine, Design, Health care
Proceedings Papers

A Fully Compliant Constant Velocity Universal Joint

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D. Farhadi Machekposhti, N. Tolou, J. L. Herder
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A014, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46813
https://doi.org/10.1115/DETC2015-46813
View Paper titled, A Fully Compliant Constant Velocity Universal Joint
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Topics: Universal joints, Kinematics, Deflection, Engineering prototypes, Linkages, Manufacturing, Rotation
Proceedings Papers

Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators

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Joshua T. Bryson, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A056, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46842
https://doi.org/10.1115/DETC2015-46842
View Paper titled, Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators
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Topics: Algorithms, Cables, Design, Manipulators, Uncertainty, Robots, Actuators, Errors, Inertia (Mechanics)
Proceedings Papers

Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs

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Jun Ueda, Lauren Lacey, Melih Turkseven, Minoru Shinohara, Ilya Kovalenko, Euisun Kim, Fatiesa Sulejmani
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A050, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-48085
https://doi.org/10.1115/DETC2015-48085
View Paper titled, Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs
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Topics: Robotics, Muscle, Engines, Motors, Patient treatment, Robots, Dynamics (Mechanics), Electromagnetic induction, Magnetic resonance imaging, Nervous system
Proceedings Papers

The Use of Additive Manufacturing to Fabricate Structural Components for Wearable Robotic Devices

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Ray Churchwell, Kevin W. Hollander, Connor Theisen
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A044, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-47448
https://doi.org/10.1115/DETC2015-47448
View Paper titled, The Use of Additive Manufacturing to Fabricate Structural Components for Wearable Robotic Devices
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Topics: Additive manufacturing, Robotics, Structural elements (Construction), Design, Robots, Exoskeleton devices, Modeling, Safety, Stress, Testing