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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

V. N. Murthy Arelekatti, Amos G. Winter, V
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A043, August 2–5, 2015
Paper No: DETC2015-47385
DOI: 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
Click here to open pdf in another window PDF for Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India
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

Philip J. Logan, Craig P. Lusk
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A007, August 2–5, 2015
Paper No: DETC2015-46526
DOI: 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

Guangbo Hao, Haiyang Li, George Joseph
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A001, August 2–5, 2015
Paper No: DETC2015-46158
DOI: https://doi.org/10.1115/DETC2015-46158
View Paper titled, Extended Nonlinear Analysis of Exactly-Constrained Compliant Compound Parallelogram Mechanisms
Click here to open pdf in another window PDF for Extended Nonlinear Analysis of Exactly-Constrained Compliant Compound Parallelogram Mechanisms
Topics: Displacement, Dynamic analysis, Excitation, Finite element analysis, Stiffness, Temperature, Temperature effects
Proceedings Papers

Force Transfer Characterization of a Soft Exosuit for Gait Assistance

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
Paper No: DETC2015-47871
DOI: 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

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
Paper No: DETC2015-46706
DOI: 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
Click here to open pdf in another window PDF for Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients
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

Yong Guo, Rongjie Kang, Lisha Chen, Jian Dai
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A013, August 2–5, 2015
Paper No: DETC2015-46683
DOI: https://doi.org/10.1115/DETC2015-46683
View Paper titled, Dynamic Modeling for a Continuum Robot With Compliant Structure
Click here to open pdf in another window PDF for Dynamic Modeling for a Continuum Robot With Compliant Structure
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

Yang Liu, J. Michael McCarthy
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A025, August 2–5, 2015
Paper No: DETC2015-47863
DOI: https://doi.org/10.1115/DETC2015-47863
View Paper titled, Flexure Design for Eight-Bar Rectilinear Motion Mechanism
Click here to open pdf in another window PDF for Flexure Design for Eight-Bar Rectilinear Motion Mechanism
Topics: Bending (Stress), Design, Linkages, Microelectromechanical systems, End effectors, Errors
Proceedings Papers

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

Joshua T. Bryson, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A055, August 2–5, 2015
Paper No: DETC2015-46837
DOI: https://doi.org/10.1115/DETC2015-46837
View Paper titled, Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
Click here to open pdf in another window PDF for Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
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

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
Paper No: DETC2015-47240
DOI: https://doi.org/10.1115/DETC2015-47240
View Paper titled, Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
Click here to open pdf in another window PDF for Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
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

Aliakbar Alamdari, Venkat Krovi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A031, August 2–5, 2015
Paper No: DETC2015-46389
DOI: 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
Click here to open pdf in another window 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
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

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
Paper No: DETC2015-46591
DOI: https://doi.org/10.1115/DETC2015-46591
View Paper titled, An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
Click here to open pdf in another window PDF for An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
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

Vamsi Lodagala, Krutika Karthik, Ashok Midha
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A026, August 2–5, 2015
Paper No: DETC2015-47914
DOI: 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
Click here to open pdf in another window PDF for Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model
Topics: Deflection, Errors, Modeling
Proceedings Papers

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

Evagoras G. Xydas, Andreas Mueller
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A038, August 2–5, 2015
Paper No: DETC2015-46828
DOI: https://doi.org/10.1115/DETC2015-46828
View Paper titled, Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation
Click here to open pdf in another window PDF for Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation
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

Aliakbar Alamdari, Venkat Krovi
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A032, August 2–5, 2015
Paper No: DETC2015-46393
DOI: 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
Click here to open pdf in another window PDF for Ro botic P hysical E xercise and S ystem (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy
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

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A020, August 2–5, 2015
Paper No: DETC2015-47267
DOI: https://doi.org/10.1115/DETC2015-47267
View Paper titled, Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
Click here to open pdf in another window PDF for Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
Topics: Geometry, Deformation, Accounting, Compliant mechanisms, Finite element analysis, Optimization, Stress
Proceedings Papers

Synthesis of Constant Torque Compliant Mechanisms

Hong Zhou, Hari Nair Prakashah
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A002, August 2–5, 2015
Paper No: DETC2015-46179
DOI: https://doi.org/10.1115/DETC2015-46179
View Paper titled, Synthesis of Constant Torque Compliant Mechanisms
Click here to open pdf in another window PDF for Synthesis of Constant Torque Compliant Mechanisms
Topics: Compliant mechanisms, Torque, Rotation, Splines, Interpolation, Aerospace industry, Automobiles, Biomedicine, Design, Health care
Proceedings Papers

A Fully Compliant Constant Velocity Universal Joint

D. Farhadi Machekposhti, N. Tolou, J. L. Herder
Proc. ASME. IDETC-CIE2015, Volume 5A: 39th Mechanisms and Robotics Conference, V05AT08A014, August 2–5, 2015
Paper No: DETC2015-46813
DOI: https://doi.org/10.1115/DETC2015-46813
View Paper titled, A Fully Compliant Constant Velocity Universal Joint
Click here to open pdf in another window PDF for A Fully Compliant Constant Velocity Universal Joint
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

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

Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs

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
Paper No: DETC2015-48085
DOI: https://doi.org/10.1115/DETC2015-48085
View Paper titled, Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs
Click here to open pdf in another window PDF for Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs
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

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