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Advances in Robotics and Haptics
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Proceedings Papers

Algebraic Surface Derivatives for Rendering Virtual Contact Force

Donald D. Nelson, Elaine Cohen
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1161-1166, November 5–10, 2000
Paper No: IMECE2000-2426
DOI: https://doi.org/10.1115/IMECE2000-2426
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Topics: Algebra, Algorithms, Approximation, Augmented reality, Collisions (Physics), Feedback, Haptics, Rendering, Stiffness
Proceedings Papers

Passive Feedforward Approach to Bilateral Teleoperated Manipulators

Perry Y. Li, Dongjun Lee
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1153-1160, November 5–10, 2000
Paper No: IMECE2000-2425
DOI: https://doi.org/10.1115/IMECE2000-2425
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Topics: Feedforward control, Manipulators, Closed loop systems, Dynamics (Mechanics), Feedback, Internal energy (Physics), Kinematics, Storage
Proceedings Papers

A Visually Servoed Active Camera for Miniature Mobile Robots

Kemal B. Yesin, Bradley J. Nelson
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 965-972, November 5–10, 2000
Paper No: IMECE2000-2400
DOI: https://doi.org/10.1115/IMECE2000-2400
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Topics: Actuators, Algorithms, Complementary metal oxide semiconductors, Mobile robots, Motors, Robots, Sensors, Weight (Mass)
Proceedings Papers

A Mesoscale Mechanism for Adaptive Mobile Manipulation

Richard M. Voyles
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 957-964, November 5–10, 2000
Paper No: IMECE2000-2399
DOI: https://doi.org/10.1115/IMECE2000-2399
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Topics: Design, Military systems, Robots, Surveillance
Proceedings Papers

Telemanipulator for Dexterity Enhanced Laparoscopic Surgery Based on the Direct Coupling of Two Parallel Mechanisms

Claude Reboulet, Alain Theron
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1269-1274, November 5–10, 2000
Paper No: IMECE2000-2442
DOI: https://doi.org/10.1115/IMECE2000-2442
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Topics: Parallel mechanisms, Surgery, Actuators, Design, Feedback, Kinematics, Manipulators, Micromanipulation, Sensors
Proceedings Papers

Comparison of Teleoperator Control Architectures for Palpation Task

Alana Sherman, Murat Cenk Çavuşoğlu, Frank Tendick
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1261-1268, November 5–10, 2000
Paper No: IMECE2000-2441
DOI: https://doi.org/10.1115/IMECE2000-2441
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Topics: Architecture, Control equipment, Force feedback, Stability, Biomedicine, Design, Errors, Soft tissues, Testing
Proceedings Papers

Frequency Dependence of Compliance Contrast Detection

Neel Dhruv, Frank Tendick
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1087-1093, November 5–10, 2000
Paper No: IMECE2000-2416
DOI: https://doi.org/10.1115/IMECE2000-2416
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Topics: Haptics, Surgery, Virtual reality
Proceedings Papers

Virtual Surfaces and Haptic Shape Perception

Gabriel Robles-De-La-Torre, Vincent Hayward
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1081-1085, November 5–10, 2000
Paper No: IMECE2000-2415
DOI: https://doi.org/10.1115/IMECE2000-2415
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Topics: Haptics, Shapes, Texture (Materials)
Proceedings Papers

Spatial Compliances Achieved With Serial Elastic Mechanisms

Shuguang Huang, Joseph M. Schimmels
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 901-908, November 5–10, 2000
Paper No: IMECE2000-2392
DOI: https://doi.org/10.1115/IMECE2000-2392
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Topics: Geometry, Parallel mechanisms, Rotation, Stiffness
Proceedings Papers

Lumped-Parameter Modeling of Visco-Elastically Coupled Rigid Bodies Using Clifford’s Biquaternions

Ernest D. Fasse
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 891-900, November 5–10, 2000
Paper No: IMECE2000-2391
DOI: https://doi.org/10.1115/IMECE2000-2391
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Topics: Modeling, Computer simulation
Proceedings Papers

Design Specifications for the Second Generation Sarcos Treadport Locomotion Interface

John M. Hollerbach, Yangming Xu, Robert R. Christensen, Stephen C. Jacobsen
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1293-1298, November 5–10, 2000
Paper No: IMECE2000-2446
DOI: https://doi.org/10.1115/IMECE2000-2446
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Topics: Design, Caves
Proceedings Papers

A Translational-to-Rotational Continuously Variable Transmission Element for a Parallel Cobot

Richard Emrich, Antony J. Hodgson
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1285-1292, November 5–10, 2000
Paper No: IMECE2000-2445
DOI: https://doi.org/10.1115/IMECE2000-2445
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Topics: Computers, Design, End effectors, Manipulator design, Manipulators, Surgery, Wheels
Proceedings Papers

Haptic Simulation of Assembly Operation in Virtual Environment

Tsuneo Yoshikawa, Kouki Yoshimoto
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1191-1198, November 5–10, 2000
Paper No: IMECE2000-2430
DOI: https://doi.org/10.1115/IMECE2000-2430
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Topics: Haptics, Manufacturing, Simulation, Virtual reality, Dynamics (Mechanics), Friction
Proceedings Papers

A Contact Point Intermediate Representation for 6-DOF Haptic Interaction With Dynamic Simulations

Peter J. Berkelman, Ralph L. Hollis
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1183-1190, November 5–10, 2000
Paper No: IMECE2000-2429
DOI: https://doi.org/10.1115/IMECE2000-2429
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Topics: Haptics, Simulation, Control equipment, Feedback, Delays, Errors, Magnetic levitation, Stability, Stiffness
Proceedings Papers

Detection of Lateral Damping Friction in Surface Textures Presented via a Force Feedback Haptic Interface

Janet M. Weisenberger, Michael J. Krier, Sandra M. Kreidler
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1025-1031, November 5–10, 2000
Paper No: IMECE2000-2408
DOI: https://doi.org/10.1115/IMECE2000-2408
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Topics: Damping, Force feedback, Friction, Haptics, Surface texture, Surface roughness, Rendering
Proceedings Papers

General Evaluation Method for Safety Control of Human-Care Robots

Koji Ikuta, Makoto Nokata, Hideki Ishii
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1017-1024, November 5–10, 2000
Paper No: IMECE2000-2407
DOI: https://doi.org/10.1115/IMECE2000-2407
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Topics: Evaluation methods, Robots, Safety, Design, Collisions (Physics), Optimization, Simulation, Stress
Proceedings Papers

Compliant Transmissions: Design Methods and Applications

Sridhar Kota
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 875-878, November 5–10, 2000
Paper No: IMECE2000-2388
DOI: https://doi.org/10.1115/IMECE2000-2388
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Topics: Actuators, Airfoils, Deformation, Design, Design methodology, Hinges, Microelectromechanical systems, Piezoelectric ceramics, Shapes
Proceedings Papers

Virtual Three Legged Race Using Networked Locomotion Interfaces

Haruo Noma, Fumitaka Nakaizumi, Hiroaki Yano, Tsutomu Miyasato, Hiroo Iwata
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1259-1260, November 5–10, 2000
Paper No: IMECE2000-2440
DOI: https://doi.org/10.1115/IMECE2000-2440
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Proceedings Papers

GraspIt!: A Versatile Simulator for Grasp Analysis

Andrew T. Miller, Peter K. Allen
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1251-1258, November 5–10, 2000
Paper No: IMECE2000-2439
DOI: https://doi.org/10.1115/IMECE2000-2439
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Topics: Collisions (Physics), Design, End effectors, Engineering prototypes, Grasping, Simulation, Virtual reality, Visualization
Proceedings Papers

Calibration and Mapping of a Human Hand for Dexterous Telemanipulation

Weston B. Griffin, Ryan P. Findley, Michael L. Turner, Mark R. Cutkosky
Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1145-1152, November 5–10, 2000
Paper No: IMECE2000-2424
DOI: https://doi.org/10.1115/IMECE2000-2424
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Topics: Calibration, End effectors, Kinematics