ACT-Hand: Anatomical Correct Test-Bed Hand The human hand is a remarkable biological system, crucial for performing various tasks in our daily lives and mastering skilled activities. However, the limited understanding of its biomechanics and neuromuscular control has posed challenges for developing robotic hands and prosthetics that replicate its capabilities. Introducing the Anatomically Correct Test-Bed (ACT)…
Hydraulic Actuators for Rehabilitation-oriented Exoskeletons This study developed and evaluated two novel pneumatic actuators, LISPER and SCASPER, using kinematic and dynamic simulations and experiments. LISPER incorporates detailed bellow-shaped folds, meshes, and braces, while SCASPER achieves adjustable linearity output force/torque through modifications to the silicone rubber strip pattern. LISPER demonstrates excellent performance in range of…
A novel soft electromagnetic actuator (SEMA) designed for enhanced force-to-weight ratios and excellent actuation transparency, making it ideal for wearable haptic devices. This innovative SEMA integrates soft Halbach magnet arrays with multi-phase coils for effective Lorentz force generation, and uses ferrofluid in the air gap for improved bearing functionality and heat conduction. Key experiments have…
Multi-Modal Transforming Drone Arm (MMTDA): A versatile Solution for Aerial, Terrestrial, and Aquatic Environments 1. Introduction & Background of MMTDA Drones have been widely used in various industries, including aerial photography, surveillance, and surveying. However, as most drones are designed primarily for aerial operations, they are limited in their functionality, especially when it comes to…
Error Budgeting & Imaging Using Micro-Scale AFM 1. Overview This is a final project for Advanced Mechatronic II. Using a tapping mode macro-AFM which can track a sample in a vertical (z) position and moving stage in a horizontal (x-y) plane, an object can be sampled to acquire an image. This project involves error modeling…
Wire-driven Running Reinforcement Shoes 1. Introduction 1.1 Background and Objectives of the Study Humans have the advantage of bipedal locomotion, which allows them to have free use of their hands. However, when it comes to running, there is a physical constraint that limits the use of only the leg muscles. Considering that even cheetahs, known…
A Compact and Lightweight Cable-Driven Actuator Using a Timing Belt System Developed a compact and lightweight actuator by replacing the conventional planetary gears used in wearable robots with a timing belt system. Positioned the encoder inside the tensioner pulley to enable control of the BLDC motor operation. Considered the thickness of the power transmission shaft…
