A. A. Abouelsoud

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This paper presents a comparative study between two control approaches; an Exact FeedForward Linearization controller developed by fuzzy-gain scheduling and sliding mode controller based on Ackermann and Utkin method. For the later one the sliding surface dynamics are determined explicitly without transforming to the sliding mode canonical form. The(More)
In recent years, there has been an increasing interest in modeling natural human movements. The main question to be addressed is: what is the optimality criteria that human has optimized to achieve a certain movement. One of the most significant current discussions is the modeling of the reach-to-grasp movements that human naturally perform while(More)
Artificial tactile feedback systems is now emerging as an essential part in laparoscopic surgeries. This paper presents a new structure for a micro tactile sensor, whose output does not depend on the applied pushing distance or the contact angle with the tissue. The sensor structure is based on using three silicon cantilevers in one plane, acting as three(More)
The estimation of position and velocity of Stewart Manipulator using low cost inertial sensors (accelerometers and gyroscope) and Leg length measurements will be considered. The estimation is based on the integration of different sensors by means of Extended Kalman Filter (EKF) and Unscented Kalman Filter (UKF). The results of the evaluation of these filter(More)
One of the biggest challenges for measuring soft tissue stiffness using tactile sensors is to have an output independent of the contact conditions. Although the approach of using two springs with different stiffness is used, the output of sensor is usually unstable because of the soft tissue surface irregularity. This irregularity creates an inclination(More)