Brian P. DeJong

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We consider teleoperation in which a slave manipulator, seen in one or more video images, is controlled by moving a master manipulandum. The operator must mentally transform (i.e., rotate, translate, scale, and/or deform) the desired motion of the slave image to determine the required motion at the master. Our goal is to make these mental transformations(More)
Future space explorations necessitate manipulation of space structures in support of extra vehicular activities or extraterrestrial resource exploitation. In these tasks robots are expected to assist or replace human crew to alleviate human risk and enhance task performance. However due to the vastly unstructured and unpredictable environmental conditions,(More)
For successful teleoperation, an operator must be able to accurately inscribe the desired movement to the manipulandum. The goal of manipulating an image display for teleoperation is to perform visual transformations that minimize mental fatigue, performance time, and enhances the compatibility between the operator and the teleoperated system for successful(More)
For many applications in the operation of a spherical robot, it is necessary to use optical devices to observe, track and monitor the robot's surroundings and environment. Estimating the rotation of a multiple camera system is crucial and can also be complex and computationally expensive. Demonstrating the multiple camera system with a shared central point(More)
This paper presents the design and simulation of a cyclic robot for lower-limb exercise robots. The robot is designed specifically for cyclic motions and the high power nature of lower-limb interaction—as such, it breaks from traditional robotics wisdom by intentionally traveling through singularities and incorporating large inertia. Such attributes lead to(More)
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