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This study introduces a criteria-based methodology for grasp synthesis. The method allows using multiple performance criteria both at the finger and the hand levels, which are used to generate a preliminary grasp and an optimum grasp, respectively. The approach offers reduced complexity by decomposing grasp synthesis into manageable phases. A case study(More)
BACKGROUND The Trauma Pod (TP) vision is to develop a rapidly deployable robotic system to perform critical acute stabilization and/or surgical procedures, autonomously or in a teleoperative mode, on wounded soldiers in the battlefield who might otherwise die before treatment in a combat hospital could be provided. METHODS In the first phase of a project(More)
Common software design practices use object-oriented (OO) frameworks that structure software in terms of objects, classes, and packages; designers then create programs by inheritance and composition of classes and objects. Operational software components for advanced robotics (OSCAR) is one such framework for robot control software with abstractions for(More)
This paper describes the integration of several techniques for cooperative control of both tele-operated and autonomous redundant manipulators with overlapping workspaces. Motivating this research is a tele-operated surgical manipulator(s) supported by autonomous robot(s) that insert/remove items from the surgical workspace. The dynamic and unpredictable(More)
This study examines how various hardware design choices and operating conditions would affect the quality of the data in a wireless sensing environment. A series of experimental investigations are carried out using a laboratory shaking table instrumented with off-the-shelf MEMS accelerometers. A wireless unit is developed to interface with these wired(More)