Frank Mendel

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Parallel-architecture haptic devices offer significant advantages over serial-architecture counterparts in applications requiring high stiffness and high accuracy. To this end, many haptic devices have been created and deployed by modularly piecing together several serial-chain arms to form an in-parallel system. However, the overall system performance(More)
—Variability in motor rehabilitation program outcomes can be attributed not only to individual components (human patient/rehabilitation equipment) but also to their system-level interactions. Thus, effective deployment of a rehabilitation program depends upon: 1) suitable therapist selection of user–device ergonomics; 2) adjustable device settings; and 3)(More)
In this paper, we present some ongoing research in the development of tools for biological hypothesis testing, leveraging research methodologies that have revolutionized the mechatronics domain. In particular, this work emphasizes: (a) development of suitable low-resolution computational models (b) simulation, testing and iterative what-if studies performed(More)
Exoskeletons are a new class of articulated mechanical systems whose performance is realized while in intimate contact with the human user. The overall performance depends on many factors including selection of architecture, device, parameters and the nature of the coupling to the human, offering numerous challenges to design-evaluation and refinement. In(More)
As an interdisciplinary field lying at the intersection of biology and robotics, bio-inspired robotics has seen considerable interest from a research, education, and ultimately application perspective. The scope of this interest has ranged from creating and operating walking, crawling, and flying robots based on biological counterparts; to evaluating(More)
Needle biopsy is an important and common procedure for le-sion detection or tissue extraction within the human body. Physicians conducting such procedures rely primarily on the sense of " touch " (kinesthetic feedback from needle) to estimate the current needle position and organs within its vicinity. This skill takes time to acquire and mature, often by(More)
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