James H. Lipsey

Learn More
Harmonic and cycloid drives are both compact, high ratio transmissions appropriate for use in anthropomorphic robots, although cycloid drives are rarely used in the field. This paper describes the design parameters for cycloid drives and shows the results of six cycloid models designed to match corresponding harmonic drives. Cycloid drive models were(More)
We present a novel hybrid knee prosthesis that uses a motor, transmission and control system only for active dynamics tasks, while relying on a spring/damper system for passive dynamics activities. Active dynamics tasks require higher torque, lower speed, and occur less frequently than passive dynamic activities. By designing the actuation system around(More)
Body-powered prostheses use a cable-operated system to generate forces and move prosthetic joints. However, this control system can only generate forces in one direction, so current body-powered prehensor designs allow the user either to voluntarily open or voluntarily close the tongs. Both voluntary opening (VO) and voluntary closing (VC) modes of(More)
This study applies an upper extremity model to analyze motion in 25 children with cerebral palsy using posterior walkers. The study indicates that throughout a gait cycle, the shoulders and wrist are in extension and the elbows are flexed. It also reveals that the elbows are the most asymmetrical joint of the upper extremities during walker-assisted(More)
A piezoelectric (PZT) stack-based actuator was developed to provide a means of actuation with dynamic characteristics appropriate for small-scale manipulation. In particular, the design incorporates a highly nonlinear, large-ratio transmission that provides approximately two orders of magnitude motion amplijication from the PZT stack. In addition to motion(More)
  • 1