Kathryn J. De Laurentis

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This paper presents the mechanical design for a new five fingered, twenty degree-of-freedom dexterous hand patterned after human anatomy and actuated by Shape Memory Alloy artificial muscles. Two experimental prototypes of a finger, one fabricated by traditional means and another fabricated by rapid prototyping techniques, are described and used to evaluate(More)
This paper describes the objectives of this project, which are to design artificial limbs that are lightweight, compact and dexterous, that mimic human anatomy and maintain a high lifting capability. The key to satisfying these objectives is the use of Shape Memory Alloy (SMA) artificial muscles as actuators. A general methodology to find the placement of(More)
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems is pre-mechanical joints were fabricated experimentally. The designs of these component joints were then used to fabricate the articulated structure of experimental prototypes for two robotic systems: 1) a three-legged parallel manipulator; 2) a four degree of(More)
This research studied the o ptimal design of Shape Memory Alloy (SMA) muscle wire bundle ac-tuators. Current literature describes the use of multiple muscle wires placed in parallel to increase the lifting capabilities of an SMA actuator, which however , is limited to wires of like-diameter. A constrained optimization problem was formulated, with(More)
he application of rapid prototyping (RP) in fabricating nonassembly robotic systems with inserts is presented in this article. The development of robotic systems that have all necessary components inserted, with no assembly required, and ready to function when the manufacturing process is complete is quite attractive. Rapid prototyping can provide a means(More)
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobility-impaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-DoF system expands on the conventional control methods and combines the 7-DoF robotic arm control with the 2-DoF(More)
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint(More)
In this paper, the application of Rapid Prototyping in fabricating non-assembly robotic systems and mechanisms with inserts is presented. Previous work demonstrated the use of the Rapid Prototype Stereolithography and Selective Laser Sintering techniques to fabricate prototypes of mechanical mobile joints. As examples of their applicability, the joint(More)
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