Kathryn J. De Laurentis

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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)
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)
This article presents the application of rapid prototyping (RP) in fabricating nonassembly robotic systems with inserts. It presents several techniques for part insertion, along with some examples to illustrate the findings, specifically the rapidly prototyped mobile observation vehicle (RP MOVe). While the methods described provide an alternative(More)
A wheelchair-mounted robotic arm (WMRA) system was designed and built to meet the needs of mobilityimpaired persons with limitations of upper extremities, and to exceed the capabilities of current devices of this type. The control of this 9-degree-of-freedom system expands upon conventional control methods and combines the 7-DoF robotic arm control with the(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)
Biological studies have contributed to the control of mobile robots. Studies from the field of neuroscience to the field of psychology have shown roboticists different ways to control mechanical devices. A number of studies pertaining to human reaching and grasping have been done in the past few decades. These studies provide the psychological and(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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