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)
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)
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)
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