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Dynamics and control of a 4-dof wearable cable-driven upper arm exoskeleton
In this paper, we present the dynamics, control, and preliminary experiments on a wearable upper arm exoskeleton intended for human users with four degrees-of-freedom (dof), driven by six cables. TheExpand
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  • Open Access
Design and experiments on a free-floating planar robot for optimal chase and capture operations in space
This paper describes an autonomous free-floating robot system that was designed to investigate the behavior of free-floating robots that are involved in the capture of satellites in space. The robotExpand
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Modeling and Simulation of Assembly in a Free-floating Work Environment by a Free-floating Robot
Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in aExpand
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Hyper-redundant planar manipulators: motion planning with discrete modal summation procedure
Biological systems such as human spine, elephant trunk, snakes, and earthworms possess very high maneuverability during motion. Analogous mechanical devices are useful for applications such asExpand
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Quadri-directional Air Thrusters for Free-floating Robot Applications
This paper describes the operational theory and design of a quadri-directional air thruster (quad) for propulsion of the free-floating robot of Ohio University. In this design, the air is drawn fromExpand
Robotic assembly in a free-floating work environment
Freely moving systems in space conserve linear and angular momentum. As moving systems collide, the velocities get altered due to transfer of momentum. The development of strategies for assembly in aExpand