Majid H. Koul

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This work demonstrates the synthesis and design of a 2-DOF (Degrees Of Freedom) parallel haptic device intended for use in virtual simulation of medical procedures, e.g., epidural injection. The process involved choosing a right kinematic architecture of the mechanism, calculation of the end-effector forces, CAD modeling, stress analysis and a rapid(More)
Conventional controllers used in haptic devices are sampled data systems in which the position and velocity of the device is required to realize a visco-elastic virtual wall interaction. Increasing the sampling rate of the controller improves the stable range of virtual wall stiffness but simultaneously exacerbates the estimated velocity. This inefficient(More)
A long standing goal in rehabilitation robotics is to emulate the human-like stable grasping operations by upper limb prosthesis. For stable grasping and manipulation by a prosthetic hand, the finger joints should follow the trajectories of the natural counterparts. Although a number of commercial prosthetic hands and research prototypes have been(More)
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