Mark A. Fehlberg

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—We present a novel bioinspired dynamic climbing robot, with a recursive name: ROCR is an Oscillating Climbing Robot. ROCR, pronounced " Rocker, " is a pendular, two-link, serial-chain robot that utilizes alternating hand-holds and an actuated tail to propel itself upward in a climbing style based on observation of human climbers and brachiating gibbons.(More)
The Active Handrest is a large workspace, human-machine interface that provides ergonomic support for a user's hand and arm while allowing the user to retain complete control over a grasped tool. In this paper, we introduce methods to improve the base performance of the Active Handrest's linear admittance controller (í µí±‰ = í µí°¾ í µí±Ž * í µí°¹) based(More)
People use handrests every day to complete dexterous activities as routine as providing a signature. However, the dexterous workspace of the hand is somewhat limited. To address this limit, we have developed an Active Handrest to aid in precision manipulation tasks by extending a user's dexterous work space while providing ergonomic support for reduced(More)
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