Matthew D. Lichter

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—Binary robotic devices with large degrees of freedom have been proposed by a number of researchers. However, experimental implementations of these concepts have been built with conventional components. These physical systems are heavy, complex and far from being practical devices. In this paper, a lightweight, compliant mechanism driven by optimized(More)
To meet the objectives of many future missions, robots will need to be adaptable and reconfigurable. A concept for such a robotic system has been proposed previously based on using a large number of simple binary actuators. Previous researchers have addressed some of the issues brought up by robots with a few binary actuators. This paper examines the(More)
Made available as an electronic preprint with permission of SPIE. One print or electronic copy may be made for personal use only. Systematic or multiple reproduction, distribution to multiple locations via electronic or other means, duplication of any material in this paper for a fee or for commercial purposes, or modification of the content of the paper(More)
BRAID element is intended to meet the challenges of future space robotic systems that need to perform more complex tasks than are currently feasible. It is lightweight, has a high degree of freedom and a large workspace. The device is based on embedded muscle type binary actuators and flexure linkages. Such a system may be used for a wide range of tasks,(More)
– An architecture for the estimation of dynamic state, geometric shape, and model parameters of objects in orbit using on-orbit cooperative 3-D vision sensors is presented. This has application in many current and projected space missions, such as automated satellite capture and servicing, debris capture and mitigation, and large space structure assembly(More)
A study was conducted to investigate the criterion validity of measures of upper extremity (UE) motor function derived during practice of virtual activities of daily living (ADLs). Fourteen hemiparetic stroke patients employed a Virtual Occupational Therapy Assistant (VOTA), consisting of a high-fidelity virtual world and a Kinect™ sensor, in four sessions(More)
This paper presents a study to experimentally evaluate a new design paradigm for robotic components, with emphasis on space robotics applications. In this design paradigm, robotic components are made from embedded binary ac-tuators and compliant mechanisms in order to reduce weight and complexity. This paper presents a series of five experiments that(More)
– Future space missions are expected to use robotic systems to assemble, inspect, and maintain large space structures in orbit. To carry out these tasks, robots need to know the deformations and motions of the structures with which they interact. This paper presents a method for efficiently estimating the shape, motion, and dynamic model parameters of a(More)
Binary robotic devices have been proposed to perform complex tasks. These systems do not require feedback and are very easy to control. Their kinematic performance approaches that of continuous devices as their degrees of freedom becomes large. To date, high DOF binary systems have not been demonstrated, largely due to actuator limitations. Recently,(More)
– Future space missions are expected to use robotic systems to assemble, inspect, and maintain large space structures in orbit. For effective planning and control, robots must know the deformations and motions of the structures with which they interact. This paper presents a method for estimating the shape, motion, and dynamic model parameters of a(More)