Matthew D. Lichter

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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 and(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)
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)
3 Abstract--This paper presents the design of a new lightweight, hyper-redundant, deployable Binary Robotic Articulated Intelligent Device (BRAID), for space robotic systems. The 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(More)
This paper reports on the development of a lightweight hyper-redundant manipulator driven by embedded dielectric polymer actuators. This manipulator uses binary actuation and belongs to a class of digital mechanisms that are able to perform precise discrete motions without the need for sensing and feedback control. The system is built from an assembly of(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 actuators and compliant mechanisms in order to reduce weight and complexity. This paper presents a series of five experiments that(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)
This paper presents an architecture for the estimation of dynamic state, geometric shape, and inertial parameters of objects in orbit, using on-orbit cooperative 3-D vision sensors. This has application in many current and projected space missions, such as satellite capture and servicing, debris capture and mitigation, and large space structure assembly and(More)
Superficial granulomatous pyoderma, recently described as a variant of pyoderma gangrenosum, would be better termed pathergic granulomatous cutaneous ulceration as the seven previously described cases, as well as our own two cases, have significant dermal involvement histologically and heal with scarring. In contrast to pyoderma gangrenosum, lesions of(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)