Mehrdad R. Kermani

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In this paper we present the design and experimental validation of a Magneto-Rheological (MR) clutch developed for servo control applications in human friendly robotic systems. The clutch is developed as a practical prototype for potential industrial applications in the low to mid torque range. Conventional servo motors have been shown to lack the necessary(More)
The integration of industrial robots into the human workspace presents a set of unique challenges. This paper introduces a new sensory system for modeling, tracking, and predicting human motions within a robot workspace. A reactive control scheme to modify a robot's operations for accommodating the presence of the human within the robot workspace is also(More)
For several decades now, the robotics industry has postulated the emergence of a new breed of manipulators capable of safely interacting with humans. The integration of robots into human environments has always possessed a unique set of challenges. The primary concern has always been for the safety of the human coworkers. Insuring their safety has led to(More)
This paper presents a new needle deflection model that is an extension of prior work in our group based on the principles of beam theory. The use of a long flexible needle in percutaneous interventions necessitates accurate modeling of the generated curved trajectory when the needle interacts with soft tissue. Finding a feasible model is important in(More)
This paper presents a new approach to account for distributed friction in needle insertion in soft tissue. As is well known, friction is a complex nonlinear phenomenon, and it appears that classical or static models are unable to capture some of the observations in systems subject to significant frictional effects. To characterize dynamic features when the(More)
This paper discusses the selection process for piezoelectric transducers (PZT) used as actuator elements for suppressing vibrations in a flexible beam system. The effects of changing physical parameters such as the relative thickness of the piezoelectric ceramic with respect to the beam, the optimum location of the PZT actuator, and the length of the PZT(More)