Mehrdad R. Kermani

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In this paper, we present a new concept for generating magnetic field in Magneto-Rheological (MR) clutches intended for safe robotic applications. The main rationale behind this concept is to divide the magnetic field generation into two parts using an electromagnetic coil and a permanent magnet. The permanent magnet generates a bias magnetic field density(More)
In this paper a reactive control strategy intended for human-robot interactions (HRI) is presented. A conventional reactive control scheme is reviewed first. This is followed by the introduction of a new prediction-based reactive control strategy. The new control strategy considers foreseeable dangerous events by predicting human motion using artificial(More)
In this paper, friction compensation in robotic manipulators is studied. An observer based model of the friction force is utilized for the friction compensation algorithm. In order to evaluate the efficiency of this method two different manipulators with different friction characteristics are examined. A 2-DOF manipulator used for high-speed, micro-meter(More)
This paper presents a human body modeling technique, and a safe planning strategy using danger evaluation for robotic manipulators intended for interactions with humans. Such interactive robots are required to have minimum footprint on the shop floor and to be able to work in constrained areas while ensuring the safety of the humans. A new approach is(More)
In this paper, the application of a piezoelectric stack actuator for vibration control in a large-scale robotic manipulator, called a macromanipulator, is studied. In this regard, mechanical design and mathematical modeling of the actuator are discussed. The structural flexibility of the macromanipulator includes deflection and torsional vibration modes.(More)
In this paper, the application of a piezoelectric stack actuator for vibration control in a large-scale robotic manipulator, called the macro manipulator, is studied. The structural flexibility of the system includes deflection and torsional vibration modes. The vibration modes are detected using an appropriate sensor attachment. A nominal transfer function(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)