Philip A. Voglewede

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Although cable-driven robots and parallel manipulators have very similar architecture, the presence of the unidirectional constraints in cable-driven robots makes it impossible to apply many of the concepts and methods used for parallel manipulators. Instead many tools from grasping are more suitable, since fingers also provide unidirectional constraints.(More)
Singularities of parallel manipulators cause severe problems in the use of such manipulators. Likewise, finding how close the manipulator is to a singularity is key to its operation. This article outlines a new method to define "closeness" to singularities based on constrained optimization and its resulting general eigenvalue problem. This framework joins(More)
Singular configurations where a parallel manipulator can lose stiffness are well documented and studied in literature. There exist many proposed measures on how close a pose is to these singularities. This paper develops a framework which unites many of the existing measures, provides further understanding for others, and creates new ones. The framework(More)
Cable-driven robots and multifinger grasps are closely related to each other by the fact that both systems can provide unidirectional forces to the object to be constrained. While prior research primarily related cable-driven robots to grasps without friction, this article seeks to establish relationships between certain cable-driven robots and grasps with(More)
This short paper outlines how polynomial chaos theory (PCT) can be utilized for manipulator dynamic analysis and controller design in a 4-DOF selective compliance assembly robot-arm-type manipulator with variation in both the link masses and payload. It includes a simple linear control algorithm into the formulation to show the capability of the PCT(More)
A powered ankle-foot prothesis and its control system were previously designed and built. To evaluate this prosthesis, amputee subject testing was performed. The testing results are analyzed and compared between the powered prosthesis, passive prosthesis, and able-bodied gait. Qualitative comparison showed the prosthesis achieved the design objectives.(More)
OBJECTIVE Powered robotic prostheses create a need for natural-feeling user interfaces and robust control schemes. Here, we examined the ability of a nonlinear autoregressive model to continuously map the kinematics of a transtibial prosthesis and electromyographic (EMG) activity recorded within socket to the future estimates of the prosthetic ankle angle(More)
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