Stephen A. Mascaro

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A new type of touch sensor for detecting contact pressure at human fingertips is presented. Unlike traditional electronic gloves, in which sensor pads are placed between the fingers and the environment surface, this new sensor allows the fingers to directly contact the environment without obstructing the human’s natural haptic senses. The finger touch force(More)
When the human fingertip is pressed against a surface or bent, the hemodynamic state of the fingertip is altered due to mechanical interactions between the fingernail and bone. Normal force, shear force, and finger extension/flexion all result in different patterns of blood volume beneath the fingernail. This phenomenon has been exploited in order to detect(More)
This paper presents a new control method to drive an array of wet Shape Memory Alloy actuators utilizing a Matrix Manifold and Valve system (MMV). The MMV architecture allows a vast DOF robotic system to be controlled using limited number of resources. Using biological inspiration, the robotic system contains a network of “blood vessels”(More)
− A new concept for an actuator array is presented where a vast number of actuators are contained within a small volume and are controlled in a scalable sense. This vast degreeof-freedom system utilizes an array of Shape Memory Alloy wires embedded within a network of fluidic vessels. A Matrix Manifold and Valve (MMV) system routes fluid from hot and cold(More)
− A new type of actuator is presented where Shape Memory Alloy (SMA) wires are embedded within artificial “blood vessels.” Fluid flowing through vessels allows the SMA wires to be rapidly cooled by convection, resulting in greater bandwidth than ordinarily possible. Combinations of electric, fluidic, and thermal inputs can be used to control the(More)
This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin. This method is an alternative to the photoplethysmograph sensor originally developed by one of the authors. A 3D model of the fingernail surface and skin is obtained with a stereo camera and laser striping system. Subsequent images(More)
This paper presents an external camera method for measuring fingertip forces by imaging the fingernail and surrounding skin. A 3-D model of the fingernail surface and skin is obtained with a stereo camera and laser striping system. Subsequent images from a single camera are registered to the 3-D model by adding fiducial markings to the fingernail.(More)