William Gallagher

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Current control strategies in physical human-robot interaction (pHRI) face some limitations: endpoint stiffness level is not directly measurable in typical haptic control situations and the bilateral nature of the interaction requires proper treatment of operator dynamics. These limitations have reduced current control approaches to estimation techniques(More)
Human contact with haptic devices introduces instabilities due to human operators' attemps to stiffen their arm to stabilize the system. Controllers often cannot measure arm stiffness and do not typically account for this. A method to effectively adjust the controller of a robotic force assist device to compensate for changes in operator arm stiffness was(More)
Force feedback haptic devices require physical contact between the operator and the machine, creating a coupled system where the stiffness changes based on that of the operator's arm. The natural human tendency to increase arm stiffness to stabilize motion increases the overall stiffness and reduces stability. Controllers commonly address this with(More)
In the native, membrane-bound form of the nicotinic acetylcholine receptor (M-AcChR) the two sites for the cholinergic antagonist alpha-bungarotoxin (alpha-BGT) have different binding properties. One site has high affinity, and the M-AcChR/alpha-BGT complexes thus formed dissociate very slowly, similar to the complexes formed with detergent-solubilized(More)
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