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Proceedings Papers

Natural Motion Grasping Design Using Control-Oriented Kinematic Models

Nina Robson, Vanessa Audrey, Severino Hernandez, John Golden, Vincent Ton
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A073, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116654
https://doi.org/10.1115/DETC2023-116654
View Paper titled, Natural Motion Grasping Design Using Control-Oriented Kinematic Models
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Topics: Design, Grasping, Kinematics, Degrees of freedom, Engineering prototypes, Geometry, Robotics, Rotation
Journal Articles

Robust Multilegged Walking Robots for Interactions With Different Terrains

Nina Robson, Vanessa Audrey, Ashutosh Dwivedi, Dylan Kunzmann
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011010.
Paper No: JMR-22-1488
https://doi.org/10.1115/1.4062303
Published Online: May 26, 2023
View Article titled, Robust Multilegged Walking Robots for Interactions With Different Terrains
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Topics: Design, Kinematics, Robots, Testing, Trajectories (Physics), Linkages
Proceedings Papers

Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains

Nina Robson, Vanessa Audrey
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A054, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90614
https://doi.org/10.1115/DETC2022-90614
View Paper titled, Towards Creating Robust Walking Multi-Legged Robots for Traversing Different Terrains
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Topics: Robots, Kinematics, Design, Robotics, Testing, Trajectories (Physics)
Journal Articles

Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011004.
Paper No: JMR-21-1432
https://doi.org/10.1115/1.4054168
Published Online: April 25, 2022
View Article titled, Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
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Topics: Design, Grasping, Chain, Physiology, Kinematics
Proceedings Papers

Spatial Mechanism-Environment Contact Geometric Models

Nina Robson, Aaron Lee
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A054, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71380
https://doi.org/10.1115/DETC2021-71380
View Paper titled, Spatial Mechanism-Environment Contact Geometric Models
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Topics: Degrees of freedom, Design, End effectors, Kinematic chains, Kinematics
Proceedings Papers

Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects

Nina Robson, Brianda Chavez, Jong-Seob Won
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A021, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22202
https://doi.org/10.1115/DETC2020-22202
View Paper titled, Towards Creating Inter-Finger Kinematic Models for Natural Coordination Derived From Grasping of Virtual Objects
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Topics: Grasping, Kinematics, Design, Exoskeleton devices, Geometry, Rotation, Shapes, Trajectories (Physics)
Journal Articles

Numerical Finger Kinematic Models Derived From Virtual Grasping of Various Cylindrical Objects With the Family of Conic Sections

Jong-Seob Won, Reza Langari, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014501.
Paper No: JMR-19-1469
https://doi.org/10.1115/1.4048257
Published Online: October 7, 2020
View Article titled, Numerical Finger Kinematic Models Derived From Virtual Grasping of Various Cylindrical Objects With the Family of Conic Sections
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Topics: Computer simulation, Cross section (Physics), Grasping, Kinematics, Shapes, Nonlinear equations, Rotation, Modeling
Proceedings Papers

Creating Robust Passive Multi-Loop Wearable Hand Devices

Nina Robson, Bin Yun Chen, Jong-Seob Won, Gim Song Soh
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A035, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97623
https://doi.org/10.1115/DETC2019-97623
View Paper titled, Creating Robust Passive Multi-Loop Wearable Hand Devices
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Topics: Actuators, Chain, Conceptual design, Design, Dimensions, Engineering prototypes, Grasping, Kinematics, Mechanical admittance, Physiology
Journal Articles

Control-Oriented Finger Kinematic Model: Geometry-Based Approach

Jong-Seob Won, Nina Robson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061007.
Paper No: JMR-19-1048
https://doi.org/10.1115/1.4044601
Published Online: October 9, 2019
View Article titled, Control-Oriented Finger Kinematic Model: Geometry-Based Approach
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Topics: Geometry, Grasping, Kinematics, Rotation, Design, Shapes
Journal Articles

Geometric Design With Multiple Realizable Motion Tasks in the Vicinity of a Planar Mechanism–Environment Contact

Nina Robson, Binyun Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041007.
Paper No: JMR-18-1357
https://doi.org/10.1115/1.4043687
Published Online: May 17, 2019
View Article titled, Geometric Design With Multiple Realizable Motion Tasks in the Vicinity of a Planar Mechanism–Environment Contact
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Topics: Chain, Design, Geometry, Linkages, Wheelchairs, Kinematics, Orthotics, Artificial limbs, Poles (Building), Trajectories (Physics)
Proceedings Papers

Geometric Design With Multiple Realizable Motion Directions in the Vicinity of a Planar Mechanism-Environment Contact

Nina Robson, Binyun Chen
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A084, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-85952
https://doi.org/10.1115/DETC2018-85952
View Paper titled, Geometric Design With Multiple Realizable Motion Directions in the Vicinity of a Planar Mechanism-Environment Contact
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Topics: Design, Kinematics
Proceedings Papers

Design of Wearable Lower Leg Orthotic Based on Six-Bar Linkage

Shramana Ghosh, Nina Robson, J. M. McCarthy
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A064, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67837
https://doi.org/10.1115/DETC2017-67837
View Paper titled, Design of Wearable Lower Leg Orthotic Based on Six-Bar Linkage
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Topics: Design, Linkages, Orthotics, Physiology, Dimensions, Additive manufacturing, Chain, Kinematics, Mechanical admittance, Stability
Proceedings Papers

Dimensional Synthesis of a Passive Eight-Bar Slider Exo-Limb for Grasping Tasks

Guan Rong Tan, Nina Robson, Gim Song Soh
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A039, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59711
https://doi.org/10.1115/DETC2016-59711
View Paper titled, Dimensional Synthesis of a Passive Eight-Bar Slider Exo-Limb for Grasping Tasks
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Topics: Grasping, Design, Dimensions, Exoskeleton devices, Additive manufacturing, Optimization, Rotation
Proceedings Papers

Geometric Design of a Passive Mechanical Knee for Lower Extremity Wearable Devices Based on Anthropomorphic Foot Task Geometry Scaling

Shramana Ghosh, Nina Robson, J. M. McCarthy
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A069, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46499
https://doi.org/10.1115/DETC2015-46499
View Paper titled, Geometric Design of a Passive Mechanical Knee for Lower Extremity Wearable Devices Based on Anthropomorphic Foot Task Geometry Scaling
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Topics: Design, Geometry, Knee, Clearances (Engineering), Engineering prototypes, Exoskeleton devices, Kinematics, Linkages, Trajectories (Physics), Wounds
Proceedings Papers

Development of Underactuated Mechanical Fingers Based on Anthropometric Data and Anthropomorphic Tasks

Nina Robson, James Allington, Gim Song Soh
Proc. ASME. IDETC-CIE2014, Volume 5B: 38th Mechanisms and Robotics Conference, V05BT08A010, August 17–20, 2014
Publisher: American Society of Mechanical Engineers
Paper No: DETC2014-34878
https://doi.org/10.1115/DETC2014-34878
View Paper titled, Development of Underactuated Mechanical Fingers Based on Anthropometric Data and Anthropomorphic Tasks
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Topics: Bone, Chain, Degrees of freedom, Design, Dimensions, Engineering prototypes, Grasping, Kinematic chains, Kinematics, Robotics
Proceedings Papers

Kinematic Synthesis of Minimally Actuated Multi-Loop Planar Linkages With Second Order Motion Constraints for Object Grasping

Gim Song Soh, Nina Robson
Proc. ASME. DSCC2013, Volume 3: Nonlinear Estimation and Control; Optimization and Optimal Control; Piezoelectric Actuation and Nanoscale Control; Robotics and Manipulators; Sensing; System Identification (Estimation for Automotive Applications, Modeling, Therapeutic Control in Bio-Systems); Variable Structure/Sliding-Mode Control; Vehicles and Human Robotics; Vehicle Dynamics and Control; Vehicle Path Planning and Collision Avoidance; Vibrational and Mechanical Systems; Wind Energy Systems and Control, V003T38A004, October 21–23, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2013-4029
https://doi.org/10.1115/DSCC2013-4029
View Paper titled, Kinematic Synthesis of Minimally Actuated Multi-Loop Planar Linkages With Second Order Motion Constraints for Object Grasping
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Topics: Grasping, Kinematics, Linkages, Design, Degrees of freedom, Human-robot interaction, Kinematic chains, Robotics, Topology
Proceedings Papers

Geometric Design of Spherical Serial Chains With Curvature Constraints in the Environment

Nina Robson, Anurag Tolety
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 289-295, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47263
https://doi.org/10.1115/DETC2011-47263
View Paper titled, Geometric Design of Spherical Serial Chains With Curvature Constraints in the Environment
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Topics: Chain, Design, Kinematics, Algebra, Failure, Geometry, Interpolation, Manipulators, Trajectories (Physics)