All Outputs (2)

A robotic test rig for performance assessment of prosthetic joints (2022)
Journal Article
Etoundi, A. C., Dobner, A., Agrawal, S., Semasinghe, C. L., Georgilas, I., & Jafari, A. (2022). A robotic test rig for performance assessment of prosthetic joints. Frontiers in Robotics and AI, 8, Article 613579. https://doi.org/10.3389/frobt.2021.613579

Movement within the human body is made possible by joints connecting two or more elements of the musculoskeletal system. Losing one or more of these connections can seriously limit mobility, which in turn can lead to depression and other mental issue... Read More about A robotic test rig for performance assessment of prosthetic joints.

Virtual inertia as an energy dissipation element for haptic interfaces (2022)
Journal Article
Choi, H., Kim, N. G., Jafari, A., Singh, H., & Ryu, J. H. (2022). Virtual inertia as an energy dissipation element for haptic interfaces. IEEE Robotics and Automation Letters, 7(2), 2708-2715. https://doi.org/10.1109/LRA.2022.3144492

Adding virtual damping to dissipate energy has been a major tool for designing stable haptic interfaces in most passivity-based approaches. However, virtual damping is known to dissipate a limited amount of energy. It even generates energy during hig... Read More about Virtual inertia as an energy dissipation element for haptic interfaces.