Mechatronics

On the Application of Levant's Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces

In this study, we demonstrate application of Levant's differentiator for velocity estimation from optical encoder readings. Levant's differentiator is a sliding mode control theory-based real-time differentiation algorithm. The application of the technique allows stable implementation of higher stiffness virtual walls as compared to using the common finite difference method (FDM) cascaded with low-pass filters for velocity estimation.

Project Status: 

Inactive

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Robot Assisted Rehabilitation - Spinal Cord Injury (SCI)

The objective of this research effort is to develop a rehabilitation robot and associated controllers to be used in both therapy and evaluation of subjects with incomplete spinal-cord injuries. We are working in collaboration with Dr. Gerard Francisco and Dr. Nuray Yozbatiran of TIRR-Memorial Hermann and UTHealth.

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Active

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Vision Based Force Sensing for Nanomanipulation

A vision-based algorithm for estimating tip interaction forces on a deflected Atomic Force Microscope (AFM) cantilever is described. Specifically, we propose that the algorithm can estimate forces acting on an Atomic Force Microscope (AFM) cantilever being used as a nanomanipulator inside a Scanning Electron Microscope (SEM). The vision based force sensor can provide force feedback in real-time, a feature absent in many SEMs. A methodology based on cantilever slope detection is used to estimate the forces acting on the cantilever tip.

Project Status: 

Inactive

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Cognitive Modeling of Human Motor Skill Acquisition

As yet underdeveloped is the psychology of human learning as it pertains to manual control tasks in fully dynamic, multi-degree-of-freedom domains. While we currently possess the capacity to teach these tasks, we are unable to predict how well people will do in these domains or how rapidly they will learn.

Project Status: 

Inactive

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