Publications
, “Vision-Based Force Sensing for Nanomanipulation”, IEEE /ASME Transactions on Mechatronics, 2011.
Full Text (PDF) (498.88 KB)
Full Text (PDF) (498.88 KB), “On the Performance of Passivity-based Control of Haptic Displays Employing Levant's Differentiator for Velocity Estimation”, IEEE Haptics Symposium . IEEE, Vancouver, BC, Canada, pp. 415-419, 2012. HS2012_Chawda (1.15 MB)
HS2012_Chawda (1.15 MB), “A Method for Selecting Velocity Filter Cutoff Frequency for Maximizing Impedance Width Performance in Haptic Interfaces”, 6th Annual ASME Dynamic Systems and Controls Conference. Palo Alto, CA, 2013. Velocity filtering_DSCC2013_final_version.pdf (762.39 KB)
Velocity filtering_DSCC2013_final_version.pdf (762.39 KB), “A Lyapunov Approach for SOSM Based Velocity Estimation and its Application to Improve Bilateral Teleoperation Performance”, Proceedings of the ASME 2011 Dynamic Systems and Control Conference. 2011. Full text (PDF) (487.16 KB)
Full text (PDF) (487.16 KB), “Interaction control for rehabilitation robotics via a low-cost force sensing handle”, 6th Annual ASME Dynamic Systems and Controls Conference. Palo Alto, CA, 2013. Erwin2013 - RiceWrist-Grip.pdf (583 KB)
Erwin2013 - RiceWrist-Grip.pdf (583 KB), “Application of Levant’s Differentiator for Velocity Estimation and Increased Z-Width in Haptic Interfaces”, IEEE World Haptics Conference 2011. IEEE, Istanbul, Turkey, pp. 403-408, 2011. Full text (PDF) (1.75 MB)
Full text (PDF) (1.75 MB)