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Journal Articles

Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator

Ahmed Soliman, Guilherme A. Ribeiro, Dongming Gan, Mo Rastgaar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014502.
Paper No: JMR-21-1281
https://doi.org/10.1115/1.4053825
Published Online: May 12, 2022
View Article titled, Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
Open the PDF for Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator in another window
Topics: Design, Manipulators, Trajectories (Physics), End effectors, Errors, Prostheses
Journal Articles

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions

Dongming Gan, Jiaming Fu, Han Lin, Haoguang Yang, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041005.
Paper No: JMR-21-1535
https://doi.org/10.1115/1.4053821
Published Online: March 24, 2022
View Article titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Functions
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Topics: Dynamics (Mechanics), Kinematics, Manipulators, Mobile robots, Robots, Wheels, Actuators, Rotation, Parallel mechanisms
Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70081
https://doi.org/10.1115/DETC2021-70081
View Paper titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function
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Topics: Actuators, Mobile robots, Robots, Stability, Wheels
Proceedings Papers

Towards a Generalized Model of Multivariable Ankle Impedance During Standing Based on the Lower Extremity Muscle EMG

Lauren Knop, Guilherme Aramizo Ribeiro, Mo Rastgaar
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T03A009, April 15–18, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DMD2019-3315
https://doi.org/10.1115/DMD2019-3315
View Paper titled, Towards a Generalized Model of Multivariable Ankle Impedance During Standing Based on the Lower Extremity Muscle EMG
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Topics: Electromyography, Muscle, Stiffness, Damping, Regression models, Feature selection, Machine learning, Mechanical impedance, Model validation, Signals
Journal Articles

Estimation of the Two Degrees-of-Freedom Time-Varying Impedance of the Human Ankle

Evandro Ficanha, Guilherme Ribeiro, Lauren Knop, Mo Rastgaar
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. March 2018, 12(1): 011010.
Paper No: MED-17-1312
https://doi.org/10.1115/1.4039011
Published Online: January 30, 2018
View Article titled, Estimation of the Two Degrees-of-Freedom Time-Varying Impedance of the Human Ankle
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Topics: Damping, Degrees of freedom, Mechanical impedance, Muscle, Prostheses, Rehabilitation devices, Rotation, Stiffness, Design
Proceedings Papers

Gait Emulator for Evaluation of a Powered Ankle-Foot Prosthesis

Evandro Ficanha, Houman Dallali, Mo Rastgaar
Proc. ASME. DSCC2017, Volume 1: Aerospace Applications; Advances in Control Design Methods; Bio Engineering Applications; Advances in Non-Linear Control; Adaptive and Intelligent Systems Control; Advances in Wind Energy Systems; Advances in Robotics; Assistive and Rehabilitation Robotics; Biomedical and Neural Systems Modeling, Diagnostics, and Control; Bio-Mechatronics and Physical Human Robot; Advanced Driver Assistance Systems and Autonomous Vehicles; Automotive Systems, V001T36A001, October 11–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2017-5089
https://doi.org/10.1115/DSCC2017-5089
View Paper titled, Gait Emulator for Evaluation of a Powered Ankle-Foot Prosthesis
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Topics: Prostheses, Degrees of freedom, Hybrid control, Kinematics, Control systems, Design, Uncertainty