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Proceedings Papers

Dimensional Synthesis of Bennett Linkages

Alba Perez, J. M. McCarthy
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 185-192, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14069
https://doi.org/10.1115/DETC2000/MECH-14069
View Paper titled, Dimensional Synthesis of Bennett Linkages
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Topics: Linkages, Chain, Design
Proceedings Papers

Synthesis of Spatial 3R Chains With Configuration-Specific Twist System

Neda Hassanzadeh, Mason Wegert, M. Alba Perez-Gracia
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A050, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67905
https://doi.org/10.1115/DETC2017-67905
View Paper titled, Synthesis of Spatial 3R Chains With Configuration-Specific Twist System
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Topics: Chain, End effectors, Linkages, Trajectories (Physics)
Proceedings Papers

Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants

Federico Thomas, M. Alba Perez-Gracia
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A072, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67706
https://doi.org/10.1115/DETC2017-67706
View Paper titled, Some New Results on the Kinematics of 3R Serial Robots Using Nested Determinants
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Topics: Kinematics, Robots, Algebra, Computers, Polynomials
Proceedings Papers

Quantification of Upper-Body Synergies: A Case Comparison for Stroke and Non-Stroke Victims

Omid Heidari, John O. Roylance, Alba Perez-Gracia, Eydie Kendall
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A032, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59314
https://doi.org/10.1115/DETC2016-59314
View Paper titled, Quantification of Upper-Body Synergies: A Case Comparison for Stroke and Non-Stroke Victims
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Topics: Chain, Degrees of freedom, Kinematics, Linkages, Principal component analysis, Tree (Data structure)
Proceedings Papers

Design of a Multi-Palm Robotic Hand for Assembly Tasks

Reza Movassagh-Khaniki, Neda Hassanzadeh, Abhijit Makhal, Alba Perez-Gracia
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A079, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59980
https://doi.org/10.1115/DETC2016-59980
View Paper titled, Design of a Multi-Palm Robotic Hand for Assembly Tasks
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Topics: Design, End effectors, Manufacturing, Robotics, Grippers, Manipulators, Robots, Emergencies, Grasping, Kinematics
Proceedings Papers

A Design Implementation Process for Robotic Hand Synthesis

Neda Hassanzadeh, Xiangwei He, Alba Perez-Gracia
Proc. ASME. IDETC-CIE2015, Volume 5C: 39th Mechanisms and Robotics Conference, V05CT08A033, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46098
https://doi.org/10.1115/DETC2015-46098
View Paper titled, A Design Implementation Process for Robotic Hand Synthesis
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Topics: Design, End effectors, Kinematics, Robotics, Manufacturing, Computer software, Computer-aided design, Databases, Geometry, Internal friction
Journal Articles

Dimensional Synthesis of Wristed Binary Hands

Neda Hassanzadeh, Alba Perez-Gracia
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021006.
Paper No: JMR-15-1011
https://doi.org/10.1115/1.4031339
Published Online: November 24, 2015
View Article titled, Dimensional Synthesis of Wristed Binary Hands
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Topics: Chain, Design, End effectors, Kinematics, Robotics, Topology, Fractals, Grasping
Journal Articles

Link-Based Performance Optimization of Spatial Mechanisms

Yimesker Yihun, Ken W. Bosworth, Alba Perez-Gracia
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2014, 136(12): 122303.
Paper No: MD-14-1190
https://doi.org/10.1115/1.4028304
Published Online: October 20, 2014
View Article titled, Link-Based Performance Optimization of Spatial Mechanisms
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Topics: Linkages, Optimization
Proceedings Papers

Link-Based Performance Optimization of Spatial Mechanisms

Yimesker Yihun, Ken Bosworth, Alba Perez-Gracia
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A040, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12081
https://doi.org/10.1115/DETC2013-12081
View Paper titled, Link-Based Performance Optimization of Spatial Mechanisms
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Topics: Optimization, Kinematics, Design, Dimensions, Linkages, Algorithms, Friction, Genetic algorithms, Stress
Proceedings Papers

Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks

Edgar Simo-Serra, Francesc Moreno-Noguer, Alba Perez-Gracia
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 377-386, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-47818
https://doi.org/10.1115/DETC2011-47818
View Paper titled, Design of Non-Anthropomorphic Robotic Hands for Anthropomorphic Tasks
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Topics: Design, Robotics, Chain, Genetic algorithms, Kinematic chains, Kinematics, Trajectories (Physics), Tree (Data structure)
Journal Articles

Synthesis of Spatial RPRP Closed Linkages for a Given Screw System

Alba Perez-Gracia
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021009.
https://doi.org/10.1115/1.4003846
Published Online: April 11, 2011
View Article titled, Synthesis of Spatial RPRP Closed Linkages for a Given Screw System
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Topics: Chain, Linkages, Screws
Proceedings Papers

Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications

Anthony L. Crawford, Alba Perez-Gracia
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 29-36, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28418
https://doi.org/10.1115/DETC2010-28418
View Paper titled, Design of a Robotic Hand With a Biologically-Inspired Parallel Actuation System for Prosthetic Applications
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Topics: Artificial limbs, Design, End effectors, Muscle, Signals, Electromyography, Actuators, Approximation, Kinematics, Skin
Proceedings Papers

A Hybrid Optimal Control Strategy for a Smart Prosthetic Hand

Cheng-Hung Chen, D. Subbaram Naidu, Alba Perez-Gracia, Marco P. Schoen
Proc. ASME. DSCC2009, ASME 2009 Dynamic Systems and Control Conference, Volume 2, 89-96, October 12–14, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2009-2507
https://doi.org/10.1115/DSCC2009-2507
View Paper titled, A Hybrid Optimal Control Strategy for a Smart Prosthetic Hand
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Topics: Artificial limbs, Optimal control, Control equipment, Dynamics (Mechanics), Engineering simulation, Errors, Feedback, Kinematics, Simulation
Proceedings Papers

Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains

Alba Perez, Hai-Jun Su, J. Michael McCarthy
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1363-1369, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57524
https://doi.org/10.1115/DETC2004-57524
View Paper titled, Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains
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Topics: Chain, Computer software, Linkages, Visualization, Computer-aided design, Interpolation
Proceedings Papers

Dimensional Synthesis of CRR Serial Chains

Alba Perez, J. M. McCarthy
Proc. ASME. IDETC-CIE2003, Volume 2: 29th Design Automation Conference, Parts A and B, 1087-1094, September 2–6, 2003
Publisher: American Society of Mechanical Engineers
Paper No: DETC2003/DAC-48818
https://doi.org/10.1115/DETC2003/DAC-48818
View Paper titled, Dimensional Synthesis of CRR Serial Chains
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Topics: Chain, Design, Kinematics
Proceedings Papers

Geometric Design of Symmetric 3-RRS Constrained Parallel Platforms

Eric Wolbrecht, Hai-Jun Su, Alba Perez, J. Michael McCarthy
Proc. ASME. IMECE2004, Dynamic Systems and Control, Parts A and B, 1059-1064, November 13–19, 2004
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2004-59792
https://doi.org/10.1115/IMECE2004-59792
View Paper titled, Geometric Design of Symmetric 3-RRS Constrained Parallel Platforms
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Topics: Design, Polynomials, Chain, Degrees of freedom, Kinematics
Proceedings Papers

Distributed Actuation and Shape Control of Ionic Polymer Metal Composites

Bryce M. Knight, Marco P. Schoen, Alba Perez-Gracia
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1499-1505, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-15826
https://doi.org/10.1115/IMECE2006-15826
View Paper titled, Distributed Actuation and Shape Control of Ionic Polymer Metal Composites
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Topics: Metallic composites, Polymers, Shapes, Actuators, Aerospace industry, Biomedical engineering, Deformation, Displacement, Energy consumption, Performance
Proceedings Papers

Vision-Based Kinematic Synthesis of Hand Motion

Karthikeyan Duraisamy, Alba Perez-Gracia, Marco P. Schoen
Proc. ASME. IMECE2006, Dynamic Systems and Control, Parts A and B, 1365-1374, November 5–10, 2006
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2006-14870
https://doi.org/10.1115/IMECE2006-14870
View Paper titled, Vision-Based Kinematic Synthesis of Hand Motion
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Topics: Kinematics, Signals, Dimensions, Prostheses, Algorithms, Dynamics (Mechanics), Muscle, Algebra, Chain
Journal Articles

Clifford Algebra Exponentials and Planar Linkage Synthesis Equations

Alba Perez, J. Michael McCarthy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2005, 127(5): 931–940.
https://doi.org/10.1115/1.1904047
Published Online: November 1, 2004
View Article titled, Clifford Algebra Exponentials and Planar Linkage Synthesis Equations
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Topics: Algebra, Chain, Design, Kinematics
Journal Articles

Dual Quaternion Synthesis of Constrained Robotic Systems

Alba Perez, J. M. McCarthy
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. May 2004, 126(3): 425–435.
https://doi.org/10.1115/1.1737378
Published Online: October 1, 2003
View Article titled, Dual Quaternion Synthesis of Constrained Robotic Systems
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Topics: Design, Kinematics, Robots, Chain