Now showing items 1-17 of 17

    • A hybrid adaptive control strategy for a smart prosthetic hand 

      Chen, Cheng-Hung; Naidu, D. Subbaram; Pérez Gracia, Alba; Schoen, Marco P. (2009-09)
      Conference report
      Open Access
      This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two- dimensional movement of a prosthetic hand with a ...
    • A new insight into the coupler curves of the RCCC four-bar linkage 

      Thomas, Federico; Pérez Gracia, Alba (Springer, 2017)
      Conference report
      Open Access
      Based on the condition for four points to lie on the unit sphere, derived using Distance Geometry, a new mathematical formulation for the coupler curves of the RCCC linkage is presented. The relevance of this formulation ...
    • Design method for a reconfigurable mechanism for finger rehabilitation 

      Sands, Davin; Pérez Gracia, Alba; McCormack, Jay; Wolbrecht, Eric T. (2010)
      Conference report
      Open Access
      This paper presents a design method for a reconfigurable single degree-of-freedom mechanism for robotic assisted finger therapy following a stroke. The mechanism is a four-bar linkage that in combination with variable link ...
    • Design of a robotic hand and simple EMG input controller with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Molitor, Jeffrey; Pérez Gracia, Alba; Chiu, Steve (2010)
      Conference report
      Open Access
      This paper presents the mechatronic design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the ...
    • Design of a robotic hand with a biologically-inspired parallel actuation system for prosthetic applications 

      Crawford, Anthony; Pérez Gracia, Alba (ASME PRESS, 2010)
      Conference report
      Restricted access - publisher's policy
      This paper presents the design of a robotic hand for prosthetic applications. The main characteristic of this robotic hand is its biologically-inspired parallel actuation system, which is based on the behavior/strength ...
    • Design of non-anthropomorphic robotic hands for anthropomorphic tasks 

      Simó Serra, Edgar; Moreno-Noguer, Francesc; Pérez Gracia, Alba (2011)
      Conference report
      Open Access
      In this paper, we explore the idea of designing non- anthropomorphic multi-fingered robotic hands for tasks tha t replicate the motion of the human hand. Taking as input data a finite set of rigid-body positions for the ...
    • Grasping unknown objects in clutter by superquadric representation 

      Makhal, Abhijit; Thomas, Federico; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Open Access
      In this paper, a quick and efficient method is presented for grasping unknown objects in clutter. The grasping method relies on real-time superquadric (SQ) representation of partial view objects and incomplete object ...
    • Humanoid synthesis using clifford algebra 

      Villa Uriol, Mari Cruz; Pérez Gracia, Alba; Kuester, Falco (IEEE, 2006)
      Conference report
      Open Access
      One of the challenges in the simulation of human motion, either applied to humanoid robots or avatars in virtual environments, is to design a kinematics structure and a set of joint trajectories that move a robot or avatar ...
    • Kinematic synthesis for smart hand prosthetics 

      Duraisamy, Karthikeyan; Isebor, Obiajulu; Pérez Gracia, Alba; Schoen, Marco P.; Naidu, Desineni Subbaram (IEEE Press. Institute of Electrical and Electronics Engineers, 2006)
      Conference report
      Open Access
      The dream of a bionic replacement appendage is becoming reality through the use of mechatronic prostheses that utilize the body’s myoelectric signals. This paper presents a process to accurately capture the motion of ...
    • Kinematic synthesis of multi-fingered robotic hands for finite and infinitesimal tasks 

      Simó Serra, Edgar; Pérez Gracia, Alba; Moon, Hyosang; Robson, Nina (Springer, 2012)
      Conference report
      Open Access
      In this paper we present a novel method of designing multi-fingered robotic hands using tasks composed of both finite and infinitesimal motion. The method is based on representing the robotic hands as a kinematic chain ...
    • On Cayley's factorization of 4D rotations and applications 

      Pérez Gracia, Alba; Thomas, Federico (2017-03-01)
      Article
      Open Access
      A 4D rotation can be decomposed into a left- and a right-isoclinic rotation. This decomposition, known as Cayley’s factorization of 4D rotations, can be performed using the Elfrinkhof–Rosen method. In this paper, we present ...
    • On Cayley's factorization with an application to the orthonormalization of noisy rotation matrices 

      Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2019-05-09)
      Article
      Open Access
      A real orthogonal matrix representing a rotation in four dimensions can be decomposed into the commutative product of a left- and a right-isoclinic rotation matrix. This operation, known as Cayley's factorization, directly ...
    • Single degree-of-freedom exoskeleton mechanism design for finger rehabilitation 

      Wolbrecht, Eric T.; Reinkensmeyer, David J.; Pérez Gracia, Alba (2011)
      Conference report
      Open Access
      This paper presents the kinematic design of a single degree-of-freedom exoskeleton mechanism: a planar eight-bar mechanism for finger curling. The mechanism is part of a fingerthumb robotic device for hand therapy that ...
    • Singularity-free computation of quaternions from rotation matrices in E4 and E3 

      Sarabandi, Soheil; Pérez Gracia, Alba; Thomas, Federico (2018)
      Conference report
      Open Access
      A real orthogonal matrix representing a rotation in E4 can be decomposed into the commutative product of a left-isoclinic and a right-isoclinic rotation matrix. The double quaternion representation of rotations in E4 follows ...
    • Synthesis of spatial RPRP closed linkages for a given screw system 

      Pérez Gracia, Alba (ASME PRESS, 2011-04-11)
      Article
      Open Access
      The dimensional synthesis of spatial chains for a prescribed set of positions can be applied to the design of parallel robots by joining the solutions of each serial chain at the end-effector. This design method does not ...
    • Synthesis of spatial RPRP loops for a given screw system 

      Pérez Gracia, Alba (Springer, 2010)
      Conference report
      Open Access
      The dimensional synthesis of spatial chains for a prescribed set of positions can be used for the design of parallel robots by joining the solutions of each serial chain at the end effector. In some cases, this may yield ...
    • The Kinematic synthesis of mechanically constrained planar 3R chains 

      Soh, Gim Song; Pérez Gracia, Alba; McCarthy, J. M. (2006)
      Conference report
      Open Access
      In this paper, we consider the problem of designing mechanical constraints for a planar serial chain formed with three revolute joints, denoted as the 3R chain. Our focus is on the various ways that two RR chains can be ...