Now showing items 1-6 of 6

    • A New Algorithm to Estimate Glenohumeral Joint Location Based on Scapula Rhythm 

      Heidari, Omid; Pourgharibshahi, Vahid; Urfer, Alex; Pérez Gracia, Alba (Institute of Electrical and Electronics Engineers (IEEE), 2018)
      Conference report
      Restricted access - publisher's policy
      This work analyzes the human shoulder complex workspace by introducing a new method to estimate the intra-articulation location of the glenohumeral (GH) joint. The proposed algorithm is based on the hypothesis of the GH ...
    • A Task-based Design Methodology for Robotic Exoskeletons 

      Heidari, Omid; Wolbrecht, Eric; Pérez Gracia, Alba; Yihun, Yimesker (Sage Publications, 2018-11)
      Article
      Open Access
      This study is aimed at developing a task-based methodology for the design of robotic exoskeletons. This is in contrast to prevailing research efforts, which attempt to mimic the human limb, where each human joint is given ...
    • Inverse Kinematics Using a Converging Paths Algorithm 

      Heidari, Omid; Pérez Gracia, Alba (Springer Nature, 2020)
      Conference report
      Restricted access - publisher's policy
      This article presents a numerical method for the inverse kinematics of serial chains by utilizing dual quaternion formulation of the robot kinematics within a converging paths algorithm. The method is inspired by iterative ...
    • Quantification of Upper-body Synergies: a Case Comparison for Stroke and non-Stroke Victims 

      Roylance, John; Heidari, Omid; Pérez Gracia, Alba; Kendall, Eydie (2016)
      Conference report
      Restricted access - publisher's policy
      Motion synergies are principal components of the movement, obtained as combinations of joint degrees of freedom, that account for common postures of the human body. These synergies are usually obtained by capturing the ...
    • Singularity Design for RRSS Mechanisms 

      Deemyad, Taher; Heidari, Omid; Pérez Gracia, Alba (2020)
      Conference report
      Restricted access - publisher's policy
      This paper explores the design of RRSS mechanisms with specified singular positions. The ultimate goal is to find an SS chain to couple a previously synthesized RR chain and to force the mechanism to become singular at ...
    • Virtual Reality Synthesis of Robotic Systems for Human Upper-limb and Hand Tasks 

      Heidari, Omid; Pérez Gracia, Alba (2019)
      Conference lecture
      Restricted access - publisher's policy
      The design of robotic systems for human-hand tasks could benefit for a more intuitive environment for task definition and prototype testing. Virtual reality with human-limb motion identification and visualization seems to ...