This research seeks to develop physiological task driven design of minimally actuated multi-loop mechanical devices for human-robot interaction. Our goal seeks to devise methods and computational tools for the design of a new breed of multiloop linkages by leveraging on differential kinematics with higher order task specification to ensure the appropriate kinematic behaviour of the mechanism within the vicinity of the contact task. This project is done in collaboration with the Human Interactive Robotics Laboratory at California State University, Fullerton.
Minimally Actuated Finger
Wearable Exoskeletons
Publications
- G. S. Soh and N. Robson, “Kinematic Synthesis of Minimally Actuated Multi-loop Planar Linkages with Second Order Motion Constraints for Object Grasping”, Proceedings of the ASME Dynamic Systems and Control Conference, Stanford, USA, 2013.
- N. Robson, J. Allington and G. S. Soh, “Development of Underactuated Mechanical Fingers Based on Anthropometric Data and Anthropomorphic Tasks”, Proceedings of the ASME International Design Engineering Technical Conference, Buffalo, USA, 2014.
- N. Robson and G. S. Soh, “Geometric Design of Eight-Bar Wearable Devices based on limb Physiological Contact Task”, Mechanism and Machine Theory, 100:358-367, 2016.
- G. R. Tan, N. Robson and G. S. Soh, “Dimensional Synthesis of a Passive Eight-Bar Slider Exo-Limb for Grasping Tasks”, Proceedings of the ASME International Design Engineering Technical Conference, North Carolina, USA, 2016.
- G. R. Tan, N. Robson and G. S. Soh, “Motion Generation of Passive Slider Multi-Loop Wearable Hand Devices”, Journal of Mechanism and Robotics, 9(4):041011, 2017.
- N. Robson and G. S. Soh, “Kinematic Synthesis of Planar Multi-Limb Mechanisms for Multi-Directional Interaction with Bodies in the Environment”, Advances in Robot Kinematics, Springer, 2018.