Both Mike Libretto (ME PhD) and Waiman Meinhold (Robotics PhD) successfully defended their PhD theses in Spring 2021. Congratulations!! Michael Libretto: Thesis Title “Stabilization of Mobile Manipulators” Waiman Meinhold: Thesis Title: “Neurological disease diagnosis and treatment via precise robotic intervention”
Qiu, Yingxin, Mengnan Wu, Lena H. Ting, and Jun Ueda. “Maximum Spectral Flatness Control of a Manipulandum for Human Motor System Identification.” IEEE Robotics and Automation Letters 6, no. 2 (2021): 3271-3278. This research was supported in part by NSF M3X project. System identification of a dynamic environment using a…
Congratulations, Daniel !! He has been selected for the prestigious NSF Graduate Research Fellowship Program. http://me.gatech.edu/20201-NSF-Graduate-Fellows About GRFP: The NSF Graduate Research Fellowship Program (GRFP) helps ensure the vitality of the human resource base of science and engineering in the United States and reinforces its diversity. The program recognizes and…
Meinhold, W., Yamakawa, Y., Honda, H., Mori, T., Izumi, S. I., & Ueda, J. (2021). A Smart Tendon Hammer System for Remote Neurological Examination. Frontiers in Robotics and AI, 8, 28. https://www.frontiersin.org/articles/10.3389/frobt.2021.618656/full The deep tendon reflex exam is an important part of neurological assessment of patients consisting of two components,…
The Biorobotics and Human Modeling Lab, under the direction of George W. Woodruff School of Mechanical Engineering Professor Jun Ueda, have developed a patient mounted injection needle robot for use in magnetic resonance elastography (MRE), a technology that combines MRI imaging and low-frequency vibrations to create a map (elastogram) that…
Waiman Meinhold Daniel E. Martinez ; John N. Oshinski ; Ai-Ping Hu ; Jun Ueda, A direct drive parallel plane piezoelectric needle positioning robot for MRI guided intraspinal injection Recent developments in the field of cellular therapeutics have indicated the potential of stem cell injections directly to the spinal cord.…
This paper describes a method for inverse kinematics that is tolerant to degenerate wheels structures, specifically to control the motion of the transformable, pseudo-omnidirectional mobile platform. https://www.sciencedirect.com/science/article/abs/pii/S0094114X20302093
Inventors at Georgia Tech and Emory have developed an MRI compatible robotic needle positioning system to improve both the speed and accuracy of the injection procedure. The robot uses linear piezoelectric motors to directly drive a parallel plane positioning mechanism. Feedback is provided through MRI images taken during the orientation…
Michael LiBretto, Yong K. Cho, Yong Han Ahn, Chang Soo Han, Jun Ueda, Configuration Optimization for End-Point Stabilization of Redundant Manipulators with Base Flexibility, ASME Letters in Dynamic Systems and Control, Apr 2021, 1(2): 021001 (9 pages) [LINK]. This is a letter version of our ASME DSCC 2019 paper recommended…
Dr. Ueda’s lab receives supplemental funding from National Science Foundation (DCL NSF 20-027) to study data science methods for the current project #1662029. The award will establish new collaboration with Dr. Ai-Ping Hu (GTRI) and Dr. Ye Zhao (ME).