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. This project was supported by Samsung Electronic R&D. Singularity-free solutions for inverse kinematics of degenerate mobile robots, Michael LiBretto, Yingxin Qiu, Euisun Kim, Kevin…
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).
A paper from the PhD project of Euisun Kim has been published in Frontiers in Neurorobotics. [LINK to Frontiers] Euisun Kim, Waiman Meinhold, Minoru Shinohara, Jun Ueda, Statistical Inter-stimulus Interval Window Estimation for Transient Neuromodulation via Paired Mechanical and Brain Stimulation, Frontiers in NeuroRobotics, Volume 14, 2020
December 7th 2019. Students, faculty, their family and friends got together and celebrated holidays. Thank you all for coming!!
December 5th 2019. Eusiun successfully defended her PhD thesis on Robotic Induction of Neuromodulation via Paired Brain Stimulation with Mechanical Stimulation. Congratulations, Dr. Kim!!
A collaborative project with Dr. Mehmet Kurt at the Stevens Institute of Technology receives $280K Peer Reviewed Medical Research Program (PRMRP) Discovery Award from Congressionally Directed Medical Research Program (CDMRP), US Army. This project will develop multi-actuator technology for magnetic resonance elastography (MRE).
Nayef E. Ahmar, Jun Ueda, Minoru Shinohar, Anti-phase co-contraction practice attenuates in-phase oscillations between antagonistic muscles as assessed with phase coherence, Experimental Brain Research, November 2019 [LINK]. This material was supported, in part, by the National Science Foundation under Grant No. IIS 1317718 (National Robotics Initiative) Abstract: Voluntary contraction of skeletal muscles…
Michael LiBretto, Yong K. Cho, Yong Han Ahn, Chang Soo Han, Jun Ueda, 2019 DSCC Vibrations Technical Committee Best Paper Award in Theory, “Configuration Optimization For End-Point Stabilization Of Redundant Manipulators With Base Flexibility” ASME DSCC 2019, October, in Utah. This work was supported by AFOSR, Hybrid Site Sensing and…