Imtehaze Heerah - Academia.edu (original) (raw)
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Papers by Imtehaze Heerah
2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2008
This paper presents the design of a novel, portable device for hand rehabilitation. The device pr... more This paper presents the design of a novel, portable device for hand rehabilitation. The device provides for CPM (continuous passive motion) and CAM (continuous active motion) hand rehabilitation for patients recovering from damage such as flexor tendon repair and strokes. The device is capable of flexing/extending the MCP (metacarpophalangeal) and PIP (proximal interphalangeal) joints through a range of motion of 0 degrees to 90 degrees for both the joints independently. In this way, typical hand rehabilitation motions such as intrinsic plus, intrinsic minus, and a fist can be achieved without the need of any splints or attachments. The CPM mode is broken into two subgroups. The first mode is the use of preset waypoints for the device to cycle through. The second mode involves motion from a starting position to a final position, but senses the torque from the user during the cycle. Therefore the user can control the ROM by resisting when they are at the end of the desired motion. During the CPM modes the device utilizes a minimum jerk trajectory model under PD control, moving smoothly and accurately between preselected positions. CAM is the final mode where the device will actively resist the movement of the user. The user moves from a start to end position while the device produces a torque to resist the motion. This active resistance motion is a unique ability designed to mimic the benefits of a human therapist. Another unique feature of the device is its ability to independently act on both the MCP and PIP joints. The feedback sensing built into the device makes it capable of offering a wide and flexible range of rehabilitation programs for the hand.
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
In this paper, a multi line-of-sight (LOS) task-space sensing methodology is presented for guidan... more In this paper, a multi line-of-sight (LOS) task-space sensing methodology is presented for guidance-based localization of mobile devices (e.g., autonomous vehicles and robots). The mobility requirement of the localization/docking application dictates the minimum number and the type (planar or spatial) of the lines of sight. It is envisioned that, a multi-LOS sensing system will be configured for the task at
Volume 5: 27th Biennial Mechanisms and Robotics Conference, 2002
This paper presents the workspace-based architecture selection process and singularity analysis o... more This paper presents the workspace-based architecture selection process and singularity analysis of a high-speed, high-precision three degree-of-freedom (3-DOF) planar parallel manipulator for wire-bonding and electronic-component placement applications. A novel concept of manipulator “effective base area” is utilized for selecting the optimal architecture amongst the possible six well-known configurations. Dexterity regions, based on the manipulator requirements, within the reachable workspace have been identified for the selected architecture. Singular configurations of the optimal 3-PRR architecture have also been examined within the reachable workspace. Simulation results for both workspace and singularity analyses are also presented.
Journal of Intelligent and Robotic Systems, Aug 1, 2003
A three degree-of-freedom planar parallel manipulator, intended for high-speed, highprecision wir... more A three degree-of-freedom planar parallel manipulator, intended for high-speed, highprecision wire-bonding and electronic-component placement tasks, has been developed in our laboratory. In this paper, the work related to the kinematic manipulator-architecture selection is presented. The reachable workspace and "effective base area" metrics of the parallel manipulator were utilized for selecting the best possible architecture amongst six potential configurations. Constant platformorientation regions, within the reachable workspace of the selected manipulator, were identified based on the manipulator task requirements. Simulation results for the workspace analyses (reachable workspace, effective base areas, and constant-orientation regions) are presented in this paper. Once the optimal-workspace architecture was selected, both workspace-boundary and internal singularities were further investigated in order to have a clear view of the set of uncontrollable poses of the manipulator. Singularity analyses examples are also included herein.
2008 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, 2008
This paper presents the design of a novel, portable device for hand rehabilitation. The device pr... more This paper presents the design of a novel, portable device for hand rehabilitation. The device provides for CPM (continuous passive motion) and CAM (continuous active motion) hand rehabilitation for patients recovering from damage such as flexor tendon repair and strokes. The device is capable of flexing/extending the MCP (metacarpophalangeal) and PIP (proximal interphalangeal) joints through a range of motion of 0 degrees to 90 degrees for both the joints independently. In this way, typical hand rehabilitation motions such as intrinsic plus, intrinsic minus, and a fist can be achieved without the need of any splints or attachments. The CPM mode is broken into two subgroups. The first mode is the use of preset waypoints for the device to cycle through. The second mode involves motion from a starting position to a final position, but senses the torque from the user during the cycle. Therefore the user can control the ROM by resisting when they are at the end of the desired motion. During the CPM modes the device utilizes a minimum jerk trajectory model under PD control, moving smoothly and accurately between preselected positions. CAM is the final mode where the device will actively resist the movement of the user. The user moves from a start to end position while the device produces a torque to resist the motion. This active resistance motion is a unique ability designed to mimic the benefits of a human therapist. Another unique feature of the device is its ability to independently act on both the MCP and PIP joints. The feedback sensing built into the device makes it capable of offering a wide and flexible range of rehabilitation programs for the hand.
Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
In this paper, a multi line-of-sight (LOS) task-space sensing methodology is presented for guidan... more In this paper, a multi line-of-sight (LOS) task-space sensing methodology is presented for guidance-based localization of mobile devices (e.g., autonomous vehicles and robots). The mobility requirement of the localization/docking application dictates the minimum number and the type (planar or spatial) of the lines of sight. It is envisioned that, a multi-LOS sensing system will be configured for the task at
Volume 5: 27th Biennial Mechanisms and Robotics Conference, 2002
This paper presents the workspace-based architecture selection process and singularity analysis o... more This paper presents the workspace-based architecture selection process and singularity analysis of a high-speed, high-precision three degree-of-freedom (3-DOF) planar parallel manipulator for wire-bonding and electronic-component placement applications. A novel concept of manipulator “effective base area” is utilized for selecting the optimal architecture amongst the possible six well-known configurations. Dexterity regions, based on the manipulator requirements, within the reachable workspace have been identified for the selected architecture. Singular configurations of the optimal 3-PRR architecture have also been examined within the reachable workspace. Simulation results for both workspace and singularity analyses are also presented.
Journal of Intelligent and Robotic Systems, Aug 1, 2003
A three degree-of-freedom planar parallel manipulator, intended for high-speed, highprecision wir... more A three degree-of-freedom planar parallel manipulator, intended for high-speed, highprecision wire-bonding and electronic-component placement tasks, has been developed in our laboratory. In this paper, the work related to the kinematic manipulator-architecture selection is presented. The reachable workspace and "effective base area" metrics of the parallel manipulator were utilized for selecting the best possible architecture amongst six potential configurations. Constant platformorientation regions, within the reachable workspace of the selected manipulator, were identified based on the manipulator task requirements. Simulation results for the workspace analyses (reachable workspace, effective base areas, and constant-orientation regions) are presented in this paper. Once the optimal-workspace architecture was selected, both workspace-boundary and internal singularities were further investigated in order to have a clear view of the set of uncontrollable poses of the manipulator. Singularity analyses examples are also included herein.