Mohammed El Kihal | Virginia Tech (original) (raw)
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Papers by Mohammed El Kihal
Volume 7: 46th Mechanisms and Robotics Conference (MR)
The wrist is critical to people’s activities of daily living, which consists of two major degrees... more The wrist is critical to people’s activities of daily living, which consists of two major degrees of freedom (DOF) — flexion-extension (FE) and radial-ulnar-deviation (RUD). This paper proposes a novel 2-DOF biomimetic robotic wrist design for a forearm mannequin, which is developed as a safe test bench that emulates human forearm movements for exoskeleton experimentation. Due to the complexity of the coupled motions of FE and RUD, existing robotic wrists mainly focus on the FE motion, and sometimes incorporate the forearm pronation/supination instead of the RUD motion. To solve this issue, the robotic wrist features a simple but effective hybrid mechanism for FE and RUD motions, which avoids the axes offset between FE and RUD from producing unnatural wrist movements and allows ranges of motions comparable to those in a human wrist. We analyze the kinematics of the hybrid wrist mechanism, which leads to the establishment of the dynamical model through a generic constrained multibody...
2021 9th International Renewable and Sustainable Energy Conference (IRSEC), 2021
2015 IEEE/SICE International Symposium on System Integration (SII), 2015
— This paper proposes a simple obstacle avoidance method for telepresence robot that is designed ... more — This paper proposes a simple obstacle avoidance method for telepresence robot that is designed for families with elderly people living in remote areas. The proposed method is as follows: 1) Obstacle points are measured by tilting a LRF (Laser Range Finder), 2) Obstacle points that are inside a circle (Radius 0.75cm) at the center of LRF are projected to the arch of the circle, and 3) Openings that the robot passes through are searched. The proposed simple method is for manually operated robot system. When an opening is not found, the robot stops and an operator move the robot by remote operation to search an opening. Thanks to this method, the robot can therefore move around near desks and chairs.
2015 International Conference on Electrical and Information Technologies (ICEIT), 2015
—Due to the radical environmental changes, in terms of sound pollution and global warming that th... more —Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts new-borns and babies environments. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests an enhanced noise cancelling system for a comprehensive monitoring and control to overcome the sound pollution and make the baby rooms more comfortable. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.
2015 6th International Conference on Information and Communication Systems (ICICS), 2015
—Due to the radical environmental changes, in terms of sound pollution and global warming that th... more —Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts newborns and babies environments making them less secure and stable. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests the integration of a noise cancelling subsystem for an ergonomic scheme that will be monitoring and controlling the baby room conditions. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.
Volume 7: 46th Mechanisms and Robotics Conference (MR)
The wrist is critical to people’s activities of daily living, which consists of two major degrees... more The wrist is critical to people’s activities of daily living, which consists of two major degrees of freedom (DOF) — flexion-extension (FE) and radial-ulnar-deviation (RUD). This paper proposes a novel 2-DOF biomimetic robotic wrist design for a forearm mannequin, which is developed as a safe test bench that emulates human forearm movements for exoskeleton experimentation. Due to the complexity of the coupled motions of FE and RUD, existing robotic wrists mainly focus on the FE motion, and sometimes incorporate the forearm pronation/supination instead of the RUD motion. To solve this issue, the robotic wrist features a simple but effective hybrid mechanism for FE and RUD motions, which avoids the axes offset between FE and RUD from producing unnatural wrist movements and allows ranges of motions comparable to those in a human wrist. We analyze the kinematics of the hybrid wrist mechanism, which leads to the establishment of the dynamical model through a generic constrained multibody...
2021 9th International Renewable and Sustainable Energy Conference (IRSEC), 2021
2015 IEEE/SICE International Symposium on System Integration (SII), 2015
— This paper proposes a simple obstacle avoidance method for telepresence robot that is designed ... more — This paper proposes a simple obstacle avoidance method for telepresence robot that is designed for families with elderly people living in remote areas. The proposed method is as follows: 1) Obstacle points are measured by tilting a LRF (Laser Range Finder), 2) Obstacle points that are inside a circle (Radius 0.75cm) at the center of LRF are projected to the arch of the circle, and 3) Openings that the robot passes through are searched. The proposed simple method is for manually operated robot system. When an opening is not found, the robot stops and an operator move the robot by remote operation to search an opening. Thanks to this method, the robot can therefore move around near desks and chairs.
2015 International Conference on Electrical and Information Technologies (ICEIT), 2015
—Due to the radical environmental changes, in terms of sound pollution and global warming that th... more —Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts new-borns and babies environments. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests an enhanced noise cancelling system for a comprehensive monitoring and control to overcome the sound pollution and make the baby rooms more comfortable. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.
2015 6th International Conference on Information and Communication Systems (ICICS), 2015
—Due to the radical environmental changes, in terms of sound pollution and global warming that th... more —Due to the radical environmental changes, in terms of sound pollution and global warming that the world is subject to, today's climate (noise, temperature, and humidity) impacts newborns and babies environments making them less secure and stable. In order to achieve better living conditions in a baby room, monitoring and control systems became very important. Existing systems only monitor and control the temperature, humidity, and light in baby rooms. This paper intends to build on the existing related work and suggests the integration of a noise cancelling subsystem for an ergonomic scheme that will be monitoring and controlling the baby room conditions. The proposed system design and implementation are discussed and the corresponding components are detailed with their interactions. Additionally, a draft cost estimation is presented.