Papers by Charles Wampler
Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems, 2003
Force-feedback mechanisms ,have been designed ,to simplify and enhance ,the human-vehicle interfa... more Force-feedback mechanisms ,have been designed ,to simplify and enhance ,the human-vehicle interface. The increase in secondary,controls within vehicle cockpits has created a desire for a simpler, more efficient humanvehicle interface. By consolidating various controls into a single, haptic feedback control device, information can be transmitted to the operator, without requiring the driver’s visual attention. In this paper Electro-Rheological Fluids
Dynamic Systems and Control, Volumes 1 and 2, 2003
... Avi (Allen) Fisch, Jason Nikitczuk, Brian Weinberg, Juan Melli-Huber, Constantinos Mavroidis1... more ... Avi (Allen) Fisch, Jason Nikitczuk, Brian Weinberg, Juan Melli-Huber, Constantinos Mavroidis1 ... Reviews of the ERF phenomenon and the theoretical basis for ERF behavior can be found in [Block and Kelly, 1988; Gast and Zukowski, 1989; Weiss, et al, 1994; Conrad, 1998]. ...
An algorithm is given to compute the real points of the irreducible one-dimensional complex compo... more An algorithm is given to compute the real points of the irreducible one-dimensional complex components of the solution sets of systems of polynomials with real coefficients. The algorithm is based on homotopy continuation and the numerical irreducible decomposition. An extended application is made to Griffis-Duffy platforms, a class of Stewart-Gough platform robots.
Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move f... more Given an underactuated tendon-driven finger, the finger posture is underdetermined and can move freely ("flop") in a region of slack tendons. This work shows that such an underactuated finger can be operated in tendon force control (rather than position control) with effective performance. The force control eliminates the indeterminate slack while commanding a parameterized space of desired torques. The torque will either push the finger to the joint limits or wrap around an external object with variable torque -behavior that is sufficient for primarily gripping fingers. In addition, introducing asymmetric joint radii to the design allows the finger to command an expanded range of joint torques and to scan an expanded set of external surfaces. This study is motivated by the design and control of the secondary fingers of the NASA-GM R2 humanoid hand.
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Papers by Charles Wampler