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Proceedings Papers

Design and Control of a Compliant Parallel Manipulator for a Mobile Platform

Thomas Sugar, Vijay Kumar
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A050, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5863
https://doi.org/10.1115/DETC98/MECH-5863
View Paper titled, Design and Control of a Compliant Parallel Manipulator for a Mobile Platform
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Topics: Design, Manipulators, Mobile robots, Stiffness
Proceedings Papers

The Design of Robust Phase Oscillator for Wearable Robotic Systems

Juan De La Fuente, Susheelkumar C. Subramanian, Prudhvi Tej Chinimilli, Sangram Redkar, Thomas Sugar
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A058, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97453
https://doi.org/10.1115/DETC2019-97453
View Paper titled, The Design of Robust Phase Oscillator for Wearable Robotic Systems
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Topics: Design, Robotics, Robots, Control equipment, Damping, Exoskeleton devices, Limit cycles, Noise (Sound), Pendulums, Robustness
Proceedings Papers

Human Computer Interface Using Electroencephalography for Driver Behavior Classification

Vamsi K. Manchala, Alvaro V. Clara, Susheelkumar C. Subramanian, Sangram Redkar, Thomas Sugar
Proc. ASME. IDETC-CIE2019, Volume 3: 21st International Conference on Advanced Vehicle Technologies; 16th International Conference on Design Education, V003T01A014, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97540
https://doi.org/10.1115/DETC2019-97540
View Paper titled, Human Computer Interface Using Electroencephalography for Driver Behavior Classification
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Topics: Electroencephalography, User interfaces, Vehicles, Artificial neural networks, Machine learning, Support vector machines, Brain, Computers
Journal Articles

Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs

Nathan M. Cahill, Thomas Sugar, Yi Ren, Kyle Schroeder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031014.
Paper No: JMR-17-1141
https://doi.org/10.1115/1.4039772
Published Online: April 26, 2018
View Article titled, Optimal Stiffness Design for an Exhaustive Parallel Compliance Matrix in Multiactuator Robotic Limbs
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Topics: Design, Motors, Robotics, Robots, Springs, Stiffness, Trajectories (Physics), Actuators, Optimization
Proceedings Papers

Decoupling Stiffness From Position in Joint Mechanisms: Applied to Powered Ankle Prosthesis

Robert Holgate, Thomas Sugar
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A019, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-68113
https://doi.org/10.1115/DETC2017-68113
View Paper titled, Decoupling Stiffness From Position in Joint Mechanisms: Applied to Powered Ankle Prosthesis
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Topics: Prostheses, Stiffness, Actuators
Proceedings Papers

A Passive Ankle-Foot Prosthesis With Energy Return to Mimic Able-Bodied Gait

Robert Holgate, Thomas Sugar, Audrey Nash, Jasper Kianpour, Craig Trevor Johnson, Edwin Santos
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A056, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67192
https://doi.org/10.1115/DETC2017-67192
View Paper titled, A Passive Ankle-Foot Prosthesis With Energy Return to Mimic Able-Bodied Gait
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Topics: Prostheses, Safety, Testing
Proceedings Papers

Understanding Power Loss due to Mechanical Antagonism and a New Power-Optimal Pseudoinverse for Redundant Actuators

Nathan M. Cahill, Thomas Sugar, Matthew Holgate, Kyle Schroeder
Proc. ASME. IDETC-CIE2017, Volume 5B: 41st Mechanisms and Robotics Conference, V05BT08A077, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67942
https://doi.org/10.1115/DETC2017-67942
View Paper titled, Understanding Power Loss due to Mechanical Antagonism and a New Power-Optimal Pseudoinverse for Redundant Actuators
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Topics: Actuators, Manipulators, Optimization, Robotics, Robots, Brakes, End effectors, Energy storage, Motors, Redundant manipulators
Proceedings Papers

Dynamic Pace Controller for the Robotic Gait Trainer

Jeffrey A. Ward, Joseph Hitt, Thomas Sugar, Kartik Bharadwaj
Proc. ASME. IDETC-CIE2006, Volume 2: 30th Annual Mechanisms and Robotics Conference, Parts A and B, 575-581, September 10–13, 2006
Publisher: American Society of Mechanical Engineers
Paper No: DETC2006-99733
https://doi.org/10.1115/DETC2006-99733
View Paper titled, Dynamic Pace Controller for the Robotic Gait Trainer
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Topics: Control equipment, Robotics, Robots, Artificial neural networks, Cycles, Design, Matlab, Mechanical admittance, Patient treatment
Proceedings Papers

A Clean Slate: Designing a Mechanical Systems Concentration Within a New Engineering Program

Scott Danielson, Mark Henderson, C. Y. Kuo, Chell Roberts, Darryl Morrell, Robert Grondin, Robert Hinks, Thomas Sugar
Proc. ASME. IMECE2005, Innovations in Engineering Education: Mechanical Engineering Education, Mechanical Engineering/Mechanical Engineering Technology Department Heads, 129-135, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-81674
https://doi.org/10.1115/IMECE2005-81674
View Paper titled, A Clean Slate: Designing a Mechanical Systems Concentration Within a New Engineering Program
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Topics: Design, Teams, Blanks, Casting, Curriculum, Engineering design processes, Mechanical engineering education, Mechanical engineers