Ph.D.

· Meng-Yun Chen, “The Virtual Haptic Human Upper Body for Palpatory Diagnostic Training”, ME, November 5, 2010.

· Wei Ji, “Spatial Partitioning and Functional Shape Matched Deformation Algorithm for Interactive Haptic Modeling”, EECS, October 29, 2008.

· Jianhua Wu, “Dynamic Path Planning of an Omni-Directional Robot in a Dynamic Environment”, Integrated Engineering, October 8, 2004.

MSME

· Michael Starkey, “Multiple Cable Actuation utilizing Capstan Friction”, BME, May 2, 2010.

· Adam Shank, “Improvement and Evaluation of Three Cable Haptic Interface”, May 23, 2008.

· Ming Xin, “Kinematics, Dynamics, and Controller Design for the Contour Crafting Cartesian Cable (C⁴) Robot”, May 20, 2008.

· Wan Xu, “Nonlinear Control for Cable Robot Systems with Unidirectional Actuation”, May 15, 2008.

· Daniel Kessler, “Mechanical Design of a Four Wheel Omni-Directional Autonomous Robot”, March 20, 2008.

· Justin Bahar, “Analysis of an Omni-Directional Four Wheel Autonomous Robot”, March 20, 2008.

· Chandana Venkatayogi, “Simulation of a Humanoid Robot”, October 30, 2007.

· Elvedin Kljuno, “Vehicle Simulation System: Controls and Virtual-Reality-Based Dynamics Simulation”, June 6, 2007.

· Eric LaFay, “REACH Haptic Exoskeleton”, May 30, 2007.

· Mayank Srivastava, “Implementation and Evaluation of a Multiple-Points Haptic Rendering Algorithm”, February 27, 2007, MSCS, Robert L. Williams II, advisor.

· Venkat Chadaram, “Three-Cable Haptic Interface”, December 6, 2006.

· Ben Snyder, “Maquette-Enlarging Cable-Suspended Robot”, March, 2006.

· Andy Dick, “Development Feasibility of a Universal Robot / Automation Equipment Controller”, November 11, 2005.

· Christopher Maynard, “A Novel Approach for Road Construction using an Automated Paving Robot”, August 8, 2005.

· Wei Ji , “Viewing Options for the Virtual Haptic Back”, May 19, 2005.

· Ernur Karadogan, “Teleoperation of an Industrial Robot using Resolved Motion Rate Control with Visual Servoing”, May 24, 2005.

· Jansen Litter, “Mobile Robot for Search & Rescue”, June 2, 2004.

· Mayank Srivastava, “Implementation and Evaluation of a Haptic Playback System for the Virtual Haptic Back”, January 13, 2004.

· Adam Landis, “Optimization of a Paraffin Cooling System for an Automated Tissue Embedding Center”, November 14, 2003.

· Xingxi He, “Haptics-Augmented Undergraduate Engineering Education: Implementation and Evaluation”, August 11, 2003.

· Timothy P. Henning, “Dynamics and Control for an Omni-Directional Robot”, June 13, 2003.

· Ronald A. Nyzen, “Spherically-Actuated Platform Manipulator with Passive Prismatic Joints”, August 19, 2002.

· Jigar Vadia, “Planar Translational Cable-Direct-Driven Robots”, August 12, 2002.

· Atul R. Joshi, “Design and Control of a Three Degree-of-Freedom Planar Parallel Robot”, June 17, 2002.

· Josh Collins, “Design and Construction of a Novel Cable-Suspended Haptic Interface”, January 31, 2002.

· John Miller, “Lego DACTA Control Lab for Teaching Robotics”, August 24, 2001.

· Kerry L. Holland, “Design of a Virtual Haptic Back ”, May 25, 2001.

· Brian R. Hopkins, “Modified Paradex: Theory and Hardware Implementation of a 6-PSU Parallel Manipulator ”, May 23, 2001.

· Brian E. Carter, “Omni-Directional Locomotion for Mobile Robots ”, OU RoboCup Team, May 10, 2001.

· Marc Morgan, “Resolved-Rate Simulation of Space-Based Hyper-Redundant Robotic System”, NASA RoboNaut Simulation, November 8, 2000.

· Dana B. Poling, “Spherically-Actuated Platform Manipulator ”, May 26, 2000.

· John J. Hall, “The Design, Construction, and Control of a Four Degree-of-Freedom Inertial Measurement Unit Calibration Platform”, May 25, 2000.

· John J. Ottersbach, "Controls Development for the Pallet Handling Device", September 29, 1999.

· Robert J. Nyzen, "Analysis and Control of an Eight-Degree-of-Freedom Manipulator", August 13, 1999.

· Jason M. Henry, "Theory and Implementation the Naturally-Transitioning Rate-to-Force Controller including Force Reflection using Kinematically-Dissimilar Master/Slave Devices", 1999.

· Devon K, Jacobs, "Investigation of a Commercially-Available Haptic Interface", 1999.

· Nong Lin, "Modeling and Analysis for the Cable-Suspended Haptic Interface", 1998.

· Russell H. Moody, "Prototype Design of Cable-Suspended Haptic Interface", 1998.

· Mark A. Murphy, "Implementation of Telerobotic Control Architecture Including Force-Reflection and the Naturally-Transitioning Rate-to-Force Controller", 1998.

· Rex J. Kuriger, "Kinematics, Statics, and Dexterity of Planar Active Scaffolding Structures", 1997.

· Daqun Tong, "Modeling and Optimal Shape Control of a Laminated Composite Thin Plate with Piezoelectric Actuators Surface Embedded or Bonded ", 1997.

· Nicholas Batsios, "Design and Construction of a Multi-Segment Snake-Like Wheeled Vehicle", 1997.

· Brett H. Shelley, "Inverse Position Solutions, Workspace, and Resolved-Rate Control of all Possible 3-DOF Parallel Planar Manipulators", 1996.

· James B. Mayhew IV, "Cartesian Control of Truss-based Manipulators Using the Virtual Serial Manipulator Approach", 1996.

Current Advisees

· Jun Ding, MS candidate, Anthropomorphic cable-driven 7-dof robot arm

· Ernur Karadogan, Ph.D. candidate, Biomechanics modeling and spine haptic interface design

· Elvedin Kljuno, Ph.D. candidate, Bipedal robot walking theory, simulation, and experiment

· Brent Morris, MS candidate, Three-cable haptic interface

· Jesus Pagan, Ph.D. candidate, robotics

Visiting Faculty / Researchers

Duckhee Lee, Visiting Researcher, National Cancer Research Center, Seoul, South Korea, Surgical Robotics, September 2009 – August 2010.

Elvedin Kljuno, Fulbright Scholar Researcher, Mechanical Engineering, Sarajevo, Bosnia

Fuzzy Logic and Genetic Algorithms for Mobile Robot Control, August 2006 – July 2007

Federica Giacometti and Michele Castagnini, Undergraduate Researchers Dr. Paolo Gallina, University of Padova, Italy, 2000-2001

Mechanical Engineering, University of Padova, Italy, NIST cable-direct-driven Cable-direct-driven haptic interfaces and robots

robot project and cable-direct-driven haptics interface project, 2005 - 2006 Sliding dynamics for omni-directional mobile robots

Graduate Student Defense Photos

Meng-Yun Chen

Michael Starkey Wei Ji

Adam Shank Ming Xin

Wan Xu Dan Kessler and Justin Bahar

Chandana Venkatayogi Elvedin Kljuno

Eric LaFay Mayank Srivastava

Venkat Chadaram Ben Snyder

Andy Dick Christopher Maynard

Wei Ji Ernur Karadogan

Jianhua Wu Jansen Litter

Mayank Srivastava Adam Landis

Xingxi He Tim Henning

Ron Nyzen Jigar Vadia

Atul Joshi Kerry Holland

Brian Hopkins Brian Carter

Dana Poling John Hall

John Ottersbach (center) Rob Nyzen

Josh Collins John Miller

Marc Morgan Dev Jacobs