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Journal Articles

On Using a Brushless Motor as a Passive Torque-Controllable Brake

Léo G. Vailati, Michael Goldfarb

J. Dyn. Sys., Meas., Control. September 2022, 144(9): 091001.

Paper No: DS-21-1103

DOI: https://doi.org/10.1115/1.4054733

Published Online: June 28, 2022

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Topics: Brakes, Engines, Motors, Torque, Cycles

Journal Articles

Feasibility of a Wearable Cold-Gas Thruster for Fall Prevention

Almaskhan Baimyshev, Michael Finn-Henry, Michael Goldfarb

J. Dyn. Sys., Meas., Control. August 2022, 144(8): 084501.

Paper No: DS-21-1327

DOI: https://doi.org/10.1115/1.4054529

Published Online: May 19, 2022

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Topics: Design, Nozzles, Servomechanisms, Thrust, Valves, Engineering prototypes, Flow (Dynamics)

Proceedings Papers

Performance-Based Selection of PD Control Gains for Servo Systems With Actuator Saturation

Michael Goldfarb, Taweedej Sirithanapipat

Proc. ASME. IMECE97, Dynamic Systems and Control, 497-501, November 16–21, 1997

Paper No: IMECE1997-0434

DOI: https://doi.org/10.1115/IMECE1997-0434

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Topics: Actuators, Servomechanisms, Linear systems, Delays, Nonlinear systems, Numerical analysis, Performance characterization, Robots, Stability, Torque

Proceedings Papers

Compliant Micromanipulator Design for Scaled Bilateral Telemanipulation of Small-Scale Environments

Michael Goldfarb, John E. Speich

Proc. ASME. IMECE98, Dynamic Systems and Control, 213-218, November 15–20, 1998

Paper No: IMECE1998-0257

DOI: https://doi.org/10.1115/IMECE1998-0257

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Topics: Design, Manipulators, Compliant mechanisms, Coulombs, Friction, Kinematics, Bending (Stress), Deformation, Degrees of freedom, Force control

Proceedings Papers

Development of Piezoelectrically Actuated Elastodynamic Flapping Micro-Aerial Vehicles

Adam Cox, Daniel J. Monopoli, Michael Goldfarb, Ephrahim Garcia

Proc. ASME. IMECE99, Adaptive Structures and Material Systems, 257-262, November 14–19, 1999

Paper No: IMECE1999-0552

DOI: https://doi.org/10.1115/IMECE1999-0552

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Topics: Actuators, Bending (Stress), Degrees of freedom, Dynamics (Mechanics), Flexure mechanisms, Flight, Linkages, Materials properties, Motors, Piezoelectric actuators

Proceedings Papers

Passive Stiffness Simulation With Rate-Independent Hysteresis

Michael Goldfarb, Jie Wang

Proc. ASME. IMECE99, Dynamic Systems and Control, 345-350, November 14–19, 1999

Paper No: IMECE1999-0045

DOI: https://doi.org/10.1115/IMECE1999-0045

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Topics: Simulation, Stiffness, Haptics, Dynamics (Mechanics), Stability

Proceedings Papers

Sensorless Velocity Estimation for Control of a Compliant Mechanism Based Micromanipulator

Kevin Fite, Michael Goldfarb

Proc. ASME. IMECE99, Dynamic Systems and Control, 891-896, November 14–19, 1999

Paper No: IMECE1999-0121

DOI: https://doi.org/10.1115/IMECE1999-0121

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Topics: Actuators, Compliant mechanisms, Control equipment, Manipulators, Motion control, Position control, Robots, Sensors, Signals

Proceedings Papers

An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System

John E. Speich, Liang Shao, Michael Goldfarb

Proc. ASME. IMECE2001, Dynamic Systems and Control, 941-946, November 11–16, 2001

Paper No: IMECE2001/DSC-24617

DOI: https://doi.org/10.1115/IMECE2001/DSC-24617

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Topics: Architecture, Dampers, Degrees of freedom, Design, Dynamics (Mechanics), Haptics, Manipulators, Simulation, Springs

Proceedings Papers

A Method for the Frequency Domain Design of PWM-Controlled Pneumatic Systems

Eric J. Barth, Jianlong Zhang, Michael Goldfarb

Proc. ASME. IMECE2001, Dynamic Systems and Control, 539-545, November 11–16, 2001

Paper No: IMECE2001/DSC-24567

DOI: https://doi.org/10.1115/IMECE2001/DSC-24567

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Topics: Design, Pneumatic systems, Actuators, Design methodology, Noise (Sound), Robots, Robustness, Sensors, Simulation, Stability

Proceedings Papers

Implications of Haptic Interface Force Saturation on the Haptic Display of Detail

Marcia Kilchenman, Michael Goldfarb

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1125-1131, November 5–10, 2000

Paper No: IMECE2000-2421

DOI: https://doi.org/10.1115/IMECE2000-2421

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Topics: Haptics, Simulation, Hardware, Cross section (Physics), Design, Force feedback

Proceedings Papers

On the Use of Two Channels for Bilateral Telemanipulation

Kevin B. Fite, John E. Speich, Michael Goldfarb

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 1231-1238, November 5–10, 2000

Paper No: IMECE2000-2435

DOI: https://doi.org/10.1115/IMECE2000-2435

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Topics: Design, Feedback, Manipulators, Robustness, Stability, Transparency

Proceedings Papers

Development of a Piezoelectrically-Actuated Mesoscale Robot Quadruped

Michael Gogola, Michael Goldfarb

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 973-979, November 5–10, 2000

Paper No: IMECE2000-2401

DOI: https://doi.org/10.1115/IMECE2000-2401

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Topics: Robots, Design, Actuators, Electronics, Excitation, Resonance, Batteries, Degrees of freedom, Energy consumption, Locomotives

Proceedings Papers

The Development of a Split-Tube Flexure

Michael Goldfarb, John E. Speich

Proc. ASME. IMECE2000, Dynamic Systems and Control: Volume 2, 861-866, November 5–10, 2000

Paper No: IMECE2000-2386

DOI: https://doi.org/10.1115/IMECE2000-2386

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Topics: Bending (Stress), Design, Manipulators, Stiffness

Journal Articles

Model Based Design of a Low Cost and Compliant Low Profile Prosthetic Foot

Harrison L. Bartlett, Shane T. King, Michael Goldfarb, Brian E. Lawson

J Biomech Eng. March 2022, 144(3): 031009.

Paper No: BIO-21-1209

DOI: https://doi.org/10.1115/1.4052369

Published Online: October 14, 2021

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Topics: Artificial limbs, Design, Stiffness, Stress, Biomechanics

Journal Articles

On the Basis for Stumble Recovery Strategy Selection in Healthy Adults

Maura E. Eveld, Shane T. King, Leo G. Vailati, Karl E. Zelik, Michael Goldfarb

J Biomech Eng. July 2021, 143(7): 071003.

Paper No: BIO-20-1314

DOI: https://doi.org/10.1115/1.4050171

Published Online: April 1, 2021

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Topics: Biomechanics, Design, Feature selection, Knee, Physiology, Regression models, Scanning probe microscopy, Testing, Composite materials, Probability

Includes: Supplementary data

Journal Articles

Variable Geometry Stair Ascent and Descent Controller for a Powered Lower Limb Exoskeleton

Andrew Ekelem, Gerasimos Bastas, Christina M. Durrough, Michael Goldfarb

J. Med. Devices. September 2018, 12(3): 031009.

Paper No: MED-17-1278

DOI: https://doi.org/10.1115/1.4040699

Published Online: July 30, 2018

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Topics: Control equipment, Exoskeleton devices, Stairs, Geometry

Journal Articles

Optimal Transmission Ratio Selection for Electric Motor Driven Actuators With Known Output Torque and Motion Trajectories

Harrison L. Bartlett, Brian E. Lawson, Michael Goldfarb

J. Dyn. Sys., Meas., Control. October 2017, 139(10): 101013.

Paper No: DS-16-1345

DOI: https://doi.org/10.1115/1.4036538

Published Online: June 28, 2017

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Topics: Actuators, Engines, Motors, Torque, Electric motors

Journal Articles

Impedance & Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses

Brian E. Lawson, Michael Goldfarb

Mechanical Engineering. September 2014, 136(09): S12–S17.

Paper No: ME-14-SEP6

DOI: https://doi.org/10.1115/9.2014-Sep-6

Published Online: September 1, 2014

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Topics: Control equipment, Knee, Mechanical admittance, Prostheses, Robotics

Journal Articles

A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia

Hugo A. Quintero, Ryan J. Farris, Michael Goldfarb

J. Med. Devices. December 2012, 6(4): 041003.

DOI: https://doi.org/10.1115/1.4007181

Published Online: October 11, 2012

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Topics: Control equipment, Exoskeleton devices, Orthotics, Mechanical admittance

Journal Articles

Simulation of Constrained Mechanical Systems — Part I: An Equation of Motion

David J. Braun, Michael Goldfarb

J. Appl. Mech. July 2012, 79(4): 041017.

DOI: https://doi.org/10.1115/1.4005572

Published Online: May 16, 2012

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Topics: Dynamic systems, Energy conservation, Equations of motion, Errors, Impulse (Physics), Kinematics, Simulation, Multibody dynamics, Linkages, Computer simulation

Journal citation

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Supplemental Material

On Using a Brushless Motor as a Passive Torque-Controllable Brake

Feasibility of a Wearable Cold-Gas Thruster for Fall Prevention

Performance-Based Selection of PD Control Gains for Servo Systems With Actuator Saturation

Compliant Micromanipulator Design for Scaled Bilateral Telemanipulation of Small-Scale Environments

Development of Piezoelectrically Actuated Elastodynamic Flapping Micro-Aerial Vehicles

Passive Stiffness Simulation With Rate-Independent Hysteresis

Sensorless Velocity Estimation for Control of a Compliant Mechanism Based Micromanipulator

An Experimental Hand/Arm Model for Human Interaction With a Telemanipulation System

A Method for the Frequency Domain Design of PWM-Controlled Pneumatic Systems

Implications of Haptic Interface Force Saturation on the Haptic Display of Detail

On the Use of Two Channels for Bilateral Telemanipulation

Development of a Piezoelectrically-Actuated Mesoscale Robot Quadruped

The Development of a Split-Tube Flexure

Model Based Design of a Low Cost and Compliant Low Profile Prosthetic Foot

On the Basis for Stumble Recovery Strategy Selection in Healthy Adults

Variable Geometry Stair Ascent and Descent Controller for a Powered Lower Limb Exoskeleton

Optimal Transmission Ratio Selection for Electric Motor Driven Actuators With Known Output Torque and Motion Trajectories

Impedance & Admittance-Based Coordination Control Strategies for Robotic Lower Limb Prostheses

A Method for the Autonomous Control of Lower Limb Exoskeletons for Persons With Paraplegia

Simulation of Constrained Mechanical Systems — Part I: An Equation of Motion

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