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My Doctoral research was in cyclic robots for lower limb exercise and rehabilitation. Cyclic lower limb robots are unique in the robotics field, and as such, traditional robotic techniques and designs --- even those of the more contemporary field of haptics --- cannot be readily extended to lower limb exercise. For example, lower limb robots require a design for cyclic motions (and thus typically motions through singularities), high force and power while still being safe, large inertia, and large net user power (i.e. a user workout) --- qualities that traditional robots or haptic devices do not have. Please see
my dissertation
for more information.
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For my Masters research, I established a arm-robot/user-interface testbed at Northwestern and studied the impact of physically positioning and aligning the monitors so that each monitor's configuration relative to the input device matches that of its camera relative to the robot. This approach eliminates mental transformations otherwise required between camera view and robot control, and naturally leads to monitors arranged not on a plane, but at odd angles to one another. One might imagine the monitors being on the faces of a box. The box can either be a small one in front of the user (called Outside the Box) or a larger one around the user (called Inside the Box). I also ran an experiment testing teleoperation performance for three monitor/image setups, including Inside the Box. Finally, as part of my collaboration with Argonne National Laboratory, I helped establish an over-the-internet teleoperation testbed between Northwestern and Argonne.
See the Teleoperation Research page for more information regarding the project.
The papers resulting from this research are:
DeJong, B.P., Faulring, E.L., Colgate, J.E., Peshkin, M.A., Kang, H., Park, Y.S., Ewing, T.F. "Lessons learned from a novel teleoperation testbed." Invited submission to Industrial Robot, 33(3): 187-193, 2006. Winner of Highly Commended Paper Award.
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An academic approach:
DeJong, B.P., Colgate, J.E., Peshkin, M.A. "Improving Teleoperation: Reducing Mental Rotations and Translations," Proc. of IEEE International Conference on Robotics and Automation, New Orleans, April 2004.
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An industrial approach:
DeJong, B.P., Colgate, J.E., Peshkin, M.A. "Improving Teleoperation: Reducing Mental Rotations and Translations," American Nuclear Society 10th International Conference on Robotics and Remote Systems for Hazardous Environments, Gainesville, Florida, March 2004.
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DeJong, B.P. "Improving Teleoperation Interfaces: Creation of a Testbed and Thinking Inside the Box," Masters Thesis, Northwestern University, May 2003.
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