Seyed Mojtaba Karbasi

University of Oslo · Department of Informatics

This paper introduces a drum robot with certain mechanical specifications and analyze its capabilities according to the drumming sound results when applied on a regular snare drum. The robot has two degrees of freedom, actu-ated by one quasi direct-drive servo motor. The gripper of the robot features a flexible joint with passive springs. We report...

This paper presents the design, control, and experimental evaluation of a novel fully automated robotic-assisted system for the positioning and insertion of a commercial full core biopsy instrument under guidance by ultrasound imaging. The robotic system consisted of a novel 4° of freedom (DOF) add-on robot for the positioning and insertion of the...

A novel approach to modeling human standing posture control is proposed. The model is based on the classic impedance control concept and considers intermittency in the control law. We used a 1-Dof inverted pendulum as an equivalent dynamical model for human body during upright standing. The results show that the proposed model has a better performa...