J
J.E. Colgate
Researcher at Northwestern University
Publications - 113
Citations - 8176
J.E. Colgate is an academic researcher from Northwestern University. The author has contributed to research in topics: Haptic technology & Kinematics. The author has an hindex of 45, co-authored 109 publications receiving 7804 citations. Previous affiliations of J.E. Colgate include National University of Singapore & University of Florida.
Papers
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Proceedings ArticleDOI
Passive robots and haptic displays based on nonholonomic elements
TL;DR: A novel rotational CVT which couples two angular velocities by an adjustable ratio is developed, which motivates interest in a rotational analog for revolute architectures.
Proceedings ArticleDOI
Nonholonomic haptic display
TL;DR: A novel approach to haptic display which allows virtual constraints to be implemented in a manner that is completely passive and therefore intrinsically safe, and the design and feedback control of several "programmable constraint machines" (PCMs) of this type are discussed.
Journal ArticleDOI
Cobot implementation of virtual paths and 3D virtual surfaces
TL;DR: This work builds a cobot with a three-dimensional workspace and a 3-revolute parallelogram-type mechanism, and presents the control methods for the display of virtual surfaces and for free mode in which the cobot endpoint moves as if it were unconstrained.
Proceedings ArticleDOI
Measuring and Increasing Z-Width with Active Electrical Damping
TL;DR: A new technique for adding physical damping to a haptic display through the use of analog electronics in the motor amplifier is presented, showing a performance improvement via a larger Z-width and larger range of passive virtual environment parameters.
Proceedings Article
Cobot control
TL;DR: Two fundamental control modes of the unicycle cobot, "virtual caster" and "constraint tracking", are reviewed and it is shown how these transformations play a role in cobot control like that of the Jacobian in robot control.