Award Abstract #0079830
MRI: Acquisition of a Complete Whole Arm Manipulator (WAM) Robot System

NSF Org:	CNS Division of Computer and Network Systems
Initial Amendment Date:	August 10, 2000
Latest Amendment Date:	May 18, 2001
Award Number:	0079830
Award Instrument:	Standard Grant
Program Manager:	Rita V. Rodriguez CNS Division of Computer and Network Systems CSE Directorate for Computer & Information Science & Engineering
Start Date:	September 1, 2000
Expires:	August 31, 2003 (Estimated)
Awarded Amount to Date:	$182177
Investigator(s):	Jaydev Desai jaydev@umd.edu (Principal Investigator) Harry Kwatny (Co-Principal Investigator) Bor-Chin Chang (Co-Principal Investigator) Cato Laurencin (Co-Principal Investigator) Ali Shokoufandeh (Co-Principal Investigator)
Sponsor:	Drexel University 3201 Arch Street Philadelphia, PA 19104 215/895-5849
NSF Program(s):	CISE RESEARCH INFRASTRUCTURE, MAJOR RESEARCH INSTRUMENTATION
Field Application(s):	0000099 Other Applications NEC
Program Reference Code(s):	SMET, HPCC, 9218, 9152, 1189
Program Element Code(s):	2885, 1189

ABSTRACT

EIA-0079830

Desai, Jaydev P.

Drexel University

MRI: Acquisition of a Complete Whole Arm Manipulator (WAM) Robot System

The goal of this work is to acquire a whole arm manipulator (WAM) robot which will greatly enhance the development of the medical robotics program, combining haptic and visual information for object exploration in unstructured environment. The robot will also be an invaluable tool for developing and testing novel nonlinear control models at Drexel University. The equipment will also have significant impact on the undergraduate and graduate education at Drexel in the mentioned research areas.

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