Publications de Mustafa Suphi Erden

Robotic Assistance by Impedance Compensation for Hand Movements While Manual Welding

In this paper, we present a robotic assistance scheme which allows for impedance compensation with stiffness, damping, and mass parameters for hand manipulation tasks and we apply it to manual welding. The impedance compensation does not assume a preprogra ...

Institute of Electrical and Electronics Engineers2016

Hand Impedance Measurements During Interactive Manual Welding With a Robot

Aude Billard, Mustafa Suphi Erden

This paper presents a study of hand impedance measurements comparatively across ten professional and 14 novice manual welders, when they are performing tungsten inert gas (TIG) welding interactively with the KUKA lightweight robot arm (LWR). The results sh ...

Ieee-Inst Electrical Electronics Engineers Inc2015

Robotic training for hand movements during manual welding with real-time alarm feedback

Aude Billard, Mustafa Suphi Erden

Purpose - The purpose of this study is to develop a robotic training system for the hand movements during manual welding. The system provides real-time notice-feedback with sound or light alarms, whenever the welding hand vibrates beyond the nominal level ...

Emerald2015

End-Point Impedance Measurements Across Dominant and Nondominant Hands and Robotic Assistance with Directional Damping

Aude Billard, Mustafa Suphi Erden

The goal of this paper is to perform end-point impedance measurements across dominant and nondominant hands while doing airbrush painting and to use the results for developing a robotic assistance scheme. We study airbrush painting because it resembles in ...

Institute of Electrical and Electronics Engineers2015

Conic-Spiraleur: A Miniature Distal Scanner for Confocal Microlaparoscope

Mustafa Suphi Erden

Confocal microlaparoscopy is a promising approach in minimally invasive surgery for replacing conventional biopsies that involve physical tissue sampling. However, the typical images acquired with this technique cover a very small area limited by the field ...

Ieee-Inst Electrical Electronics Engineers Inc2014

End-point Impedance Measurements at Human Hand during Interactive Manual Welding with Robot

Aude Billard, Mustafa Suphi Erden

This paper presents a study of end-point impedance measurement at human hand, with professional and novice manual welders when they are performing Tungsten Inert Gas (TIG) welding interactively with the KUKA Light Weight Robot Arm (LWR). The welding torch ...

2014

Understanding Soft-Tissue Behavior for Application to Microlaparoscopic Surface Scan

Mustafa Suphi Erden

This paper presents an approach for understanding the soft-tissue behavior in surface contact with a probe scanning the tissue. The application domain is confocal microlaparoscopy, mostly used for imaging the outer surface of the organs in the abdominal ca ...

Ieee-Inst Electrical Electronics Engineers Inc2013

Emotional Postures for the Humanoid-Robot Nao

Mustafa Suphi Erden

Springer, Springer Netherlands2013