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Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2022

Guangbo Hao, Guimin Chen, Dongming Gan, Abbas Fattah, Carl Nelson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. January 2024, 16(1): 010301.
Paper No: JMR-23-1303
https://doi.org/10.1115/1.4062671
Published Online: July 3, 2023
View Article titled, Special Issue: Selected Papers From IDETC-CIE 2022
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Topics: Design, Robotics, Computers and information in engineering , Computers, Dynamics (Mechanics), Engineering teachers, Kinematics, Robots
Proceedings Papers

Dynamics of a Flexible-Link Planar Parallel Manipulator in Cartesian Space

Abbas Fattah, Arun K. Misra, Jorge Angeles
Proc. ASME. DETC94, 20th Design Automation Conference: Volume 2 — Robust Design Applications; Decomposition and Design Optimization; Optimization Tools and Applications, 483-490, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0160
https://doi.org/10.1115/DETC1994-0160
View Paper titled, Dynamics of a Flexible-Link Planar Parallel Manipulator in Cartesian Space
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Topics: Dynamics (Mechanics), Manipulators, End effectors, Equations of motion, Simulation, Chain, Deformation, Finite element analysis, Kinematics, Modeling
Proceedings Papers

Direct Kinematics of a 3-DOF Spatial Parallel Manipulator With Flexible Legs

Abbas Fattah, Jorge Angeles, Arun K. Misra
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 285-291, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0334
https://doi.org/10.1115/DETC1994-0334
View Paper titled, Direct Kinematics of a 3-DOF Spatial Parallel Manipulator With Flexible Legs
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Topics: Kinematics, Manipulators, Finite element analysis
Proceedings Papers

Singular Configuration and Workspace of a Parallel Manipulator With New Architecture

Abbas Fattah, Mojtaba Oghbaei
Proc. ASME. IDETC-CIE2000, Volume 7A: 26th Biennial Mechanisms and Robotics Conference, 511-516, September 10–13, 2000
Publisher: American Society of Mechanical Engineers
Paper No: DETC2000/MECH-14100
https://doi.org/10.1115/DETC2000/MECH-14100
View Paper titled, Singular Configuration and Workspace of a Parallel Manipulator With New Architecture
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Topics: Manipulators
Journal Articles

Gravity Balancing of a Human Leg Using an External Orthosis

Abbas Fattah, Khatereh Hajizadeh, Sunil K. Agrawal
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2011, 5(1): 011002.
https://doi.org/10.1115/1.4003329
Published Online: February 3, 2011
View Article titled, Gravity Balancing of a Human Leg Using an External Orthosis
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Topics: Design, Orthotics, Gravity (Force), Knee, Springs
Proceedings Papers

Observer Design to Estimate Shank Angle for Motion Control of an Underactuation Biped Robot

Reza Dehghani, Abbas Fattah
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 879-885, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86677
https://doi.org/10.1115/DETC2009-86677
View Paper titled, Observer Design to Estimate Shank Angle for Motion Control of an Underactuation Biped Robot
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Topics: Design, Motion control, Robots, Actuators, Nonlinear systems, Simulation results
Proceedings Papers

On the Design of Planar Reactionless Parallel Mechanisms

Abbas Fattah, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 755-762, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57293
https://doi.org/10.1115/DETC2004-57293
View Paper titled, On the Design of Planar Reactionless Parallel Mechanisms
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Topics: Design, Parallel mechanisms, Center of mass, Computer simulation, Machinery, Trajectories (Physics)
Proceedings Papers

Design of a Gravity-Balanced Assistive Device for Sit-to-Stand Tasks

Abbas Fattah, Sunil K. Agrawal, John Fitzgibbons
Proc. ASME. IDETC-CIE2004, Volume 2: 28th Biennial Mechanisms and Robotics Conference, Parts A and B, 1147-1153, September 28–October 2, 2004
Publisher: American Society of Mechanical Engineers
Paper No: DETC2004-57434
https://doi.org/10.1115/DETC2004-57434
View Paper titled, Design of a Gravity-Balanced Assistive Device for Sit-to-Stand Tasks
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Topics: Design, Gravity (Force), Torque, Center of mass, Dynamic models, Engineering prototypes, Inertia (Mechanics), Knee, Muscle, Potential energy
Proceedings Papers

Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots

Abbas Fattah, Sunil K. Agrawal
Proc. ASME. IDETC-CIE2002, Volume 5: 27th Biennial Mechanisms and Robotics Conference, 1095-1103, September 29–October 2, 2002
Publisher: American Society of Mechanical Engineers
Paper No: DETC2002/MECH-34330
https://doi.org/10.1115/DETC2002/MECH-34330
View Paper titled, Workspace and Design Analysis of Cable-Suspended Planar Parallel Robots
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Topics: Cables, Design, Robots, End effectors, Equilibrium (Physics), Tension
Proceedings Papers

Design of a Passive Leg Orthosis for Human Gait Correction

Abbas Fattah, Sunil K. Agrawal, John Fitzgibbons
Proc. ASME. IMECE2003, Advances in Bioengineering, 161-162, November 15–21, 2003
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2003-43156
https://doi.org/10.1115/IMECE2003-43156
View Paper titled, Design of a Passive Leg Orthosis for Human Gait Correction
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Topics: Design, Orthotics, Knee, Engineering prototypes, Machinery
Proceedings Papers

Design and Control Approaches for a Novel Planar Biped With Nearly Linear Dynamics

Sunil K. Agrawal, Abbas Fattah, So-Ryeok Oh
Proc. ASME. IMECE2005, Dynamic Systems and Control, Parts A and B, 1635-1642, November 5–11, 2005
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2005-81620
https://doi.org/10.1115/IMECE2005-81620
View Paper titled, Design and Control Approaches for a Novel Planar Biped With Nearly Linear Dynamics
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Topics: Design, Dynamics (Mechanics), Inertia (Mechanics), Knee, Stability, Center of mass, Dynamic models, Equations of motion, Gravity (Force), Linear systems
Journal Articles

Design of a Passive Gravity-Balanced Assistive Device for Sit-to-Stand Tasks

Abbas Fattah, Sunil K. Agrawal, Glenn Catlin, John Hamnett
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 2006, 128(5): 1122–1129.
https://doi.org/10.1115/1.2216732
Published Online: October 10, 2005
View Article titled, Design of a Passive Gravity-Balanced Assistive Device for Sit-to-Stand Tasks
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Topics: Design, Engineering prototypes, Gravity (Force), Springs, Center of mass, Muscle
Journal Articles

On the Design of Cable-Suspended Planar Parallel Robots

Abbas Fattah, Sunil K. Agrawal
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. September 2005, 127(5): 1021–1028.
https://doi.org/10.1115/1.1903001
Published Online: October 28, 2004
View Article titled, On the Design of Cable-Suspended Planar Parallel Robots
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Topics: Cables, Robots, Design, Optimization
Journal Articles

On the Design of a Passive Orthosis to Gravity Balance Human Legs

Abbas Fattah, Ph.D., Sunil K. Agrawal, Ph.D.
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. July 2005, 127(4): 802–808.
https://doi.org/10.1115/1.1899175
Published Online: October 4, 2004
View Article titled, On the Design of a Passive Orthosis to Gravity Balance Human Legs
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Topics: Design, Gravity (Force), Orthotics, Springs, Potential energy, Center of mass, Joining, Knee