Alba Perez Gracia - Publications

Journal Papers

  • Perez-Gracia, A., "Synthesis of Spatial RPRP Closed Linkages for a Given Screw System", ASME Journal of Mechanisms and Robotics,3(2), 2011.
  • Sato, C., Martinez, R.G., Shields, M.S., Perez-Gracia, A., and Schoen, M.P., "Behavior of Microbial Fuel Cell in a Startup Phase", Int. Journal of Environmental Engineering,1(1):36-51, 2009.
  • Lai, J.C.K., Schoen, M.P., Perez-Gracia, A., Naidu, D.S., and Leung, S.W., "Prosthetic Devices: Challenges and Implications of Robotic Implants and Biological Interfaces", Proc. of the Inst. of Mechanical Engineers, Vol. 221, Part H: Journal of Engineering in Medicine (Special Issue on Micro and Nano Technologies in Medicine). 210:173-183, London, UK, 2007.
  • Perez Gracia, A. and McCarthy, J.M., "The Kinematic Synthesis of Spatial Serial Chains Using Clifford Algebra Exponentials", Proc. of the Institution of Mechanical Engineers, Part C, Journal of Mechanical Engineering Science., 220(7):953-968, 2006 Proofs (pdf) .
  • Perez, A. and McCarthy, J.M., "Clifford Algebra Exponentials and Planar Linkage Synthesis Equations", ASME Journal of Mechanical Design, 127(5): 931-940, 2005 (pdf) .
  • Perez, A. and McCarthy, J.M., "Geometric Design of RRP, RPR and PRR Serial Chains", Mechanism and Machine Theory, 40(11):1294-1311, November 2005. Proof (pdf).
  • Perez, A. and McCarthy, J.M., "Dual Quaternion Synthesis of Constrained Robotic Systems", ASME Journal of Mechanical Design, 126(3): 425-435, 2004 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of Bennett Linkages", ASME Journal of Mechanical Design, 125(1): 98-104, March 2003 (pdf) .
  • Collins, C.L., McCarthy, J.M., Perez, A. and Su, H., "The Structure of an Extensible Java Applet for Spatial Linkage Synthesis", ASME Journal of Computing and Information Science and Engineering, 2(1): 45-49, 2002 (pdf) .
  • Perez, A. and McCarthy, J.M., "Bennett's Linkage and the Cylindroid", Mechanism and Machine Theory, 37(11): 1245-1260, November 2002 (pdf) .



Conference Proceedings

  • Simo-Serra, E., Perez-Gracia, A., Moon, H. and Robson, N., "Design of Multifingered Robotic Hands for Finite and Infinitesimal Tasks Using Kinematic Synthesis", submitted to the 2012 IEEE International Conference on Robotics and Automation.
  • Simo-Serra, E., Moreno-Noguer, F., and Perez-Gracia, A., "Design of Non-anthropomorphic Robotic Hands for Anthropomorphic Tasks", ASME International Design Engineering Technical Conferences, IDETC 2011, Washington DC, USA, August 29-31, 2011.
  • Wolbrecht, E.T., Reinkensmeyer, D.J., and Perez-Gracia, A., "Single Degree-of-Freedom Exoskeleton Mechanism Design for Finger and Thumb Rehabilitation", ICORR 2011: Int. Conference on Rehabilitation Robotics, Zurich, Switzerland, June 29-July1, 2011.
  • Sands, D., Perez Gracia, A., McCormack, J., and Wolbrecht, E.T., "Design of a Scalable Mechanism for Finger Rehabilitation", 15th IASTED International Conference on Robotics and Applications, Cambridge, MA, USA, November 1-3, 2010.
  • Crawford, A.L., Molitor, J., Perez Gracia, A., and Chiu, S., "Design of a Robotic Hand and Simple EMG Input Controller with a Biologically-Inspired Parallel Actuation System for Prosthetic Applications", 1st International Conference on Applied Bionics and Biomechanics (ICABB), Venice, Italy, October 14-16, 2010.
  • Perez Gracia, A., "Synthesis of Spatial RPRP Loops for a Given Screw System", Proc. of the EuCoMeS, 3rd European Conference on Mechanism Science, Cluj-Napoca, Romania, September 14-18, 2010. Draft (pdf)
  • Crawford, A.L., and Perez Gracia, A., "Design of a Robotic Hand with a Biologically- Inspired Parallel Actuation System for Prosthetic Applications", Proc. of the ASME 2010 International Design Engineering Technical Conferences (IDETC/CIE 2010), Montreal, Quebec, Canada, August 15-18, 2010.
  • Chen, C-H., Naidu, D.S., Perez Gracia, A., and Schoen, M.P, "A hybrid adaptive control strategy for a smart prosthetic hand", 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society Conference (IEEE EMBC’09), Minneapolis, Minnesota, USA, September, 2-6, pp. 5056-5059, 2009.
  • Chen, C-H., Naidu, D.S., Perez, A., and Schoen, M.P, "Fusion of Hard and Soft Control Techniques for Prosthetic Hand", Proceedings of the IASTED Int. Conference on Intelligent Systems and Control (ISC 2008), Orlando, FL, USA, November 16-18, 2008.
  • Knight, B.M., Schoen, M.P., and Perez Gracia, A., "Distributed Actuation and Shape Control of Ionic Polymer Metal Composites", Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
  • Duraisamy, K., Perez Gracia, A. and Schoen, M.P., "Vison-Based Kinematic Synthesis of Hand Motion", Proc. of IMECE, Int. Mechanical Engineering Congress and Exposition, Chicago, IL, November 2006.
  • Villa-Uriol, M.C., Perez Gracia, A. and Kuester, F., "Humanoid Synthesis Using Clifford Algebra", 2006 IEEE International Conference on Robotics and Automation, Orlando, Florida, May 15-19, 2006 (pdf) .
  • Duraisamy, K., Isebor, O., Perez, A., Schoen, M.P. and Naidu, D.S., "Kinematic Synthesis for Smart Hand Prosthetics", BioRob 2006: 1st IEEE/RAS Int. Conf. on Biomedical Robotics and Biomechatronics, Pisa, Italy, February 20-22, 2006 (pdf) .
  • Soh, G.S., Perez Gracia, A. and McCarthy, J.M., "The Kinematic Synthesis of Mechanically Constrained Planar 3R Chains", Proc. of the EuCoMeS, 1st European Conference on Mechanism Science, Obergurgl, Austria, February 21-26, 2006 (pdf) .
  • Perez, A. and McCarthy, J.M., "Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials", 2005 IEEE International Conference on Robotics and Automation, Barcelona, April 18-22, 2005 (pdf) .
  • 12. Wolbrecht, E., Su, H.-J., Perez, A. and McCarthy, J.M., "Geometric Design Of Symmetric 3-RRS Constrained Parallel Platforms," ASME International Mechanical Engineering Congress and Exposition , Anaheim , CA , November 13-19, 2004.
  • Perez, A., Su, H.J. and McCarthy, J.M., "Synthetica 2.0: Software for the Synthesis of Constrained Serial Chains", 2004 ASME Design Engineering Technical Conferences, Salt Lake City, September 2004 (pdf) .
  • Villa-Uriol, M.C., Kuester, F., Bagherzadeh, N., Perez, A. and McCarthy, J.M., "Kinematic Synthesis of Avatar Skeletons from Visual Data", Advances in Robot Kinematics, Sestri-Levante, June 2004, J. Lenarcic and C. Galletti, eds., Kluwer Academic Publishing, 2004 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of CRR Serial Chains", 2003 ASME Design Engineering Technical Conferences, Chicago, IL, September 2003 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of RPC Serial Robots", ICAR 2003: International Conference on Advanced Robotics, Coimbra, June 2003 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dual Quaternion Synthesis of a Parallel 2-TPR Robot", Proc. of the Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Quebec City, October 3-4, 2002 (pdf) .
  • Perez, A., McCarthy, J.M. and Bennett, B., "Dual Quaternion Synthesis of Constrained Robots", Advances in Robot Kinematics 2002, Caldes de Malavella, June 2002, (J. Lenarcic and F. Thomas,eds.), Kluwer Academic Publishing, 2002 (pdf) .
  • Perez, A., McCarthy, J.M., "Dimensional Synthesis of Bennett Linkages", 2000 ASME Design Engineering Technical Conferences, Baltimore, September 2000 (pdf) .
  • Perez, A. and McCarthy, J.M., "Dimensional Synthesis of Spatial RR Robots", Advances in Robot Kinematics, (J. Lenarcic and M.M. Stanisic, eds.), Kluwer Academic Publishers, June 2000 (pdf) .



PhD Dissertation



Presentations

  • Presentation at the Design Engineering Technical Conf. 2000: Dimensional Synthesis of Bennett Linkages (pdf)
  • Presentation at the Int. Conf. of Advanced Robotics 2003: Dimensional Synthesis of RPC Serial Robots (ppt)
  • Invited seminar, Catholic University of America: Dual Quaternion Synthesis of Constrained Robotic Systems. December 2003. (ppt)
  • Presentation at the Design Engineering Technical Conf. 2004: Synthetica 2.0:Software for the Synthesis of Constrained Serial Chains (ppt)
  • Presentation at the Int. Conf. on Robotics and Automation 2005: Sizing a Serial Chain to Fit a Task Trajectory Using Clifford Algebra Exponentials (ppt)
  • Invited Seminar, Mechanical Engineering Dept., Univ. of Utah, October 2007: Kinematic Synthesis Using Clifford Algebras: Theory and Applications (pdf)
  • Invited Seminar, Institut de Robotica i Informatica Industrial, Barcelona, Spain, March 2009: Some Open Problems in Kinematic Synthesis (pdf)



Reports and Memos

  • Internal Report: Smart Prosthetics: Literature Review June 2006. (pdf)
  • Internal Report: Smart Prosthetics: Prosthetic Hand Motion Requirements June 2009. (pdf)