Dr. Stanisic conducts his research in the Mechanisms and Mechatronics at Fitzpatrick Hall of Engineering.

Current Research

Biomechanics and Biomaterials in Orthopaedics Website

Design and Kinematic Control of Dextrous Manipulator Systems

This research has been supported by two grants from the National Science Foundation. The goal of the research is to design, construct and control robotic devices which are free of kinematic singularities, i.e. dextrous. The dextrous machines are useful in tasks which require impromptu path tracking, such as robotic maintenance or robotic surgery.

Canonical Kinematics/Curvature Theory

This research studies the instantaneous kinematic equations of rigid body motions, which are planar, spherical and spatial with up to five degrees-of-freedom. The results are useful in the control, design and analysis of manipulators as well as the synthesis of mechanisms.

Humanoid Design

This research is collaborative project with colleagues from the University of Bologna (Prof. Dr. Vincenzo Parenti-Castelli) and the Jozef Stefan Institute in Ljubljana Slovenia (Prof. Dr. Jadran Lenarcic). We are developing new forms of humanoid shoulder mechanisms which are hybrid parallel-serial mechanisms. These shoulder mechanisms are capable of producing humerus movements which incorporate the coupled motions within the human clavicle/scapula/glenohumeral system. They are also capable of producing a dextrous range of motion of the humanoid humerus which is comparable to that of a human.

Biomechanics

Testing machines for evaluating prosthetic spinal implants are being developed in collaboration with Zimmer Inc. of Warsaw Indiana.

 

Selected Recent Publications

Goehler, C.M., M.M. Stanisic, and V.M. Perez, "A Generalized Parameterization of T1 Motion and its Application to Synthesis of Planar Mechanisms," Mechanism and Machine Theory, in press.

Lenarcic, J., and Stanisic, M.M., "A Humanoid Shoulder Complex and the Humeral Pointing Kinematics," IEEE Journal of Robotics and Automation, vol. 19, no. 3, pp. 499-506, 2003.

Stanisic, M.M., Wiitala, J.M., and Feix, J.T., "A Dextrous Humanoid Shoulder Mechanism," Journal of Robotic Systems , Vol. 18, No. 12, pp. 737-745, 2001.

Wiitala, J.M., and Stanisic, M.M., "Design of an Overconstrained and Dextrous Spherical Wrist," ASME Journal of Mechanical Design, Vol. 122, pp. 347-353, 2000.

Lorenc, S.J., Stanisic, M.M., and Hall, A.S., "Application of Instantaneous Invariants to the Path Tracking Control Problem of Planar Two Degree of Freedom Systems," Mechanism and Machine Theory, Vol. 30, No. 6, pp. 883-896, 1995.

Direct comments, questions, and corrections to amedept@nd.edu