External Funding

· Brentwood Foundation, “Haptic Modules for Palpatory Diagnosis Training”, 2007, two years, $105,149.

· AFOSR, “Biomimetic Aerial Robotic Transformer Feasibility”, 2007, one year, $150,000.

· Osteopathic Heritage Foundation, “A Pilot MRI Study of Osteopathic Manipulative Treatment of Acute Low Back Pain”, 2007, one year, $39,000.

· Osteopathic Heritage Foundation, “Interdisciplinary Institute on Neuromusculoskeletal Research: Infrastructure”, 2005, 5 years, $397,421.

· Ohio Space Grants Consortium, “Senior Scholarship: RoboNaut Simulation”,2005, one year, $3,000.

· NSF SBIR, “Maquette-Enlarging Cable Robot System”, 2005, six months, $100,000.

· NIST, “Cable-Suspended Robot Development with Independent Metrology”, 2003, one year, $49,988.

· NASA Langley Research Center Equipment Donation, 2003, $321,038.

· Osteopathic Heritage Foundation, “The Virtual Haptic Back for Osteopathic Training”, 2002, five years, $1,160,286.

· NIST, “Novel Cable-Direct-Driven Robot (CDDR) Development”, NIST Sabbatical, 2003, one year, $57,099.

· NSF CCLI-EMD, “Haptics-Augmented Engineering Education”, 2002, one year, $74,935.

· NASA Langley, "Haptics-Augmented Education", 2001, three years, $119,924.

· Wright-Patterson AFB, "Teleoperation for Remote Air Force Space tasks", 2001, $20,000.

· NASA Langley, "Haptics-Augmented Science Education", 2000, $30,430.

· Wright-Patterson AFB, "Force-Reflecting Teleoperation Experimentation in the HSF Lab", 1998, $16,516.

· Stewart-Glapat Inc., "Pallet Handling Device Controls Implementation", 1998, $19,937.

· Wright-Patterson AFB, "Haptics and Related Research in the HSF Lab", 1998, $15,000.

· Ohio Supercomputing Center, "Haptics-Modeling and Implementation", 1998, $3,900.

· Wright-Patterson AFB, "Integration of ATB and LS-DYNA Software for PC-Based Occupant/Seat Restraint Modeling", 1998, two years, $200,000.

· NASA Langley, "Haptics-Augmented NASA Science Education via the Internet", 1998, $30,031.

· JLG Industries Inc., "Aluminum Mid- and Fly-Booms Weight and Cost Reduction", 1998, $5,000.

· Wright-Patterson AFB, "Force-Reflecting Teleoperation Implementation", 1998, $15,120.

· Wright-Patterson AFB, "Cable-Suspended Haptic Interface Feasibility Study", 1997, $4,000.

· Ohio Space Grants Consortium, "Aerospace Telerobotics Systems: Proposal Development for Collaborative Research", 1996, $2,500.

· NSF/University of Delaware, "Path Planning, Control, and Simulation of Free-Floating Robots in Space", 1996, $5,317.

· Batelle, Pacific Northwest Laboratories, "Variable Geometry Truss Manipulator System Advanced Control Algorithms", 1996, $10,000.

· NASA Langley Research Center Equipment Loan, 1996-2003, $321,038.

Summer Research Programs

· AFOSR Graduate Student Research Program, Wright-Patterson AFB, 1998, $8,388

· JLG Industries Inc., Advanced Concepts Group, $4,800

· AFOSR Summer Faculty Research Program, Wright-Patterson AFB, "Force-Reflecting Teleoperation Control Architecture" and "Novel Haptic Interface", 1997, $13,560

· AFOSR Graduate Student Research Program, Wright-Patterson AFB, 1997, $8,160

· NASA/ASEE Summer Faculty Fellowship Program, NASA Kennedy Space Center, FL, "Follow-the-Leader Control for the PIPS Prototype Hardware", 1996, $11,630

· NASA/ASEE Summer Graduate Student Support, NASA Kennedy Space Center, FL, , 1996, $2,520

· NASA/ASEE Summer Faculty Fellowship Program, NASA Kennedy Space Center, FL, "Follow-the-Leader Algorithm for the Payload Inspection and Processing System", 1995, $11,721

Ohio University Funding

· Stocker Undergraduate Research Intern, “Bioengineering Intern”, 2006, $3,000.

· Research Committee Award, “Autonomous Robotics Concrete Paving Demonstration”, 2005, $7,000.

· Stocker Undergraduate Research Intern, “Cable Robot for Search & Rescue”, 2005, $3,000.

· Provost’s Undergraduate Research Fund, “Search & Rescue Mobile Robots”, 2004, $1,500.

· Stocker Undergraduate Research Intern, “RoboCup”, 2004, $1,500.

· Faculty Fellowship Leave, “Novel Cable-Direct-Driven Robot (CDDR) Development”, NIST Sabbatical, 2002–2003, $46,868.

· 1804 Research Award, “The Aeromobile Project – A Pilot Program for Development of Interdisciplinary Research and an Aeronautical Graduate Education Program”, 2004, $30,000.

· 1804 Research Award, “Regenerative Supercirculation Wing for Vertical Takeoff: Experimental Concept Validation”, 2002, $34,500.

· Provost’s Undergraduate Research Fund, “Research and Development of Lateral Ball Control by RoboCup Autonomous Mobile Robots”, 2003, $1,000.

· Provost’s Undergraduate Research Fund, “Pneumatic Muscle Actuators”, 2002, $1,500.

· Stocker Research Fund, "Novel Cable-Direct-Driven Robot Prototypes", 2001, $10,000.

· Baker Award, "Cable-Direct-Driven Robots Evaluation", 2001-2002, $10,000.

· 1804 Research Award, "The Virtual Haptic Back", 2000–2002, $29,048.

· 1804 Education Award, "RoboCup: Multidisciplinary Senior Design", 2000–2002, $29,500.

· RCENT Dean's Discretionary Fund, "RoboCup Hardware", 2000–2002, $30,000.

· 1804 Undergraduate Learning, "Integrating Virtual Reality into Undergraduate Engineering Courses", 1998-2000, $30,000.

· Stocker Research Fund, "Novel Cable-Suspended Haptic Interface", 1999, $8,000.

· Ohio University Assessment Award, 1998-1999, $25,000.

· Research Committee Award, "Efficient Solution of Stiff and Differential-Algebraic Equations", 1998, $7,000.

· Baker Award, 1998, $10,000.

· 1804 Research Award, "Development of Virtual Reality and Haptic Techniques for 3D Visualization", 1997–1999, $39,000.

· Ohio House Bill Money, Undergraduate Controls and Robotics Laboratories, 1997, $9,700.

· Stocker Research Fund, "NASA Robotics Laboratory", 1997, $10,000.

· Stocker Research Fund, "Active Scaffolding Prototype", 1996, $13,000.

· Ohio House Bill Money, "State-of-the-Art Undergraduate Robotics Facility", 1995, $50,000.

· Research Committee Award, "Graphical Simulation Tool for Truss-Based Manipulators", 1995, $6,980.