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Proceedings Papers
Volume 5A: 39th Mechanisms and Robotics Conference
39th Mechanisms and Robotics Conference
Compliant Mechanisms and Micro/Nano Mechanisms (A. Midha Symposium)
Synthesis of Constant Torque Compliant Mechanisms
IDETC-CIE 2015; V05AT08A002https://doi.org/10.1115/DETC2015-46179
Topics:
Compliant mechanisms
,
Torque
,
Rotation
,
Splines
,
Interpolation
,
Aerospace industry
,
Automobiles
,
Biomedicine
,
Design
,
Health care
Topology Optimization of Large-Displacement Flexure Hinges
IDETC-CIE 2015; V05AT08A005https://doi.org/10.1115/DETC2015-46444
Topics:
Bending (Stress)
,
Displacement
,
Hinges
,
Optimization
,
Topology
,
Compliant mechanisms
,
Design
,
Equilibrium (Physics)
,
Finite element analysis
,
Modeling
Constraint-Force-Based (CFB) Modeling of Compliant Mechanisms
IDETC-CIE 2015; V05AT08A006https://doi.org/10.1115/DETC2015-46481
Topics:
Compliant mechanisms
,
Modeling
,
Equilibrium (Physics)
,
Deformation
,
Finite element analysis
,
Space
Pseudo-Rigid-Body Models for End-Loaded Heavy Cantilever Beams
IDETC-CIE 2015; V05AT08A007https://doi.org/10.1115/DETC2015-46526
Topics:
Cantilever beams
,
Stress
,
Deflection
,
Compliant mechanisms
,
Design
,
Differential equations
,
Errors
,
Phase space
,
Springs
,
Stiffness
An Analytical Formulation for the Lateral Support Stiffness of a Spatial Flexure Strip
IDETC-CIE 2015; V05AT08A008https://doi.org/10.1115/DETC2015-46591
Topics:
Bending (Stress)
,
Stiffness
,
Strips
,
Deformation
,
Flexure mechanisms
,
Warping
,
Computer software
,
Degrees of freedom
,
Displacement
,
Errors
A Method for Determining Load-Dependent Stiffness of Flexures
IDETC-CIE 2015; V05AT08A009https://doi.org/10.1115/DETC2015-46628
Topics:
Stiffness
,
Stress
,
Bending (Stress)
,
Finite element model
,
Rotation
A Shape-Controlled Compliant Microarchitectured Material
IDETC-CIE 2015; V05AT08A010https://doi.org/10.1115/DETC2015-46643
Topics:
Shapes
,
Aircraft
,
Deformation
,
Design
,
Fuel efficiency
,
Materials properties
,
Modeling
,
Optics
,
Texture (Materials)
,
Wings
A Variable-Stiffness Straight-Line Compliant Mechanism
IDETC-CIE 2015; V05AT08A011https://doi.org/10.1115/DETC2015-46650
Design of a Constant-Force Flexure Micropositioning Stage With Long Stroke
IDETC-CIE 2015; V05AT08A012https://doi.org/10.1115/DETC2015-46672
Dynamic Modeling for a Continuum Robot With Compliant Structure
IDETC-CIE 2015; V05AT08A013https://doi.org/10.1115/DETC2015-46683
Topics:
Dynamic modeling
,
Robots
,
Control modeling
,
Dampers
,
Deformation
,
Design
,
Dynamic models
,
Engineering prototypes
,
Robotics
,
Safety
A Fully Compliant Constant Velocity Universal Joint
IDETC-CIE 2015; V05AT08A014https://doi.org/10.1115/DETC2015-46813
Topics:
Universal joints
,
Kinematics
,
Deflection
,
Engineering prototypes
,
Linkages
,
Manufacturing
,
Rotation
Conceptual Design of 2-DOF Flexure-Based Sensing Mechanisms for Superconductor Gravity Gradient
IDETC-CIE 2015; V05AT08A015https://doi.org/10.1115/DETC2015-46827
Topics:
Bending (Stress)
,
Conceptual design
,
Gravity (Force)
,
Errors
,
Finite element analysis
,
Engineering simulation
,
Optimization
,
Screws
,
Simulation
,
Topology
Design of Control Strategy for a Novel Compliant Flexure-Based Microgripper With Two Jaws
IDETC-CIE 2015; V05AT08A016https://doi.org/10.1115/DETC2015-46869
Topics:
Bending (Stress)
,
Design
,
Dynamic models
,
Actuators
,
Levers
,
Magnification
,
Nonlinear systems
,
Optimization
,
Simulation results
,
Sliding mode control
Review, Categorization and Comparison of 1 DOF Static Balancers
IDETC-CIE 2015; V05AT08A018https://doi.org/10.1115/DETC2015-47217
Topics:
Bending (Stress)
,
Design
,
Energy storage
,
Engines
,
Feedback
,
Haptics
,
Motors
,
Robotics
,
Stress
,
Surgical tools
Parallel Singularities for the Design of Softening Springs Using Compliant Mechanisms
IDETC-CIE 2015; V05AT08A019https://doi.org/10.1115/DETC2015-47240
Topics:
Compliant mechanisms
,
Design
,
Springs
,
Traction
,
Additive manufacturing
,
Friction
,
Geometry
,
Materials properties
,
Rubber
,
Torsion
Effect of Beam Geometry on the Accuracy of Pseudo-Rigid-Body Models
IDETC-CIE 2015; V05AT08A020https://doi.org/10.1115/DETC2015-47267
Topics:
Geometry
,
Deformation
,
Accounting
,
Compliant mechanisms
,
Finite element analysis
,
Optimization
,
Stress
Design of a Compliant XY Positioning Stage With Large Workspace
IDETC-CIE 2015; V05AT08A021https://doi.org/10.1115/DETC2015-47271
Topics:
Design
,
Finite element analysis
,
Flexure mechanisms
,
Kinematics
,
Rotation
,
Ball bearings
,
Degrees of freedom
,
Maintenance
,
Radium
,
Wear
Shape-Morphing Space Frame (SMSF) Using Linear Bistable Elements
IDETC-CIE 2015; V05AT08A023https://doi.org/10.1115/DETC2015-47526
Topics:
Shapes
,
Space frame structures
,
Pipes
,
Design
,
Shear (Mechanics)
,
Shells
,
Spherical shells
,
Stress
Flexure Design for Eight-Bar Rectilinear Motion Mechanism
IDETC-CIE 2015; V05AT08A025https://doi.org/10.1115/DETC2015-47863
Topics:
Bending (Stress)
,
Design
,
Linkages
,
Microelectromechanical systems
,
End effectors
,
Errors
Limitations in the Use of Small-Length Flexural Pivot in a Pseudo-Rigid-Body Model
IDETC-CIE 2015; V05AT08A026https://doi.org/10.1115/DETC2015-47914
Topics:
Deflection
,
Errors
,
Modeling
Medical and Rehabilitation Robotics
Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool
IDETC-CIE 2015; V05AT08A030https://doi.org/10.1115/DETC2015-46344
Topics:
Biological tissues
,
Robotics
,
Surgical tools
,
Haptics
,
Sterilization
,
Surgery
,
Delays
,
Engines
,
Feedback
,
Force sensors
Parallel Articulated-Cable Exercise Robot (PACER): Novel Home-Based Cable-Driven Parallel Platform Robot for Upper Limb Neuro-Rehabilitation
IDETC-CIE 2015; V05AT08A031https://doi.org/10.1115/DETC2015-46389
Topics:
Cables
,
Robots
,
Design
,
Trajectories (Physics)
,
Actuators
,
Case studies
,
Control equipment
,
Degrees of freedom
,
Equations of motion
,
Kinematic analysis
Robotic Physical Exercise and System (ROPES): A Cable-Driven Robotic Rehabilitation System for Lower-Extremity Motor Therapy
IDETC-CIE 2015; V05AT08A032https://doi.org/10.1115/DETC2015-46393
Topics:
Cables
,
Motors
,
Patient treatment
,
Robotics
,
Ropes
,
Control equipment
,
Multibody systems
,
Case studies
,
Equilibrium (Physics)
,
Feedback
Design, Kinematics and Prototype of a Flexible Robot Arm With Planar Springs
IDETC-CIE 2015; V05AT08A033https://doi.org/10.1115/DETC2015-46503
Topics:
Design
,
Engineering prototypes
,
Kinematics
,
Robots
,
Springs
,
Finite element analysis
,
Rotation
,
Bending (Stress)
,
Biomedicine
,
Modeling
A Meso-Scale Rolling-Contact Gripping Mechanism for Robotic Surgery
Clayton L. Grames, Jordan D. Tanner, Brian D. Jensen, Spencer P. Magleby, John Ryan Steger, Larry L. Howell
IDETC-CIE 2015; V05AT08A034https://doi.org/10.1115/DETC2015-46516
Topics:
Robotics
,
Rolling contact
,
Surgery
,
Instrumentation
,
Degrees of freedom
,
Manufacturing
,
Lasers
,
Metals
,
Sintering
Design and Qualitative Testing of a Prosthetic Foot With Rotational Ankle and Metatarsal Joints to Mimic Physiological Roll-Over Shape
IDETC-CIE 2015; V05AT08A035https://doi.org/10.1115/DETC2015-46518
Topics:
Artificial limbs
,
Design
,
Physiology
,
Shapes
,
Testing
,
Engineering prototypes
,
Feedback
,
Springs
,
Stiffness
Sensing and Force-Feedback Exoskeleton Robotic (SAFER) Glove Mechanism for Hand Rehabilitation
IDETC-CIE 2015; V05AT08A036https://doi.org/10.1115/DETC2015-46661
Topics:
Design
,
Exoskeleton devices
,
Force feedback
,
Force sensors
,
Grasping
,
Haptics
,
Kinematics
,
Machine learning
,
Patient treatment
,
Robotics
Design and Experimental Evaluation of a Reconfigurable Gravity-Free Muscle Training Assistive Device for Lower-Limb Paralysis Patients
IDETC-CIE 2015; V05AT08A037https://doi.org/10.1115/DETC2015-46706
Topics:
Design
,
Gravity (Force)
,
Muscle
,
Knee
,
Antigravity
,
Electromyography
,
Computer software
,
Engineering prototypes
,
Rehabilitation devices
,
Signals
Dynamic Performance Analysis of Minimally Actuated 4-Bar Linkages for Upper Limb Rehabilitation
IDETC-CIE 2015; V05AT08A038https://doi.org/10.1115/DETC2015-46828
Topics:
Linkages
,
Springs
,
Robots
,
Torque
,
Actuators
,
Closed kinematic chains
,
Collaboration
,
Computer control
,
Computer software
,
Design
Analyzing Motion Properties of Proteins Affected by Localized Structures From a Robot Kinematics Perspective
IDETC-CIE 2015; V05AT08A039https://doi.org/10.1115/DETC2015-47010
Topics:
Proteins
,
Robot kinematics
,
Compliance
,
Shapes
,
Deformation
,
Manipulators
,
Prisms (Optics)
,
Springs
Design and Control of a Three Finger Hand Exoskeleton for Translation and Rotation of a Slender Object
IDETC-CIE 2015; V05AT08A041https://doi.org/10.1115/DETC2015-47058
Topics:
Design
,
Exoskeleton devices
,
Rotation
,
Linkages
,
Algorithms
,
Artificial neural networks
,
Finger joints (Carpentry)
,
Kinematics
,
Manufacturing
,
Motors
Design and Fabrication of a Soft Robotic Direct Cardiac Compression Device
Ellen T. Roche, Markus A. Horvath, Ali Alazmani, Kevin C. Galloway, Nikolay V. Vasilyev, David J. Mooney, Frank A. Pigula, Conor J. Walsh
IDETC-CIE 2015; V05AT08A042https://doi.org/10.1115/DETC2015-47355
Topics:
Compression
,
Design
,
Manufacturing
,
Robotics
,
Actuators
,
Nylon fabrics
,
Silicones
,
Biomimetics
,
Biological tissues
,
Biomedicine
Design of Mechanism and Preliminary Field Validation of Low-Cost, Passive Prosthetic Knee for Users With Transfemoral Amputation in India
IDETC-CIE 2015; V05AT08A043https://doi.org/10.1115/DETC2015-47385
Topics:
Artificial limbs
,
Design
,
Knee
,
Kinematics
,
Engineering prototypes
,
Dampers
,
Developing nations
,
Feedback
,
Friction
,
Locks (Waterways)
The Use of Additive Manufacturing to Fabricate Structural Components for Wearable Robotic Devices
IDETC-CIE 2015; V05AT08A044https://doi.org/10.1115/DETC2015-47448
Topics:
Additive manufacturing
,
Robotics
,
Structural elements (Construction)
,
Design
,
Robots
,
Exoskeleton devices
,
Modeling
,
Safety
,
Stress
,
Testing
Design of a Biologically Inspired Underwater Burrowing Robot That Utilizes Localized Fluidization
IDETC-CIE 2015; V05AT08A045https://doi.org/10.1115/DETC2015-47459
Topics:
Design
,
Fluidization
,
Robots
,
Soil
,
Actuators
,
Atlantic Ocean
,
Drag (Fluid dynamics)
,
Engineering systems and industry applications
,
Fluids
,
Friction
A 4-DOF Robot for Positioning Ultrasound Imaging Catheters
IDETC-CIE 2015; V05AT08A046https://doi.org/10.1115/DETC2015-47693
Topics:
Catheters
,
Robots
,
Ultrasonic imaging
,
Errors
,
Imaging
,
Arrhythmias
,
Design
,
Instrumentation
,
Manufacturing
,
Navigation
Design and Development of a Novel Soft-and-Rigid Hybrid Actuator System for Robotic Applications
IDETC-CIE 2015; V05AT08A047https://doi.org/10.1115/DETC2015-47761
Topics:
Actuators
,
Design
,
Robotics
,
Pressure
,
Compression molding
,
Finite element analysis
,
Geometry
,
Manufacturing
,
Rubber
,
Shapes
A Theoretical Investigation of the Critical Timescales Needed for Digging in Dry Soil Using a Biomimetic Burrowing Robot
IDETC-CIE 2015; V05AT08A048https://doi.org/10.1115/DETC2015-47852
Topics:
Biomimetics
,
Robots
,
Soil
,
Drag (Fluid dynamics)
,
Stress
,
Cables
,
Collapse
,
Fluidization
,
Particulate matter
,
Sensor placement
Force Transfer Characterization of a Soft Exosuit for Gait Assistance
IDETC-CIE 2015; V05AT08A049https://doi.org/10.1115/DETC2015-47871
Topics:
Design
,
Exoskeleton devices
,
Inertia (Mechanics)
,
Pressure
,
Safety
,
Textiles
,
Weight (Mass)
Robotic Neuromuscular Facilitation for Regaining Neural Activation in Hemiparetic Limbs
Jun Ueda, Lauren Lacey, Melih Turkseven, Minoru Shinohara, Ilya Kovalenko, Euisun Kim, Fatiesa Sulejmani
IDETC-CIE 2015; V05AT08A050https://doi.org/10.1115/DETC2015-48085
Topics:
Robotics
,
Muscle
,
Engines
,
Motors
,
Patient treatment
,
Robots
,
Dynamics (Mechanics)
,
Electromagnetic induction
,
Magnetic resonance imaging
,
Nervous system
Mobile Robots and Cable-Driven Systems
Trajectory Generation for Three-Degree-of-Freedom Cable-Suspended Parallel Robots Based on Analytical Integration of the Dynamic Equations
IDETC-CIE 2015; V05AT08A051https://doi.org/10.1115/DETC2015-46369
Topics:
Cables
,
Equations of motion
,
Robots
,
Trajectories (Physics)
,
Differential equations
,
Kinematics
,
Dynamic modeling
,
Jacobian matrices
,
Pendulums
,
Tension
An Innovative Navigation Strategy for Autonomous Underwater Vehicles: An Unscented Kalman Filter Based Approach
Benedetto Allotta, Riccardo Costanzi, Enrico Meli, Alessandro Ridolfi, Luigi Chisci, Claudio Fantacci, Andrea Caiti, Francesco Di Corato, Davide Fenucci
IDETC-CIE 2015; V05AT08A052https://doi.org/10.1115/DETC2015-46432
Topics:
Kalman filters
,
Navigation
,
Underwater vehicles
,
Algorithms
,
Filtration
,
Seas
,
Remotely operated vehicles
,
Robotics
,
Sensors
,
Industrial engineering
Trajectory Control of Snake-Like Robots in Operational Space Using a Double Layer Sliding Mode Controller
IDETC-CIE 2015; V05AT08A053https://doi.org/10.1115/DETC2015-46480
Topics:
Control equipment
,
Robots
,
Trajectories (Physics)
,
Kinematics
,
Uncertainty
,
Actuators
,
Algorithms
,
Coulombs
,
Degrees of freedom
,
Friction
Static Modeling of a Multi-Segment Serpentine Robotic Tail
IDETC-CIE 2015; V05AT08A054https://doi.org/10.1115/DETC2015-46655
Topics:
Cables
,
Design
,
Displacement
,
Elasticity
,
Equilibrium (Physics)
,
Kinematics
,
Matlab
,
Mobile robots
,
Modeling
,
Robotics
Tension-Efficient Cable-Driven Robot Design Using Particle Swarm Optimization
IDETC-CIE 2015; V05AT08A055https://doi.org/10.1115/DETC2015-46837
Topics:
Cables
,
Design
,
Particle swarm optimization
,
Robots
,
Tension
,
Optimization
,
Actuators
,
Architecture
,
Manipulators
Using Randomized Algorithms to Quantify Uncertainty in the Optimal Design of Cable-Driven Manipulators
IDETC-CIE 2015; V05AT08A056https://doi.org/10.1115/DETC2015-46842
Topics:
Algorithms
,
Cables
,
Design
,
Manipulators
,
Uncertainty
,
Robots
,
Actuators
,
Errors
,
Inertia (Mechanics)
Combinatorial Method for Checking Stability in Tensegrity Structures
IDETC-CIE 2015; V05AT08A057https://doi.org/10.1115/DETC2015-47143
Topics:
Stability
,
Tensegrity structures
,
Cables
,
Scalars
,
Tensegrity
Localization and Trajectory Tracking of an Autonomous Spherical Rolling Robot Using IMU and Odometry
IDETC-CIE 2015; V05AT08A058https://doi.org/10.1115/DETC2015-47223
Topics:
Robots
,
Trajectories (Physics)
,
Kinematics
,
Sensors
,
Wheels
,
Algorithms
,
Biomimetics
,
Dynamic models
,
Dynamics (Mechanics)
,
Filters
Mechanism Design and Simulation of the ULTRA Spine: A Tensegrity Robot
Andrew P. Sabelhaus, Hao Ji, Patrick Hylton, Yakshu Madaan, ChanWoo Yang, Alice M. Agogino, Jeffrey Friesen, Vytas SunSpiral
IDETC-CIE 2015; V05AT08A059https://doi.org/10.1115/DETC2015-47583
Topics:
Design
,
Robots
,
Simulation
,
Tensegrity
,
Cables
,
Kinematics
,
Manufacturing
,
Actuators
,
Engineering prototypes
,
Gears
Kinematic Analysis of a Mobile Robot Performing Manufacturing Tasks on Non-Planar Surfaces
IDETC-CIE 2015; V05AT08A060https://doi.org/10.1115/DETC2015-47637
Topics:
Kinematic analysis
,
Manufacturing
,
Mobile robots
,
Hull
,
Robots
,
Welding
,
Cylinders
,
Design
,
Pipeline construction
,
Robotics
Quantifying Control Authority in Periodic Motions of Underactuated Mobile Robots
IDETC-CIE 2015; V05AT08A061https://doi.org/10.1115/DETC2015-47666
Topics:
Control equipment
,
Design
,
Dynamics (Mechanics)
,
Mobile robots
,
Robots
,
Trajectories (Physics)