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Journal Articles

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator

Yi Jin, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081015.
Paper No: JMR-23-1363
https://doi.org/10.1115/1.4064282
Published Online: January 12, 2024
View Article titled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
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Topics: Actuators, Design, Hinges, Simulation, Stiffness, Errors, Kinematics, Pressure, Soft robots
Proceedings Papers

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator for Enhancing the Performance of Soft Robots

Yi Jin, Hai-Jun Su
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A096, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114816
https://doi.org/10.1115/DETC2023-114816
View Paper titled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator for Enhancing the Performance of Soft Robots
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Topics: Actuators, Hinges, Pneumatic actuators, Soft robots
Proceedings Papers

Machine Learning Models for Predicting Deflection and Shape of 2D Cantilever Beams

Yi Jin, Hai-Jun Su
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A006, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89694
https://doi.org/10.1115/DETC2022-89694
View Paper titled, Machine Learning Models for Predicting Deflection and Shape of 2D Cantilever Beams
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Topics: Cantilever beams, Compliant mechanisms, Deflection, Machine learning, Shapes
Proceedings Papers

Gait Prediction for Prosthesis Design Evaluation

Tyler Morrison, Hai-Jun Su
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A031, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89739
https://doi.org/10.1115/DETC2022-89739
View Paper titled, Gait Prediction for Prosthesis Design Evaluation
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Topics: Design, Prostheses, Robotics, Simulation, Actuators, Muscle, Optimization, Trajectories (Physics), Artificial limbs, Biomechanics
Journal Articles

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

Xianpai Zeng, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
https://doi.org/10.1115/1.4053857
Published Online: April 25, 2022
View Article titled, A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
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Topics: Design, Grippers, Pressure, Stiffness, Vacuum, Shapes
Journal Articles

Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms

Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031020.
Paper No: JMR-20-1447
https://doi.org/10.1115/1.4050379
Published Online: March 26, 2021
View Article titled, Design, Modeling, and Manufacturing of a Variable Lateral Stiffness Arm Via Shape Morphing Mechanisms
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Topics: Cables, Design, Shapes, Stiffness, Modeling, Robots
Proceedings Papers

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction

Yu She, Zhaoyuan Gu, Siyang Song, Hai-Jun Su, Junmin Wang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A060, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22035
https://doi.org/10.1115/DETC2020-22035
View Paper titled, A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction
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Topics: Cables, Human-robot interaction, Stiffness, Robotics, Design, Safety, Actuators, Additive manufacturing, Modeling, Robots
Journal Articles

A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming

Yuan Gao, Xiguang Huang, Ishan Singh Mann, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051013.
Paper No: JMR-19-1452
https://doi.org/10.1115/1.4047156
Published Online: June 5, 2020
View Article titled, A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming
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Topics: Cables, Design, End effectors, Grippers, Stiffness, Stress, Pressure
Journal Articles

Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots

Siyang Song, Yu She, Junmin Wang, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2020, 12(5): 054503.
Paper No: JMR-19-1499
https://doi.org/10.1115/1.4046839
Published Online: May 11, 2020
View Article titled, Toward Tradeoff Between Impact Force Reduction and Maximum Safe Speed: Dynamic Parameter Optimization of Variable Stiffness Robots
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Topics: Design, Optimization, Robots, Stiffness
Journal Articles

A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction

Yu She, Siyang Song, Hai-Jun Su, Junmin Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2020, 142(6): 063305.
Paper No: MD-19-1343
https://doi.org/10.1115/1.4046068
Published Online: March 3, 2020
View Article titled, A Comparative Study on the Effect of Mechanical Compliance for a Safe Physical Human–Robot Interaction
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Topics: Design, Engines, Human-robot interaction, Motors, Robots, Simulation, Stiffness, Safety, Robotics, Torque
Proceedings Papers

A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming

Yuan Gao, Xiguang Huang, Ishan Singh Mann, Hai-Jun Su
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A017, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98294
https://doi.org/10.1115/DETC2019-98294
View Paper titled, A Novel Variable Stiffness Compliant Robotic Gripper Based on Layer Jamming
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Topics: End effectors, Stiffness, Stress, Shapes, Cables, Design, Grippers, Pressure, Additive manufacturing, Friction
Journal Articles

Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction

Yu She, Hai-Jun Su, Deshan Meng, Cheng Lai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011006.
Paper No: JMR-18-1360
https://doi.org/10.1115/1.4044840
Published Online: October 8, 2019
View Article titled, Design and Modeling of a Continuously Tunable Stiffness Arm for Safe Physical Human–Robot Interaction
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Topics: Design, Stiffness, Human-robot interaction, Modeling
Journal Articles

A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2018, 140(9): 092305.
Paper No: MD-18-1111
https://doi.org/10.1115/1.4040628
Published Online: July 9, 2018
View Article titled, A Versatile 3R Pseudo-Rigid-Body Model for Initially Curved and Straight Compliant Beams of Uniform Cross Section
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Topics: Compliant mechanisms, Design, Displacement, Stress, Optimization, Finite element analysis, Kinematics, Deformation, Shapes
Journal Articles

Design and Modeling of a Compliant Link for Inherently Safe Corobots

Yu She, Hai-Jun Su, Deshan Meng, Siyang Song, Junmin Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2018, 10(1): 011001.
Paper No: JMR-17-1087
https://doi.org/10.1115/1.4038530
Published Online: December 20, 2017
View Article titled, Design and Modeling of a Compliant Link for Inherently Safe Corobots
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Topics: Design, Robots, Safety, Stiffness, Simulation, Robotics, Modeling, Stress
Proceedings Papers

Pseudo-Rigid-Body Models for Dynamics of Compliant Robotic Links

Yu She, Deshan Meng, Hai-Jun Su
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A032, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67949
https://doi.org/10.1115/DETC2017-67949
View Paper titled, Pseudo-Rigid-Body Models for Dynamics of Compliant Robotic Links
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Topics: Dynamics (Mechanics), Robotics, Cantilever beams, Kinematics, Statics, Compliant mechanisms, Deformation, Dynamic analysis, Errors, Modeling
Proceedings Papers

Pseudo-Rigid-Body Models of Initially-Curved and Straight Beams for Designing Compliant Mechanisms

Venkatasubramanian Kalpathy Venkiteswaran, Hai-Jun Su
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A006, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67431
https://doi.org/10.1115/DETC2017-67431
View Paper titled, Pseudo-Rigid-Body Models of Initially-Curved and Straight Beams for Designing Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Finite element analysis, Kinematics
Journal Articles

Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms

Na Li, Hai-Jun Su, Xian-Peng Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2017, 9(5): 054503.
Paper No: JMR-17-1004
https://doi.org/10.1115/1.4037186
Published Online: August 4, 2017
View Article titled, Accuracy Assessment of Pseudo-Rigid-Body Model for Dynamic Analysis of Compliant Mechanisms
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Topics: Compliant mechanisms, Dynamic analysis, Dynamics (Mechanics), Errors, Dynamic response, Simulation
Journal Articles

Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model

Venkatasubramanian Kalpathy Venkiteswaran, Omer Anil Turkkan, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041007.
Paper No: JMR-16-1348
https://doi.org/10.1115/1.4035992
Published Online: May 2, 2017
View Article titled, Speeding Up Topology Optimization of Compliant Mechanisms With a Pseudorigid-Body Model
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Topics: Compliant mechanisms, Design, Optimization, Topology, Stress, Finite element analysis
Journal Articles

The Kinematic Principle for Designing Deoxyribose Nucleic Acid Origami Mechanisms: Challenges and Opportunities

Hai-Jun Su, Carlos E. Castro, Alexander E. Marras, Lifeng Zhou
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. June 2017, 139(6): 062301.
Paper No: MD-16-1599
https://doi.org/10.1115/1.4036216
Published Online: April 6, 2017
View Article titled, The Kinematic Principle for Designing Deoxyribose Nucleic Acid Origami Mechanisms: Challenges and Opportunities
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Topics: Design, DNA, Kinematics, Manufacturing
Proceedings Papers

Design and Prototype of a Tunable Stiffness Arm for Safe Human-Robot Interaction

Yu She, Hai-Jun Su, Cheng Lai, Deshan Meng
Proc. ASME. IDETC-CIE2016, Volume 5B: 40th Mechanisms and Robotics Conference, V05BT07A063, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59523
https://doi.org/10.1115/DETC2016-59523
View Paper titled, Design and Prototype of a Tunable Stiffness Arm for Safe Human-Robot Interaction
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Topics: Design, Engineering prototypes, Human-robot interaction, Stiffness, Robots, Manipulators, Robotics, Wounds, Actuators, Impact testing