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Proceedings Papers

Design-Engineers’ Selection of Agency: Harm Mitigation in Ambient Intelligent Environments

Caseysimone Ballestas, Euiyoung Kim, Jesuël Lanoy, Jules Janssens
Proc. ASME. IDETC-CIE2022, Volume 6: 34th International Conference on Design Theory and Methodology (DTM), V006T06A047, August 14–17, 2022
Paper No: DETC2022-91063
DOI: https://doi.org/10.1115/DETC2022-91063
View Paper titled, Design-Engineers’ Selection of Agency: Harm Mitigation in Ambient Intelligent Environments
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Topics: Actuators, Computer technology, Design, Design engineering, Engineers, Performance, Preferences, Sensors
Proceedings Papers

Multi-Axes Series Elastic Actuation: A Computer Model

Haohan Zhang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A051, August 14–17, 2022
Paper No: DETC2022-90117
DOI: https://doi.org/10.1115/DETC2022-90117
View Paper titled, Multi-Axes Series Elastic Actuation: A Computer Model
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Topics: Computers, Force control, Robots, Stress, Actuators, Seas, Deflection, Degrees of freedom, Dimensions, Displacement
Proceedings Papers

Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator

Giuseppe Sciarra, Tahir Rasheed, Valentina Mattioni, Philippe Cardou, Stephane Caro
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A020, August 14–17, 2022
Paper No: DETC2022-89384
DOI: https://doi.org/10.1115/DETC2022-89384
View Paper titled, Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
Click here to open pdf in another window PDF for Design and Kinetostatic Modeling of a Cable-Driven Schönflies-Motion Generator
Topics: Cables, Design, Generators, Modeling, End effectors, Rotation, Actuators, Collisions (Physics), Degrees of freedom, Engineering prototypes
Proceedings Papers

Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology

Tanner Vaculik, Brian Slaboch, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A041, August 14–17, 2022
Paper No: DETC2022-89138
DOI: https://doi.org/10.1115/DETC2022-89138
View Paper titled, Mechanical Design and Experimental Validation of a Novel Five-Bar Mechanism With Variable Topology
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Topics: Design engineering, Topology, Kinematics, Actuators, Degrees of freedom, End effectors, Energy consumption, Engineering prototypes, Trajectories (Physics)
Proceedings Papers

Operational Considerations for Active Electromagnetic Suspension Systems

Renato Galluzzi, Ricardo A. Ramirez-Mendoza, Salvatore Circosta, Angelo Bonfitto, Nicola Amati, Andrea Tonoli
Proc. ASME. IDETC-CIE2022, Volume 1: 24th International Conference on Advanced Vehicle Technologies (AVT), V001T01A010, August 14–17, 2022
Paper No: DETC2022-89393
DOI: https://doi.org/10.1115/DETC2022-89393
View Paper titled, Operational Considerations for Active Electromagnetic Suspension Systems
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Topics: Suspension systems, Actuators, Absorption, Active damping, Calibration, Cycles, Damping, Diffusion (Physics), Driver safety, Energy harvesting
Proceedings Papers

A Study on Hexapod Gait Adaptation by Enumerative Encoding and Particle Swarm Optimization

Victor Parque
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A078, August 14–17, 2022
Paper No: DETC2022-90305
DOI: https://doi.org/10.1115/DETC2022-90305
View Paper titled, A Study on Hexapod Gait Adaptation by Enumerative Encoding and Particle Swarm Optimization
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Topics: Encryption, Particle swarm optimization, Actuators, Failure, Optimization, Particulate matter, Physics, Robotics, Simulation
Proceedings Papers

Experimental Characterization and Modeling of a Unit Soft Air Bladder

Sandra Edward, Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A058, August 14–17, 2022
Paper No: DETC2022-91266
DOI: https://doi.org/10.1115/DETC2022-91266
View Paper titled, Experimental Characterization and Modeling of a Unit Soft Air Bladder
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Topics: Actuators, Bearings, Computer numerical control machine tools, Design, Dimensions, Displacement, Engineers, Experimental characterization, Fittings, Geometry
Proceedings Papers

Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism

Mohammed El Kihal, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A049, August 14–17, 2022
Paper No: DETC2022-89937
DOI: https://doi.org/10.1115/DETC2022-89937
View Paper titled, Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics
Proceedings Papers

Comparison of the Hysteresis Response of Super-Coiled Polymer (SCP) Actuators

Josh H. P. Henry, Jacqueline Bridge
Proc. ASME. IDETC-CIE2022, Volume 9: 18th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A008, August 14–17, 2022
Paper No: DETC2022-90107
DOI: https://doi.org/10.1115/DETC2022-90107
View Paper titled, Comparison of the Hysteresis Response of Super-Coiled Polymer (SCP) Actuators
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Topics: Actuators, Polymers
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
Paper No: DETC2022-89739
DOI: 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
Proceedings Papers

Design and Analysis of a Piezo-Driven Precision Positioning Stage Suitable for XBPM

Xuefeng Yang, Xu Cui, Mengchen Zhang, Jian Zhuang
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A002, August 14–17, 2022
Paper No: DETC2022-88448
DOI: https://doi.org/10.1115/DETC2022-88448
View Paper titled, Design and Analysis of a Piezo-Driven Precision Positioning Stage Suitable for XBPM
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Topics: Actuators, Bending (Stress), Compliant mechanisms, Design, Displacement, Engineering prototypes, Errors, Feedback, Finite element analysis, Light sources
Proceedings Papers

Delta Based Non-Anthropomorphic Hand

Rajesh Kumar, Sachin Kansal, Sudipto Mukherjee
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A013, August 17–19, 2021
Paper No: DETC2021-67349
DOI: https://doi.org/10.1115/DETC2021-67349
View Paper titled, Delta Based Non-Anthropomorphic Hand
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Topics: Actuators, Design, End effectors, Feedback, Oscillations, Robotics, Robots, Springs
Proceedings Papers

Teleoperation Interface for sAFAM, a Solid Articulated Four Axes Microrobot

Moath Alqatamin, Brooke Ritz, Andriy Sherehiy, Douglas Jackson, Ruoshi Zhang, Sri S. Chowdhury, Danming Wei, Dan O. Popa
Proc. ASME. IDETC-CIE2021, Volume 11: 15th International Conference on Micro- and Nanosystems (MNS), V011T11A017, August 17–19, 2021
Paper No: DETC2021-71552
DOI: https://doi.org/10.1115/DETC2021-71552
View Paper titled, Teleoperation Interface for sAFAM, a Solid Articulated Four Axes Microrobot
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Topics: Actuators, Computer software, Degrees of freedom, Design, Graphical user interfaces, Hardware, Magnification, Microelectromechanical systems, Microscopes, Resolution (Optics)
Proceedings Papers

Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology

Brian J. Slaboch, Peter Holtzen, Luis A. Rodriguez
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A026, August 17–19, 2021
Paper No: DETC2021-71189
DOI: https://doi.org/10.1115/DETC2021-71189
View Paper titled, Kinematic Modeling of a Novel RR-RP Hybrid Serial-Parallel Mechanism With Variable Topology
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Topics: Kinematics, Modeling, Topology, Actuators, Manipulators, Weight (Mass)
Proceedings Papers

A Geometric Approach for Error Space Estimation of Planar Linkage

Jianzhong Ding, Chunjie Wang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A047, August 17–19, 2021
Paper No: DETC2021-66869
DOI: https://doi.org/10.1115/DETC2021-66869
View Paper titled, A Geometric Approach for Error Space Estimation of Planar Linkage
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Topics: Errors, Linkages, End effectors, Actuators, Evaluation methods, Geometry, Mechanical admittance, Modeling
Proceedings Papers

A New Robotic Hand Based on the Design of Fingers With Spatial Motions

Pol Hamon, Damien Chablat, Franck Plestan
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A021, August 17–19, 2021
Paper No: DETC2021-70233
DOI: https://doi.org/10.1115/DETC2021-70233
View Paper titled, A New Robotic Hand Based on the Design of Fingers With Spatial Motions
Click here to open pdf in another window PDF for A New Robotic Hand Based on the Design of Fingers With Spatial Motions
Topics: Actuators, Computer-aided design, Design, End effectors, Grasping, Kinematics, Machinery, Machining, Sensors, Shapes
Proceedings Papers

Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function

Dongming Gan, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, Richard Voyles
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A020, August 17–19, 2021
Paper No: DETC2021-70081
DOI: https://doi.org/10.1115/DETC2021-70081
View Paper titled, Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function
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Topics: Actuators, Mobile robots, Robots, Stability, Wheels
Proceedings Papers

Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method

Jiawei Tian, Xianfeng David Gu, Shikui Chen
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A014, August 17–19, 2021
Paper No: DETC2021-67821
DOI: https://doi.org/10.1115/DETC2021-67821
View Paper titled, Multi-Material Topology Optimization of Ferromagnetic Soft Robots Using Reconciled Level Set Method
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Topics: Optimization, Robots, Topology, Actuators, Elastomers, Magnetic fields, Shapes, Kinematics, Adaptive structures, Bionics
Proceedings Papers

Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control

Sheng Zheng, Yiming Cheng, Liangyao Yu
Proc. ASME. IDETC-CIE2021, Volume 1: 23rd International Conference on Advanced Vehicle Technologies (AVT), V001T01A005, August 17–19, 2021
Paper No: DETC2021-69915
DOI: https://doi.org/10.1115/DETC2021-69915
View Paper titled, Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control
Click here to open pdf in another window PDF for Research on the Potential of Front Wheel Steering Control for Vehicle Dynamics Control
Topics: Vehicle dynamics, Wheels, Vehicles, Actuators, Dynamics (Mechanics), Control equipment, Safety, Control systems, Design, Equilibrium (Physics)
Proceedings Papers

Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots

Simone Asci, Ketao Zhang
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A023, August 17–19, 2021
Paper No: DETC2021-70642
DOI: https://doi.org/10.1115/DETC2021-70642
View Paper titled, Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
Click here to open pdf in another window PDF for Design and Kinematic Simulation of a Novel Leg Mechanism for Multi-Legged Robots
Topics: Design, Kinematics, Robots, Simulation, Robotics, Actuators, Control systems, Kinematic analysis, Legged locomotion, Trajectories (Physics)