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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

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
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
Proceedings Papers

Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints

Siyang Song, Yu She, Junmin Wang, Haijun Su
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T42A001, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9006
https://doi.org/10.1115/DSCC2018-9006
View Paper titled, Barrier Lyapunov Function Based Control of a Flexible Link Co-Robot With Safety Constraints
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Topics: Robots, Safety, Design, Stability, Explosions, Perturbation theory, Simulation results, State estimation, Uncertainty
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

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
Proceedings Papers

Shape Optimization of 2D Compliant Links for Design of Inherently Safe Robots

Yu She, Hai-Jun Su, Carter J. Hurd
Proc. ASME. IDETC-CIE2015, Volume 5B: 39th Mechanisms and Robotics Conference, V05BT08A004, August 2–5, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DETC2015-46622
https://doi.org/10.1115/DETC2015-46622
View Paper titled, Shape Optimization of 2D Compliant Links for Design of Inherently Safe Robots
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Topics: Design, Robots, Shape optimization, Safety, Robotics, Compliant mechanisms, Design engineering, Manipulators, Matlab, Simulation
Journal Articles

Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors

Yu She, Chang Li, Jonathon Cleary, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021007.
Paper No: JMR-14-1224
https://doi.org/10.1115/1.4029497
Published Online: May 1, 2015
View Article titled, Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors
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Topics: Actuators, Bending (Stress), Design, End effectors, Manufacturing, Sensors, Shapes, Strips, Wire, Grasping