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Journal Articles

Autonomous Cricothyroid Membrane Detection and Manipulation Using Neural Networks and a Robot Arm for First-Aid Airway Management

Xiaoxue Han, Hailin Ren, Jingyuan Qi, Pinhas Ben-Tzvi

J. Med. Devices. March 2023, 17(1): 014502.

Paper No: MED-22-1059

DOI: https://doi.org/10.1115/1.4056505

Published Online: January 11, 2023

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Topics: Artificial neural networks, Manipulators, Membranes, Robots

Proceedings Papers

Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism

Wenda Xu, Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A047, August 14–17, 2022

Paper No: DETC2022-89625

DOI: https://doi.org/10.1115/DETC2022-89625

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Topics: Degrees of freedom, Design, Exoskeleton devices, Engineering prototypes, Grasping, Mechanical admittance, Optimization, Robotics, Sensitivity analysis, Wounds

Proceedings Papers

Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Tail

Isaac Pressgrove, Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A053, August 14–17, 2022

Paper No: DETC2022-90500

DOI: https://doi.org/10.1115/DETC2022-90500

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Topics: Design, Robotics

Proceedings Papers

Feedback Control of the Locomotion of a Tailed Quadruped Robot

Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A009, August 17–19, 2021

Paper No: DETC2021-71611

DOI: https://doi.org/10.1115/DETC2021-71611

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Topics: Feedback, Robots, Control equipment, Degrees of freedom, Pendulums, Propulsion, Robotics

Journal Articles

Robots with Tails

Pinhas Ben-Tzvi, Yujiong Liu

Mechanical Engineering. November 2021, 143(6): 32–37.

Paper No: ME-2021-NOV2

DOI: https://doi.org/10.1115/1.2021-NOV2

Published Online: November 9, 2021

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Topics: Robotics, Robots

Journal Articles

Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism

Shubhdildeep Singh Sohal, Bijo Sebastian, Pinhas Ben-Tzvi

J. Mechanisms Robotics. February 2022, 14(1): 011010.

Paper No: JMR-20-1635

DOI: https://doi.org/10.1115/1.4051519

Published Online: July 13, 2021

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Topics: Algorithms, Robots

Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2020

Pinhas Ben-Tzvi, Leila Notash, Phil Voglewede

J. Mechanisms Robotics. June 2021, 13(3): 030301.

Paper No: JMR-21-1141

DOI: https://doi.org/10.1115/1.4050855

Published Online: May 3, 2021

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Topics: Design, Robotics, Robots, Stiffness, Cables, Degrees of freedom, Modeling

Journal Articles

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

Yujiong Liu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. June 2021, 13(3): 031014.

Paper No: JMR-20-1434

DOI: https://doi.org/10.1115/1.4050097

Published Online: March 15, 2021

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Topics: Design, Kinematics, Manipulators, Parallel mechanisms, Robots, Mechanical admittance, Engineering prototypes, Kinematic analysis

Proceedings Papers

Autonomous Cricothyroid Membrane Detection Using Neural Networks for First-Aid Surgical Airway Management

Xiaoxue Han, Hailin Ren, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A039, August 17–19, 2020

Paper No: DETC2020-22190

DOI: https://doi.org/10.1115/DETC2020-22190

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Topics: Artificial neural networks, Membranes, Surgery, Resolution (Optics), Anatomy, Biomedicine, Physiology, Wounds

Proceedings Papers

A Novel Design of a Robotic Glove System for Patients With Brachial Plexus Injuries

Wenda Xu, Sarthak Pradhan, Yunfei Guo, Cesar Bravo, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A042, August 17–19, 2020

Paper No: DETC2020-22348

DOI: https://doi.org/10.1115/DETC2020-22348

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Topics: Design, Robotics, Wounds, Grasping, Control equipment, Seas, Actuators, Control algorithms, Exoskeleton devices, Linkages

Proceedings Papers

Integrated and Configurable Voice Activation and Speaker Verification System for a Robotic Exoskeleton Glove

Yunfei Guo, Wenda Xu, Sarthak Pradhan, Cesar Bravo, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A043, August 17–19, 2020

Paper No: DETC2020-22365

DOI: https://doi.org/10.1115/DETC2020-22365

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Topics: Exoskeleton devices, Robotics, Electroencephalography, American Petroleum Institute, Computers, Embedded systems, Machinery, Security

Proceedings Papers

A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission

Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A065, August 17–19, 2020

Paper No: DETC2020-22173

DOI: https://doi.org/10.1115/DETC2020-22173

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Topics: Manipulators, Parallel mechanisms, Mechanical admittance, Robots, Chain, Degrees of freedom, Engineering prototypes, Inspection, Kinematic analysis, Muscle

Proceedings Papers

Sensor Based Target Tracking With Application to Autonomous Docking and Self-Reconfigurability

Shubhdildeep S. Sohal, Pinhas Ben-Tzvi

Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A051, August 17–19, 2020

Paper No: DETC2020-22181

DOI: https://doi.org/10.1115/DETC2020-22181

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Topics: Robots, Sensors, Calibration, Certainty, Decision making, Image processing, Mechanical admittance, Mobile robots, Robotics, Uncertainty

Journal Articles

Stable Grasp Control With a Robotic Exoskeleton Glove

Teja Vanteddu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. December 2020, 12(6): 061015.

Paper No: JMR-19-1472

DOI: https://doi.org/10.1115/1.4047724

Published Online: July 28, 2020

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Topics: Algorithms, Deformation, Exoskeleton devices, Optimization, Linkages, Actuators, Grasping, Engineering prototypes, Seas

Journal Articles

Learning Flatness-Based Controller Using Neural Networks

Hailin Ren, Jingyuan Qi, Pinhas Ben-Tzvi

Letters Dyn. Sys. Control. April 2021, 1(2): 021003.

Paper No: ALDSC-19-1068

DOI: https://doi.org/10.1115/1.4046776

Published Online: April 8, 2020

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Topics: Artificial neural networks, Control equipment, Trajectories (Physics), Design

Journal Articles

An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion

Yujiong Liu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. August 2020, 12(4): 041003.

Paper No: JMR-19-1178

DOI: https://doi.org/10.1115/1.4045689

Published Online: March 6, 2020

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Topics: Closed kinematic chains, Design, Dynamic models, Dynamics (Mechanics), Flight, Kinematics, Optimization, Robotics, Robots, Simulation

Journal Articles

Special Issue: Selected Papers From IDETC 2019

Charles Kim, Anurag Purwar, Pinhas Ben-Tzvi

J. Mechanisms Robotics. April 2020, 12(2): 020301.

Paper No: JMR-20-1026

DOI: https://doi.org/10.1115/1.4046177

Published Online: February 21, 2020

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Topics: Cables, Design, Robotics, Robots, Kinematics, Biomimetics, Geometry, Manipulators, Modeling, Unmanned aerial vehicles

Journal Articles

Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism

Yujiong Liu, Pinhas Ben-Tzvi

J. Mechanisms Robotics. April 2020, 12(2): 021101.

Paper No: JMR-19-1426

DOI: https://doi.org/10.1115/1.4045842

Published Online: January 10, 2020

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Topics: Design, Kinematics, Robotics, Mechanical admittance

Proceedings Papers

A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton

Raghuraj J. Chauhan, Pinhas Ben-Tzvi

Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T17A003, October 8–11, 2019

Paper No: DSCC2019-8996

DOI: https://doi.org/10.1115/DSCC2019-8996

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Topics: Actuators, Design, Exoskeleton devices, Linkages

Proceedings Papers

A New Approach to Model Constant Curvature Continuum Robot Dynamics

Yujiong Liu, Pinhas Ben-Tzvi

Proc. ASME. DSCC2019, Volume 3, Rapid Fire Interactive Presentations: Advances in Control Systems; Advances in Robotics and Mechatronics; Automotive and Transportation Systems; Motion Planning and Trajectory Tracking; Soft Mechatronic Actuators and Sensors; Unmanned Ground and Aerial Vehicles, V003T20A001, October 8–11, 2019

Paper No: DSCC2019-8999

DOI: https://doi.org/10.1115/DSCC2019-8999

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Topics: Computer simulation, Dynamic models, Dynamics (Mechanics), Equations of motion, Kinematics, Mechanical admittance, Real-time control, Robot dynamics, Robots, Virtual work principle

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