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Journal Articles

Erratum: “A Continuum Model for Fiber-Reinforced Soft Robot Actuators” [ASME J. Mech. Rob., 2018, 10(2), p. 024501; DOI: 10.1115/1.4039101 ]

Audrey Sedal, Daniel Bruder, Joshua Bishop-Moser, Ram Vasudevan, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Errata
J. Mechanisms Robotics. October 2020, 12(5): 057001.
Paper No: JMR-19-1140
https://doi.org/10.1115/1.4043927
Published Online: June 30, 2020
View Article titled, Erratum: “A Continuum Model for Fiber-Reinforced Soft Robot Actuators” [ASME J. Mech. Rob., 2018, 10(2), p. 024501; DOI: 10.1115/1.4039101 ]
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Topics: Actuators, Fibers, Robots
Journal Articles

Brain Drain

Sridhar Kota
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. October 2019, 141(10): 38–43.
Paper No: ME-2019-OCT3
https://doi.org/10.1115/1.2019-OCT3
Published Online: October 1, 2019
View Article titled, Brain Drain
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Topics: Innovation, Manufacturing, Brain
Journal Articles

A Continuum Model for Fiber-Reinforced Soft Robot Actuators

Audrey Sedal, Daniel Bruder, Joshua Bishop-Moser, Ram Vasudevan, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2018, 10(2): 024501.
Paper No: JMR-17-1314
https://doi.org/10.1115/1.4039101
Published Online: February 12, 2018
View Article titled, A Continuum Model for Fiber-Reinforced Soft Robot Actuators
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Topics: Deformation, Design, Fibers, Stress, Pressure
Proceedings Papers

A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots

Audrey Sedal, Daniel Bruder, Joshua Bishop-Moser, Ram Vasudevan, Sridhar Kota
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A016, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67970
https://doi.org/10.1115/DETC2017-67970
View Paper titled, A Constitutive Model for Torsional Loads on Fluid-Driven Soft Robots
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Topics: Constitutive equations, Fluids, Robots, Stress, Actuators, Fibers, Kinematics, Medical devices, Modeling, Rotation
Journal Articles

Kinematics of a Generalized Class of Pneumatic Artificial Muscles

Girish Krishnan, Joshua Bishop-Moser, Charles Kim, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041014.
Paper No: JMR-14-1115
https://doi.org/10.1115/1.4029705
Published Online: November 1, 2015
View Article titled, Kinematics of a Generalized Class of Pneumatic Artificial Muscles
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Topics: Cylinders, Deformation, Fibers, Kinematics, Fluids
Proceedings Papers

A Strength Based Approach for the Synthesis of a Compliant Nonlinear Spring for an Orthotic Knee Brace

Girish Krishnan, Ryan Rank, John Rokosz, Phil Carvey, Sridhar Kota
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A033, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12727
https://doi.org/10.1115/DETC2013-12727
View Paper titled, A Strength Based Approach for the Synthesis of a Compliant Nonlinear Spring for an Orthotic Knee Brace
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Topics: Bracing (Construction), Knee, Orthotics, Springs, Compliant mechanisms, Design, Energy storage, Absorption, Blocks (Building materials), Cycles
Proceedings Papers

Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators

Joshua Bishop-Moser, Girish Krishnan, Sridhar Kota
Proc. ASME. IDETC-CIE2013, Volume 6A: 37th Mechanisms and Robotics Conference, V06AT07A031, August 4–7, 2013
Publisher: American Society of Mechanical Engineers
Paper No: DETC2013-12657
https://doi.org/10.1115/DETC2013-12657
View Paper titled, Force and Hydraulic Displacement Amplification of Fiber Reinforced Soft Actuators
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Topics: Actuators, Displacement, Fibers, Fluids, Kinematics, Design, Power density, Robots, Shapes, Stiffness
Proceedings Papers

Kinematic Synthesis of Fiber Reinforced Soft Actuators in Parallel Combinations

Joshua Bishop-Moser, Girish Krishnan, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1079-1087, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71261
https://doi.org/10.1115/DETC2012-71261
View Paper titled, Kinematic Synthesis of Fiber Reinforced Soft Actuators in Parallel Combinations
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Topics: Actuators, Fibers, Kinematics, Design, Graphical user interfaces, Manipulators, Reinforced elastomers, Robots
Proceedings Papers

Evaluating Mobility Behavior of Fluid Filled Fiber-Reinforced Elastomeric Enclosures

Girish Krishnan, Joshua Bishop-Moser, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2012, Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B, 1089-1099, August 12–15, 2012
Publisher: American Society of Mechanical Engineers
Paper No: DETC2012-71278
https://doi.org/10.1115/DETC2012-71278
View Paper titled, Evaluating Mobility Behavior of Fluid Filled Fiber-Reinforced Elastomeric Enclosures
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Topics: Fibers, Fluids, Mechanical admittance, Actuators, Design, Robots, Artificial limbs, Bearings, Geometry, Manufacturing
Journal Articles

A Kinetostatic Formulation for Load-Flow Visualization in Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021007.
Paper No: JMR-11-1092
https://doi.org/10.1115/1.4023872
Published Online: April 12, 2013
View Article titled, A Kinetostatic Formulation for Load-Flow Visualization in Compliant Mechanisms
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Topics: Flow (Dynamics), Stress, Compliant mechanisms
Journal Articles

A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. January 2013, 135(1): 011004.
Paper No: MD-11-1481
https://doi.org/10.1115/1.4007926
Published Online: November 21, 2012
View Article titled, A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms
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Topics: Compliant mechanisms, Stress, Stress concentration, Optimization
Proceedings Papers

A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2011, Volume 6: 35th Mechanisms and Robotics Conference, Parts A and B, 233-244, August 28–31, 2011
Publisher: American Society of Mechanical Engineers
Paper No: DETC2011-48603
https://doi.org/10.1115/DETC2011-48603
View Paper titled, A Metric to Evaluate and Synthesize Distributed Compliant Mechanisms
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Topics: Compliant mechanisms, Stress, Bearings, Cross section (Physics), Failure, Geometry, Hinges, Optimization, Topology
Proceedings Papers

Load-Transmitter Constraint Sets: Part I—An Effective Tool for Visualizing Load Flow in Compliant Mechanisms and Structures

Girish Krishnan, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 563-575, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28810
https://doi.org/10.1115/DETC2010-28810
View Paper titled, Load-Transmitter Constraint Sets: Part I—An Effective Tool for Visualizing Load Flow in Compliant Mechanisms and Structures
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Topics: Compliant mechanisms, Flow (Dynamics), Stress, Blocks (Building materials), Deformation, Visualization, Conceptual design, Design methodology, Machine components
Proceedings Papers

Load-Transmitter Constraint Sets: Part II—A Building Block Based Methodology for the Synthesis of Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2010, Volume 2: 34th Annual Mechanisms and Robotics Conference, Parts A and B, 577-587, August 15–18, 2010
Publisher: American Society of Mechanical Engineers
Paper No: DETC2010-28819
https://doi.org/10.1115/DETC2010-28819
View Paper titled, Load-Transmitter Constraint Sets: Part II—A Building Block Based Methodology for the Synthesis of Compliant Mechanisms
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Topics: Blocks (Building materials), Compliant mechanisms, Stress, Flow (Dynamics), Design, Computation, Design methodology, Engineering design processes, Shapes
Journal Articles

An Intrinsic Geometric Framework for the Building Block Synthesis of Single Point Compliant Mechanisms

Girish Krishnan, Charles Kim, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2011, 3(1): 011001.
https://doi.org/10.1115/1.4002513
Published Online: November 23, 2010
View Article titled, An Intrinsic Geometric Framework for the Building Block Synthesis of Single Point Compliant Mechanisms
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Topics: Blocks (Building materials), Elasticity, Stiffness
Proceedings Papers

Towards the Design of a Decoupled, Two-Dimensional, Vision-Based µN Force Sensor for Microrobotics

David J. Cappelleri, Girish Krishnan, Charles Kim, Vijay Kumar, Sridhar Kota
Proc. ASME. IDETC-CIE2009, Volume 6: ASME Power Transmission and Gearing Conference; 3rd International Conference on Micro- and Nanosystems; 11th International Conference on Advanced Vehicle and Tire Technologies, 465-474, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87386
https://doi.org/10.1115/DETC2009-87386
View Paper titled, Towards the Design of a Decoupled, Two-Dimensional, Vision-Based µN Force Sensor for Microrobotics
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Topics: Design, Force sensors, Stiffness, Blocks (Building materials), Compliant mechanisms, Deflection, Deformation, Engineering prototypes, Microelectromechanical systems, Robotics
Proceedings Papers

Design Synthesis of 2-D Compliant Mechanisms Utilizing Serial Concatenation of Building Blocks

Girish Krishnan, Charles Kim, Sridhar Kota
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 299-312, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87445
https://doi.org/10.1115/DETC2009-87445
View Paper titled, Design Synthesis of 2-D Compliant Mechanisms Utilizing Serial Concatenation of Building Blocks
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Topics: Blocks (Building materials), Compliant mechanisms, Design, Deformation, Elasticity, Gates (Closures)
Proceedings Papers

An Elastic Exoskeleton for Assisting Human Running

Michael S. Cherry, Sridhar Kota, Daniel P. Ferris
Proc. ASME. IDETC-CIE2009, Volume 7: 33rd Mechanisms and Robotics Conference, Parts A and B, 727-738, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-87355
https://doi.org/10.1115/DETC2009-87355
View Paper titled, An Elastic Exoskeleton for Assisting Human Running
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Topics: Exoskeleton devices, Stiffness, Design, Knudsen number, Springs, Cables, Deflection, Engineering prototypes, Composite materials, Elasticity
Journal Articles

Toward the Design of a Decoupled, Two-Dimensional, Vision-Based μ N Force Sensor

David J. Cappelleri, Girish Krishnan, Charles Kim, Vijay Kumar, Sridhar Kota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2010, 2(2): 021010.
https://doi.org/10.1115/1.4001093
Published Online: April 26, 2010
View Article titled, Toward the Design of a Decoupled, Two-Dimensional, Vision-Based μ N Force Sensor
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Topics: Design, Force sensors, Stiffness, Microscale devices, Blocks (Building materials), Deformation, Engineering prototypes
Journal Articles

Design of Single, Multiple, and Scaled Nonlinear Springs for Prescribed Nonlinear Responses

Christine Vehar Jutte, Sridhar Kota
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2010, 132(1): 011003.
https://doi.org/10.1115/1.4000595
Published Online: December 17, 2009
View Article titled, Design of Single, Multiple, and Scaled Nonlinear Springs for Prescribed Nonlinear Responses
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Topics: Design, Displacement, Springs, Stress