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Isuru S. Godage
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Journal Articles

Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

Qingyu Xiao, Mishek Musa, Isuru S. Godage, Hao Su, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051011.
Paper No: JMR-22-1084
https://doi.org/10.1115/1.4055860
Published Online: November 25, 2022
View Article titled, Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone
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Topics: Modeling, Nickel titanium alloys, Robots, Stiffness, Tendons
Journal Articles

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms

Hossein Habibi, Chenghao Yang, Isuru S. Godage, Rongjie Kang, Ian D. Walker, David T. Branson, III
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011014.
Paper No: JMR-19-1021
https://doi.org/10.1115/1.4045037
Published Online: October 22, 2019
View Article titled, A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms
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Topics: Actuators, Deformation, Developing nations, Displacement, Modeling, Robotics, Springs, Errors, Gravity (Force), Shear (Mechanics)
Proceedings Papers

Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot

Yue Chen, Megan E. Poorman, David B. Comber, E. Bryn Pitt, Cindy Liu, Isuru S. Godage, Hong Yu, William A. Grissom, Eric J. Barth, Robert J. Webster, III
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T02A002, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3408
https://doi.org/10.1115/DMD2017-3408
View Paper titled, Treating Epilepsy via Thermal Ablation: Initial Experiments With an MRI-Guided Concentric Tube Robot
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Topics: Ablation (Vaporization technology), Magnetic resonance imaging, Robots, Brain, Needles, Nervous system, Patient treatment, Probes, Resolution (Optics), Risk
Proceedings Papers

An MRI-Compatible Robot for Intracerebral Hemorrhage Removal

Yue Chen, Isuru S. Godage, Saikat Sengupta, Cindy Lin Liu, Kyle D. Weaver, Eric J. Barth, Robert J. Webster, III
Proc. ASME. DMD2017, 2017 Design of Medical Devices Conference, V001T08A019, April 10–13, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DMD2017-3451
https://doi.org/10.1115/DMD2017-3451
View Paper titled, An MRI-Compatible Robot for Intracerebral Hemorrhage Removal
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Topics: Magnetic resonance imaging, Robots, Brain, Blood, Biological tissues, Needles, Cavities, Deformation, Imaging, Ionizing radiation
Journal Articles

A Disposable Robot for Intracerebral Hemorrhage Removal

Yifan Zhu, Philip J. Swaney, Isuru S. Godage, Ray A. Lathrop, Robert J. Webster, III
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Special Section Technical Briefs
J. Med. Devices. June 2016, 10(2): 020952.
Paper No: MED-16-1174
https://doi.org/10.1115/1.4033246
Published Online: May 12, 2016
View Article titled, A Disposable Robot for Intracerebral Hemorrhage Removal
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Topics: Robots, Railroad passenger cars, Motors
Proceedings Papers

Efficient Spatial Dynamics for Continuum Arms

Isuru S. Godage, Raul Wirz, Ian D. Walker, Robert J. Webster, III
Proc. ASME. DSCC2015, Volume 3: Multiagent Network Systems; Natural Gas and Heat Exchangers; Path Planning and Motion Control; Powertrain Systems; Rehab Robotics; Robot Manipulators; Rollover Prevention (AVS); Sensors and Actuators; Time Delay Systems; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamics Control; Vibration and Control of Smart Structures/Mech Systems; Vibration Issues in Mechanical Systems, V003T53A005, October 28–30, 2015
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2015-9932
https://doi.org/10.1115/DSCC2015-9932
View Paper titled, Efficient Spatial Dynamics for Continuum Arms
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Topics: Dynamics (Mechanics), Dynamic models, Center of mass, Muscle, Robots, Steady state, Transients (Dynamics)
Journal Articles

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

Tianjiang Zheng, David T. Branson, Emanuele Guglielmino, Rongjie Kang, Gustavo A. Medrano Cerda, Matteo Cianchetti, Maurizio Follador, Isuru S. Godage, Darwin G. Caldwell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021004.
Paper No: JMR-12-1047
https://doi.org/10.1115/1.4023636
Published Online: March 26, 2013
View Article titled, Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
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Topics: Actuators, Cables, Dynamic models, Engineering prototypes, Gravity (Force), Kinematics, Model validation, Muscle, Robotics, Stiffness