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Journal Articles

Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control

Wenda Xu, Yunfei Guo, Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081016.
Paper No: JMR-23-1460
https://doi.org/10.1115/1.4064283
Published Online: January 12, 2024
View Article titled, Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control
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Topics: Actuators, Design, Exoskeleton devices, Reinforcement learning, Simulation, Grasping
Proceedings Papers

Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries

Wenda Xu, Yunfei Guo, Pinhas Ben-Tzvi
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A070, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114907
https://doi.org/10.1115/DETC2023-114907
View Paper titled, Robotic Exoskeleton Glove System Design and Simulation for Patients With Brachial Plexus Injuries
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Topics: Design, Exoskeleton devices, Robotics, Simulation, Wounds, Degrees of freedom, Control algorithms, Control systems, Electronics, Machinery
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
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2023, 17(1): 014502.
Paper No: MED-22-1059
https://doi.org/10.1115/1.4056505
Published Online: January 11, 2023
View Article titled, Autonomous Cricothyroid Membrane Detection and Manipulation Using Neural Networks and a Robot Arm for First-Aid Airway Management
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89625
https://doi.org/10.1115/DETC2022-89625
View Paper titled, Design, Analysis, and Prototyping of a Novel Single Degree-of-Freedom Index Finger Exoskeleton Mechanism
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-90500
https://doi.org/10.1115/DETC2022-90500
View Paper titled, Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Tail
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71611
https://doi.org/10.1115/DETC2021-71611
View Paper titled, Feedback Control of the Locomotion of a Tailed Quadruped Robot
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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
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Research-Article
Mechanical Engineering. November 2021, 143(6): 32–37.
Paper No: ME-2021-NOV2
https://doi.org/10.1115/1.2021-NOV2
Published Online: November 9, 2021
View Article titled, Robots with Tails
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011010.
Paper No: JMR-20-1635
https://doi.org/10.1115/1.4051519
Published Online: July 13, 2021
View Article titled, Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism
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Topics: Algorithms, Robots
Journal Articles

Special Issue: Selected Papers From IDETC-CIE 2020

Pinhas Ben-Tzvi, Leila Notash, Phil Voglewede
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. June 2021, 13(3): 030301.
Paper No: JMR-21-1141
https://doi.org/10.1115/1.4050855
Published Online: May 3, 2021
View Article titled, Special Issue: Selected Papers From IDETC-CIE 2020
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031014.
Paper No: JMR-20-1434
https://doi.org/10.1115/1.4050097
Published Online: March 15, 2021
View Article titled, A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22190
https://doi.org/10.1115/DETC2020-22190
View Paper titled, Autonomous Cricothyroid Membrane Detection Using Neural Networks for First-Aid Surgical Airway Management
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22348
https://doi.org/10.1115/DETC2020-22348
View Paper titled, A Novel Design of a Robotic Glove System for Patients With Brachial Plexus Injuries
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22365
https://doi.org/10.1115/DETC2020-22365
View Paper titled, Integrated and Configurable Voice Activation and Speaker Verification System for a Robotic Exoskeleton Glove
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22173
https://doi.org/10.1115/DETC2020-22173
View Paper titled, A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission
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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
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22181
https://doi.org/10.1115/DETC2020-22181
View Paper titled, Sensor Based Target Tracking With Application to Autonomous Docking and Self-Reconfigurability
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061015.
Paper No: JMR-19-1472
https://doi.org/10.1115/1.4047724
Published Online: July 28, 2020
View Article titled, Stable Grasp Control With a Robotic Exoskeleton Glove
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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
Journal: ASME Letters in Dynamic Systems and Control
Publisher: ASME
Article Type: Research Papers
Letters Dyn. Sys. Control. April 2021, 1(2): 021003.
Paper No: ALDSC-19-1068
https://doi.org/10.1115/1.4046776
Published Online: April 8, 2020
View Article titled, Learning Flatness-Based Controller Using Neural Networks
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041003.
Paper No: JMR-19-1178
https://doi.org/10.1115/1.4045689
Published Online: March 6, 2020
View Article titled, An Articulated Closed Kinematic Chain Planar Robotic Leg for High-Speed Locomotion
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. April 2020, 12(2): 020301.
Paper No: JMR-20-1026
https://doi.org/10.1115/1.4046177
Published Online: February 21, 2020
View Article titled, Special Issue: Selected Papers From IDETC 2019
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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
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2020, 12(2): 021101.
Paper No: JMR-19-1426
https://doi.org/10.1115/1.4045842
Published Online: January 10, 2020
View Article titled, Design, Analysis, and Integration of a New Two-Degree-of-Freedom Articulated Multi-Link Robotic Tail Mechanism
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Topics: Design, Kinematics, Robotics, Mechanical admittance