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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
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051011.
Paper No: JMR-22-1084
DOI: 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
Proceedings Papers

Aerodynamic Performance and Wake Characteristics of a Wind Turbine Model Subjected to Surge and Sway Motions

Haoran Meng, Hao Su, Jia Guo, Timing Qu, Liping Lei
Proc. ASME. FEDSM2021, Volume 2: Fluid Applications and Systems; Fluid Measurement and Instrumentation, V002T04A006, August 10–12, 2021
Paper No: FEDSM2021-65608
DOI: https://doi.org/10.1115/FEDSM2021-65608
View Paper titled, Aerodynamic Performance and Wake Characteristics of a Wind Turbine Model Subjected to Surge and Sway Motions
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Topics: Surges, Thrust, Wakes, Wind tunnels, Wind turbines
Proceedings Papers

Wind Tunnel Experiment on the Aerodynamic Interaction Between Vertical Axis Wind Turbine Pair

Hao Su, Haoran Meng, Jia Guo, Timing Qu, Liping Lei
Proc. ASME. FEDSM2021, Volume 2: Fluid Applications and Systems; Fluid Measurement and Instrumentation, V002T04A005, August 10–12, 2021
Paper No: FEDSM2021-65280
DOI: https://doi.org/10.1115/FEDSM2021-65280
View Paper titled, Wind Tunnel Experiment on the Aerodynamic Interaction Between Vertical Axis Wind Turbine Pair
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Topics: Turbines, Vertical axis wind turbines, Wind tunnels
Proceedings Papers

An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop

Lizzette J. Salmeron, Gladys V. Juca, Satesh M. Mahadeo, Jiechao Ma, Shuangyue Yu, Hao Su
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T09A009, April 6–9, 2020
Paper No: DMD2020-9099
DOI: https://doi.org/10.1115/DMD2020-9099
View Paper titled, An Untethered Electro-Pneumatic Exosuit for Gait Assistance of People With Foot Drop
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Topics: Actuators, Compression, Design engineering, Exoskeleton devices, Finishes, Pneumatic actuators, Pneumatic systems, Pumps, Robotics, Robots
Journal Articles

Mitigating Scattering Effects in Light-Based Three-Dimensional Printing Using Machine Learning

Shangting You, Jiaao Guan, Jeffrey Alido, Henry H. Hwang, Ronald Yu, Leilani Kwe, Hao Su, Shaochen Chen
Journal: Journal of Manufacturing Science and Engineering
Article Type: Research Papers
J. Manuf. Sci. Eng. August 2020, 142(8): 081002.
Paper No: MANU-19-1644
DOI: https://doi.org/10.1115/1.4046986
Published Online: May 14, 2020
View Article titled, Mitigating Scattering Effects in Light-Based Three-Dimensional Printing Using Machine Learning
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Topics: Additive manufacturing, Artificial neural networks, Electromagnetic scattering, Printing, Machine learning, Manufacturing, Radiation scattering, Scattering (Physics), Resolution (Optics)
Proceedings Papers

Soft Physiology Sensors and Machine Learning to Enhance Spinal Cord Injury and Stroke Rehabilitation Outcomes in Home Settings

Tzu-Hao Huang, Jianfu Yang, Eljona Pushaj, Viktor Silvanov, Shuangyue Yu, Xiaolong Yang, Hao Su, Shuo-Hsiu Chang, Gerard Francisco
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T05A001, April 15–18, 2019
Paper No: DMD2019-3267
DOI: https://doi.org/10.1115/DMD2019-3267
View Paper titled, Soft Physiology Sensors and Machine Learning to Enhance Spinal Cord Injury and Stroke Rehabilitation Outcomes in Home Settings
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Topics: Machine learning, Performance, Physiology, Sensors, Spinal cord, Wounds, Electromyography, Muscle, Algorithms, Textiles
Proceedings Papers

Machine Learning Based Adaptive Gait Phase Estimation Using Inertial Measurement Sensors

Jianfu Yang, Tzu-Hao Huang, Shuangyue Yu, Xiaolong Yang, Hao Su, Ann M. Spungen, Chung-Ying Tsai
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T09A010, April 15–18, 2019
Paper No: DMD2019-3266
DOI: https://doi.org/10.1115/DMD2019-3266
View Paper titled, Machine Learning Based Adaptive Gait Phase Estimation Using Inertial Measurement Sensors
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Topics: Machine learning, Sensors, Stairs, Algorithms, Artificial neural networks, Measurement units and standards, Steady state, Transients (Dynamics)
Proceedings Papers

A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals

Shuangyue Yu, Hadia Perez, James Barkas, Mohamed Mohamed, Mohamed Eldaly, Tzu-Hao Huang, Xiaolong Yang, Hao Su, Maria del Mar Cortes, Dylan J. Edwards
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T09A011, April 15–18, 2019
Paper No: DMD2019-3268
DOI: https://doi.org/10.1115/DMD2019-3268
View Paper titled, A Soft High Force Hand Exoskeleton for Rehabilitation and Assistance of Spinal Cord Injury and Stroke Individuals
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Topics: Exoskeleton devices, Spinal cord, Wounds, Cables, Orthotics, Engineering prototypes, Design, End effectors, Ergonomics, Grasping
Proceedings Papers

Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control

Ran Duan, Shuangyue Yu, Guang Yue, Richard Foulds, Chen Feng, Yingli Tian, Hao Su
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T06A003, April 9–12, 2018
Paper No: DMD2018-6964
DOI: https://doi.org/10.1115/DMD2018-6964
View Paper titled, Real-Time Robust 3D Plane Extraction for Wearable Robot Perception and Control
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Topics: Decision making, Intelligent control systems, Mechanical admittance, Navigation, Robots
Proceedings Papers

Interaction Force Modeling for Joint Misalignment Minimization Toward Bio-Inspired Knee Exoskeleton Design

Yanjun Li, Shuo-Hsiu Chang, Gerard Francisco, Hao Su
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T10A011, April 9–12, 2018
Paper No: DMD2018-6921
DOI: https://doi.org/10.1115/DMD2018-6921
View Paper titled, Interaction Force Modeling for Joint Misalignment Minimization Toward Bio-Inspired Knee Exoskeleton Design
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Topics: Biomimetics, Design, Exoskeleton devices, Knee, Modeling, Inertia (Mechanics), Control algorithms
Proceedings Papers

A Modular Approach for Lightweight Humanoid Hand Design Using High Torque Density Electric Actuators

Haotian Cui, Shuangyue Yu, Xunge Yan, Shuo-Hsiu Chang, Gerard Francisco, Qiushi Fu, Hao Su
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T10A012, April 9–12, 2018
Paper No: DMD2018-6922
DOI: https://doi.org/10.1115/DMD2018-6922
View Paper titled, A Modular Approach for Lightweight Humanoid Hand Design Using High Torque Density Electric Actuators
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Topics: Actuators, Density, Design, Torque, Artificial limbs, Weight (Mass), Biomimetics, Degrees of freedom, Electric motors, Energy efficiency
Proceedings Papers

Wearable and Stretchable Piezoelectric Nanogenerator for Skin Applications

Ioana Voiculescu, Fang Li, Glen Kowach, Hao Su, Kun Lin Lee
Proc. ASME. DMD2018, 2018 Design of Medical Devices Conference, V001T10A004, April 9–12, 2018
Paper No: DMD2018-6874
DOI: https://doi.org/10.1115/DMD2018-6874
View Paper titled, Wearable and Stretchable Piezoelectric Nanogenerator for Skin Applications
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Topics: Skin, Microscale devices, Polymers, Sensors, Thin films
Journal Articles

Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions

Wenzhi Ji, Joshua D. Matte, Gang Li, Yunzhao Ma, Hao Su, Weijian Shang, Gregory S. Fischer
Journal: Journal of Medical Devices
Article Type: Technical Briefs
J. Med. Devices. September 2013, 7(3): 030915.
Paper No: MED-13-1070
DOI: https://doi.org/10.1115/1.4024486
Published Online: July 3, 2013
View Article titled, Reconfigurable Fiducial-Integrated Modular Needle Driver for MRI-Guided Percutaneous Interventions
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Topics: Magnetic resonance imaging, Needles
Proceedings Papers

Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for MRI-Compatible Robotic Intervention

Yi Wang, Hao Su, Kevin Harrington, Gregory S. Fischer
Proc. ASME. DSCC2010, ASME 2010 Dynamic Systems and Control Conference, Volume 2, 23-28, September 12–15, 2010
Paper No: DSCC2010-4203
DOI: https://doi.org/10.1115/DSCC2010-4203
View Paper titled, Sliding Mode Control of Piezoelectric Valve Regulated Pneumatic Actuator for MRI-Compatible Robotic Intervention
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Topics: Magnetic resonance imaging, Pneumatic actuators, Robotics, Sliding mode control, Valves, Pneumatic cylinders, Actuators, Control algorithms, Control equipment, Delays
Proceedings Papers

Nafion/PBI Nanofiber Composite Membranes for Fuel Cells Applications

Tzyy-Lung Leon Yu, Shih-Hao Liu, Hsiu-Li Lin, Po-Hao Su
Proc. ASME. FUELCELL2010, ASME 2010 8th International Fuel Cell Science, Engineering and Technology Conference: Volume 2, 631-639, June 14–16, 2010
Paper No: FuelCell2010-33025
DOI: https://doi.org/10.1115/FuelCell2010-33025
View Paper titled, Nafion/PBI Nanofiber Composite Membranes for Fuel Cells Applications
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Topics: Composite materials, Fuel cells, Membranes, Nanofibers, Thin films, Electrical conductivity, Electrospinning, Mechanical properties, Membrane electrode assemblies, Scanning electron microscopes
Proceedings Papers

Proton Exchange Membranes Based on Blends of Poly(Benzimidazole) and Butylsulfonated Poly(Beznimidazole) for High Temperature PEMFC

Hsiu-Li Lin, Chih-Ren Hu, Po-Hao Su, Yu-Cheng Chou, Che-Yu Lin
Proc. ASME. FUELCELL2010, ASME 2010 8th International Fuel Cell Science, Engineering and Technology Conference: Volume 2, 641-647, June 14–16, 2010
Paper No: FuelCell2010-33031
DOI: https://doi.org/10.1115/FuelCell2010-33031
View Paper titled, Proton Exchange Membranes Based on Blends of Poly(Benzimidazole) and Butylsulfonated Poly(Beznimidazole) for High Temperature PEMFC
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Topics: High temperature, Proton exchange membrane fuel cells, Proton exchange membranes, Membranes, Elongation, Hydrogen bonds, Polymers, Brittleness, Chain, Fracture toughness
Proceedings Papers

Decentralized Dynamic Control of a Nonholonomic Mobile Manipulator Collective: A Simulation Study

Hao Su, Venkat Krovi
Proc. ASME. DSCC2008, ASME 2008 Dynamic Systems and Control Conference, Parts A and B, 661-668, October 20–22, 2008
Paper No: DSCC2008-2194
DOI: https://doi.org/10.1115/DSCC2008-2194
View Paper titled, Decentralized Dynamic Control of a Nonholonomic Mobile Manipulator Collective: A Simulation Study
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Topics: Manipulators, Simulation, Control equipment, Control algorithms, End effectors, Algorithms, Computer simulation, Force control, Robots, System dynamics