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Proceedings Papers

ARTICULATED SURGICAL STAPLER WITH IMPROVED RANGE OF MOTION FOR MINIMALLY INVASIVE COLORECTAL SURGERY

Nick Swerczek, Carl A. Nelson, Mark A. Carlson
Proc. ASME. DMD2023, 2023 Design of Medical Devices Conference, V001T10A005, April 17–19, 2023
Paper No: DMD2023-5056
https://doi.org/10.1115/DMD2023-5056
View Paper titled, ARTICULATED SURGICAL STAPLER WITH IMPROVED RANGE OF MOTION FOR MINIMALLY INVASIVE COLORECTAL SURGERY
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Proceedings Papers

Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions

Jay S. Chae, Carl A. Nelson, José Baca, Mukul Mukherjee
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A033, August 14–17, 2022
Paper No: DETC2022-91274
https://doi.org/10.1115/DETC2022-91274
View Paper titled, Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions
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Topics: Astronauts, Design, Kinematics, Muscle, Robotics, Space vehicles
Proceedings Papers

Design and Modeling of a Robot for De-Icing Overhead Power Lines

Carl A. Nelson
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A046, August 14–17, 2022
Paper No: DETC2022-89554
https://doi.org/10.1115/DETC2022-89554
View Paper titled, Design and Modeling of a Robot for De-Icing Overhead Power Lines
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Topics: Deicing, Design, Modeling, Robotics, Robots, Transmission lines
Proceedings Papers

Experimental Validation and Design Refinement of a Disposable, Articulated Surgical Instrument

Monica Bomze, Carl A. Nelson
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T11A004, April 11–14, 2022
Paper No: DMD2022-1011
https://doi.org/10.1115/DMD2022-1011
View Paper titled, Experimental Validation and Design Refinement of a Disposable, Articulated Surgical Instrument
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Topics: Biocompatibility, Cycles, Deflection, Design, Durability, Instrumentation, Stiffness, Stress, Surgery, Surgical tools
Proceedings Papers

Kinematic Synthesis of Gait Correction for a Rehabilitation Machine

Zvonimir Pusnik, Carl A. Nelson, Judith M. Burnfield, Thad W. Buster
Proc. ASME. IDETC-CIE2021, Volume 8A: 45th Mechanisms and Robotics Conference (MR), V08AT08A041, August 17–19, 2021
Paper No: DETC2021-68538
https://doi.org/10.1115/DETC2021-68538
View Paper titled, Kinematic Synthesis of Gait Correction for a Rehabilitation Machine
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Topics: Kinematics, Machinery
Proceedings Papers

Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control

Carl A. Nelson
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T13A001, April 12–15, 2021
Paper No: DMD2021-1010
https://doi.org/10.1115/DMD2021-1010
View Paper titled, Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control
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Topics: Instrumentation, Kinematics, Laparoscopic devices, Design, Engineering simulation, Simulation, Surgery, Tendons
Journal Articles

Special Issue: Medical Robotics and Human Interfaces

Med Amine Laribi, Carl A. Nelson, Nandini Duraiswamy
Journal: Journal of Medical Devices
Article Type: Guest Editorial
J. Med. Devices. March 2021, 15(1): 010301.
Paper No: MED-20-1235
https://doi.org/10.1115/1.4049474
Published Online: January 28, 2021
View Article titled, Special Issue: Medical Robotics and Human Interfaces
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Topics: Biomedicine, Robotics
Proceedings Papers

Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration

Nathan A. Jensen, Carl A. Nelson
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A019, August 17–19, 2020
Paper No: DETC2020-22098
https://doi.org/10.1115/DETC2020-22098
View Paper titled, Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration
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Topics: Kinematics, Optimization, Performance evaluation, Robots, Manipulators, Degrees of freedom, Geometry, Jacobian matrices
Proceedings Papers

Design of a Portable Venomanometer System for Episcleral Venous Pressure Measurement

Tze Yeen Yap, Carl A. Nelson, Deepta Ghate, Vikas Gulati, Shan Fan, Sachin Kedar, Meghal Gagrani, Adam Hahn, Blaine Minden, Luke Moorhous, Zachary Fowler, Deepak Khazanchi
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T10A004, April 6–9, 2020
Paper No: DMD2020-9021
https://doi.org/10.1115/DMD2020-9021
View Paper titled, Design of a Portable Venomanometer System for Episcleral Venous Pressure Measurement
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Topics: Design, Military systems, Pressure, Pressure measurement, Traumatic brain injury, Performance, Surgery, Testing, Wounds
Proceedings Papers

Towards Manufacturing Scale-Up of Air Retention Device for Colonoscopy

Pin Hao Cheng, Carl A. Nelson, Joy Wolfe
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T06A004, April 6–9, 2020
Paper No: DMD2020-9022
https://doi.org/10.1115/DMD2020-9022
View Paper titled, Towards Manufacturing Scale-Up of Air Retention Device for Colonoscopy
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Topics: Manufacturing, Testing, Workflow
Proceedings Papers

Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery

John Lowery, Carl A. Nelson
Proc. ASME. DMD2020, 2020 Design of Medical Devices Conference, V001T06A001, April 6–9, 2020
Paper No: DMD2020-9010
https://doi.org/10.1115/DMD2020-9010
View Paper titled, Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery
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Topics: Design, Robots, Surgery, Design engineering, Engineering prototypes, Engineering simulation, Kinematics, Robotics, Simulation, Tendons
Journal Articles

Erratum: “Design and Validation of a Biosensor Implantation Capsule Robot” [ASME J. Biomech. Eng., 2017, 139(8), 081003; DOI: 10.1115/1.4036607 ]

Wanchuan Xie, Weston M. Lewis, Jared Kaser, C. Ross Welch, Pengbo Li, Carl A. Nelson, Vishal Kothari, Seth P. Harris, Benjamin S. Terry
Journal: Journal of Biomechanical Engineering
Article Type: Errata
J Biomech Eng. July 2020, 142(7): 077001.
Paper No: BIO-20-1008
https://doi.org/10.1115/1.4046699
Published Online: April 8, 2020
View Article titled, Erratum: “Design and Validation of a Biosensor Implantation Capsule Robot” [ASME J. Biomech. Eng., 2017, 139(8), 081003; DOI: 10.1115/1.4036607 ]
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Topics: Biosensors, Design, Robots
Proceedings Papers

Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster, Guilherme M. Cesar, Chase M. Pfeifer, Prithviraj Dasgupta
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A037, August 18–21, 2019
Paper No: DETC2019-98011
https://doi.org/10.1115/DETC2019-98011
View Paper titled, Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled
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Topics: Design, Kinematics, Robots, Spinal cord, Testing, Wounds
Proceedings Papers

Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint

Carl A. Nelson, Cole A. Dempsey, Ethan R. Brush, M. Amine Laribi
Proc. ASME. IDETC-CIE2019, Volume 5B: 43rd Mechanisms and Robotics Conference, V05BT07A014, August 18–21, 2019
Paper No: DETC2019-97981
https://doi.org/10.1115/DETC2019-97981
View Paper titled, Improved Surgical Robot Design Using a Novel Compliant Rolling-Contact Joint
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Topics: Design, Robots, Rolling contact, Surgery, Bevel gears, Collisions (Physics), Human-robot interaction, Safety, Surgical tools
Journal Articles

Special Section: Mechanisms and Robots for Safe Human–Robot Physical Interaction

Nabil Simaan, Carl A. Nelson, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2019, 11(6): 060301.
Paper No: JMR-19-1338
https://doi.org/10.1115/1.4044541
Published Online: September 11, 2019
View Article titled, Special Section: Mechanisms and Robots for Safe Human–Robot Physical Interaction
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Topics: Robots
Proceedings Papers

Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients

Carl A. Nelson, Mitchell A. Bruckner, Jay S. Chae, Judith M. Burnfield, Thad W. Buster, Guilherme M. Cesar, Chase M. Pfeifer, Prithviraj Dasgupta
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T10A008, April 15–18, 2019
Paper No: DMD2019-3240
https://doi.org/10.1115/DMD2019-3240
View Paper titled, Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients
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Topics: Robots, Spinal cord, Wounds, Design, Hardware, Kinematics, Testing
Proceedings Papers

Optimal Design of a Parallel Robot for Dental Articulation

Dilmurat A. Kizghin, Carl A. Nelson
Proc. ASME. DMD2019, 2019 Design of Medical Devices Conference, V001T10A001, April 15–18, 2019
Paper No: DMD2019-3209
https://doi.org/10.1115/DMD2019-3209
View Paper titled, Optimal Design of a Parallel Robot for Dental Articulation
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Topics: Design, Robots, Robotics, Testing, Bridges (Structures), Engineering prototypes, Errors, Kinematics, Manufacturing, Workflow
Journal Articles

Adapted Motor-Assisted Elliptical for Rehabilitation of Children With Physical Disabilities

Judith M. Burnfield, Thad W. Buster, Chase M. Pfeifer, Sonya L. Irons, Guilherme M. Cesar, Carl A. Nelson
Journal: Journal of Medical Devices
Article Type: Research-Article
J. Med. Devices. March 2019, 13(1): 011006.
Paper No: MED-18-1027
https://doi.org/10.1115/1.4041588
Published Online: December 4, 2018
View Article titled, Adapted Motor-Assisted Elliptical for Rehabilitation of Children With Physical Disabilities
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Topics: Engines, Motors, Pediatrics, Feedback, Patient treatment, Safety
Proceedings Papers

A Positively-Engaged Infinitely Variable Transmission Using Split Helical Gears

Ethan R. Brush, Carl A. Nelson
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A032, August 26–29, 2018
Paper No: DETC2018-85260
https://doi.org/10.1115/DETC2018-85260
View Paper titled, A Positively-Engaged Infinitely Variable Transmission Using Split Helical Gears
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Topics: Electric vehicles, Gears, Helical gears, Motors, Optimization, Robots, Torque, Vehicles
Proceedings Papers

Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot

Nathan A. Jensen, Carl A. Nelson
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A033, August 26–29, 2018
Paper No: DETC2018-85261
https://doi.org/10.1115/DETC2018-85261
View Paper titled, Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot
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Topics: Actuators, Robots, Degrees of freedom, Engineering prototypes, Mechanical admittance, Parallel mechanisms