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Proceedings Papers

Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators

Evan Ripperger, Girish Krishnan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A097, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116930
https://doi.org/10.1115/DETC2023-116930
View Paper titled, Design Space Enumerations for Pneumatically Actuated Soft Continuum Manipulators
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Topics: Design, Manipulators, Actuators, Architecture, Valves, End effectors, Fibers, Inertia (Mechanics), Shapes
Journal Articles

Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves

Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2024, 16(7): 074501.
Paper No: JMR-23-1066
https://doi.org/10.1115/1.4063573
Published Online: October 16, 2023
View Article titled, Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
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Topics: Design, Particulate matter, Transportation systems, Traveling waves, Wavelength, Waves, Stiffness, Actuators
Proceedings Papers

Experimental Characterization and Modeling of a Unit Soft Air Bladder

Sandra Edward, Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A058, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-91266
https://doi.org/10.1115/DETC2022-91266
View Paper titled, Experimental Characterization and Modeling of a Unit Soft Air Bladder
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Topics: Actuators, Bearings, Computer numerical control machine tools, Design, Dimensions, Displacement, Engineers, Experimental characterization, Fittings, Geometry
Proceedings Papers

Design Guidelines for Moving a Human Body on a Bed Using Traveling Waves

Mahshid Mansouri, Girish Krishnan, Elizabeth T. Hsiao-Wecksler
Proc. ASME. DMD2022, 2022 Design of Medical Devices Conference, V001T05A008, April 11–14, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DMD2022-1071
https://doi.org/10.1115/DMD2022-1071
View Paper titled, Design Guidelines for Moving a Human Body on a Bed Using Traveling Waves
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Topics: Design, Traveling waves, Actuators, Transportation systems, Waves, Kinematic analysis, Simulation, Tradeoffs, Water waves, Wave amplitude
Journal Articles

Local Thermal Nonequilibrium (LTNE) Modeling of a Partially Porous Channel With Spatial Variation in Biot Number

Girish Krishnan, Mohammad Parhizi, Mohsen Torabi, Ankur Jain
Journal: ASME Journal of Heat and Mass Transfer
Publisher: ASME
Article Type: Research-Article
J. Heat Mass Transfer. June 2022, 144(6): 062701.
Paper No: HT-21-1640
https://doi.org/10.1115/1.4053676
Published Online: April 5, 2022
View Article titled, Local Thermal Nonequilibrium (LTNE) Modeling of a Partially Porous Channel With Spatial Variation in Biot Number
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Topics: Fluids, Heat transfer, Porous materials, Temperature, Temperature distribution, Boundary-value problems, Modeling, Heat
Proceedings Papers

User Centered Approach to the Supra-Functional Needs of People Living with Amyotrophic Lateral Sclerosis (ALS)

Deana McDonagh, Kayla Arquines, Elizabeth T. Hsiao-Wecksler, Mahshid Mansouri, Girish Krishnan, Mohammed Alabed, Christopher M. Zallek
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T07A002, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1058
https://doi.org/10.1115/DMD2021-1058
View Paper titled, User Centered Approach to the Supra-Functional Needs of People Living with Amyotrophic Lateral Sclerosis (ALS)
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Topics: Decision making, Design, Health care, Lumber, Teams, User-centered design
Proceedings Papers

A Soft Robotic Simulator for Transseptal Puncture Training

Nicholas A. Thompson, Abraham G. Kocheril, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Proc. ASME. DMD2021, 2021 Design of Medical Devices Conference, V001T02A007, April 12–15, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DMD2021-1061
https://doi.org/10.1115/DMD2021-1061
View Paper titled, A Soft Robotic Simulator for Transseptal Puncture Training
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Topics: Ablation (Vaporization technology), Catheters, Muscle, Robotics, Dynamics (Mechanics), Manufacturing, Risk, Arrhythmias, Biological tissues, Design
Proceedings Papers

A Sequential Two-Step Design Framework for Deformable Mechanical Metamaterials

Sree Kalyan Patiballa, Girish Krishnan
Proc. ASME. IMECE2020, Volume 12: Mechanics of Solids, Structures, and Fluids, V012T12A022, November 16–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: IMECE2020-24270
https://doi.org/10.1115/IMECE2020-24270
View Paper titled, A Sequential Two-Step Design Framework for Deformable Mechanical Metamaterials
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Topics: Design, Metamaterials, Elasticity, Blocks (Building materials), Deformation, Shapes, Stiffness, Cantilever beams, Databases, Electronics
Journal Articles

Design and Modeling of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber-Reinforced Elastomers

Naveen Kumar Uppalapati, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011010.
Paper No: JMR-19-1252
https://doi.org/10.1115/1.4048223
Published Online: October 7, 2020
View Article titled, Design and Modeling of Soft Continuum Manipulators Using Parallel Asymmetric Combination of Fiber-Reinforced Elastomers
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Topics: Design, Manipulators, Stiffness, Deformation, Stress, Actuators, Pressure, Fibers
Proceedings Papers

Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators

Sree Kalyan Patiballa, Sreeshankar Satheeshbabu, Girish Krishnan
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A020, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98514
https://doi.org/10.1115/DETC2019-98514
View Paper titled, Load-Flow Based Design of Compliant Mechanisms With Embedded Soft Actuators
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Topics: Actuators, Compliant mechanisms, Design, Flow (Dynamics), Stress, Kinematics, Topology, Biomimetics, Embedded systems, Engineering prototypes
Journal Articles

Conceptual Insightful Synthesis of Spatial Compliant Mechanisms Using the Load Flow Formulation

Girish Krishnan, Sree Kalyan Patiballa
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2020, 142(5): 052301.
Paper No: MD-18-1928
https://doi.org/10.1115/1.4044431
Published Online: November 12, 2019
View Article titled, Conceptual Insightful Synthesis of Spatial Compliant Mechanisms Using the Load Flow Formulation
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Topics: Compliant mechanisms, Design, Stress, Flow (Dynamics), Topology
Journal Articles

Modeling the Bending Behavior of Fiber-Reinforced Pneumatic Actuators Using a Pseudo-Rigid-Body Model

Sreeshankar Satheeshbabu, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2019, 11(3): 031011.
Paper No: JMR-18-1179
https://doi.org/10.1115/1.4042632
Published Online: September 30, 2019
View Article titled, Modeling the Bending Behavior of Fiber-Reinforced Pneumatic Actuators Using a Pseudo-Rigid-Body Model
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Topics: Deflection, Deformation, Fibers, Finite element analysis, Modeling, Springs, Fittings, Grippers, Stress, Pneumatic actuators
Proceedings Papers

A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms

Sreekalyan Patiballa, Kazuhiro Uchikata, Ramkumar Komanduri Ranganath, Girish Krishnan
Proc. ASME. IDETC-CIE2018, Volume 5B: 42nd Mechanisms and Robotics Conference, V05BT07A009, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86375
https://doi.org/10.1115/DETC2018-86375
View Paper titled, A Conceptual Design Tool for Synthesis of Spatial Compliant and Shape Morphing Mechanisms
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Topics: Conceptual design, Shapes, Compliant mechanisms, Design, Dimensions, Stress, Engineering simulation, Finite element analysis, Flow (Dynamics), Geometry
Journal Articles

Qualitative Analysis and Conceptual Design of Planar Metamaterials With Negative Poisson's Ratio

Sree Kalyan Patiballa, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021006.
Paper No: JMR-17-1321
https://doi.org/10.1115/1.4038977
Published Online: February 5, 2018
View Article titled, Qualitative Analysis and Conceptual Design of Planar Metamaterials With Negative Poisson's Ratio
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Topics: Compliant mechanisms, Flow (Dynamics), Metamaterials, Poisson ratio, Stress, Design, Conceptual design, Shear modulus
Proceedings Papers

Qualitative Analysis and Design of Mechanical Metamaterials

Sreekalyan Patiballa, Girish Krishnan
Proc. ASME. IDETC-CIE2017, Volume 5A: 41st Mechanisms and Robotics Conference, V05AT08A002, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67992
https://doi.org/10.1115/DETC2017-67992
View Paper titled, Qualitative Analysis and Design of Mechanical Metamaterials
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Topics: Design, Metamaterials, Flow (Dynamics), Geometry, Poisson ratio, Bulk modulus, Compliant mechanisms, Conceptual design, Shear modulus, Stress
Journal Articles

Estimating Optimized Stress Bounds in Early Stage Design of Compliant Mechanisms

Sree Kalyan Patiballa, Girish Krishnan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. June 2017, 139(6): 062302.
Paper No: MD-16-1711
https://doi.org/10.1115/1.4036305
Published Online: April 12, 2017
View Article titled, Estimating Optimized Stress Bounds in Early Stage Design of Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Stress, Stiffness, Grippers
Proceedings Papers

Estimating Stress Bounds in Early-Stage Design of Distributed Compliant Mechanisms

Sreekalyan Patiballa, John Francis Shanley, Girish Krishnan
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A017, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59828
https://doi.org/10.1115/DETC2016-59828
View Paper titled, Estimating Stress Bounds in Early-Stage Design of Distributed Compliant Mechanisms
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Topics: Compliant mechanisms, Design, Stress, Topology, Manufacturing, Optimization, Stress concentration
Proceedings Papers

Automated Mobility Analysis of Wire Flexure Systems

Sreeshankar Satheeshbabu, Girish Krishnan
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A018, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59830
https://doi.org/10.1115/DETC2016-59830
View Paper titled, Automated Mobility Analysis of Wire Flexure Systems
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Topics: Bending (Stress), Mechanical admittance, Wire, Flow (Dynamics), Stress, Conceptual design, Geometry
Proceedings Papers

Towards a Constraint-Based Design of Soft Mechanisms

Sreeshankar Satheeshbabu, Girish Krishnan
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A019, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59834
https://doi.org/10.1115/DETC2016-59834
View Paper titled, Towards a Constraint-Based Design of Soft Mechanisms
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Topics: Design, Fibers, Geometry, Robots, Anisotropy, Blocks (Building materials), Deformation, Elastomers, Fluids, Materials properties
Proceedings Papers

Design and Analysis of Soft Pneumatic Sleeve for Arm Orthosis

Gaurav Singh, Chenzhang Xiao, Girish Krishnan, Elizabeth Hsiao-Wecksler
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A034, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59836
https://doi.org/10.1115/DETC2016-59836
View Paper titled, Design and Analysis of Soft Pneumatic Sleeve for Arm Orthosis
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Topics: Design, Fibers, Geometry, Modeling, Orthotics, Pneumatic actuators, Risk, Shapes, Stiffness, Stress