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Proceedings Papers

Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism

Mohammed El Kihal, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2022, Volume 7: 46th Mechanisms and Robotics Conference (MR), V007T07A049, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89937
https://doi.org/10.1115/DETC2022-89937
View Paper titled, Design and Modeling of a Biomimetic Robotic Wrist via Hybrid Mechanism
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Topics: Biomimetics, Design, Modeling, Robotics, Actuators, Computer simulation, Control equipment, Degrees of freedom, Exoskeleton devices, Kinematics
Proceedings Papers

Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation

Jiamin Wang, David Blankenship, Oumar Barry
Proc. ASME. IDETC-CIE2021, Volume 9: 17th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V009T09A030, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-70011
https://doi.org/10.1115/DETC2021-70011
View Paper titled, Towards Transparent Motion Planning of Wearable Rehabilitation Exoskeletons via Model-Based Estimation
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Topics: Exoskeleton devices, Path planning, Transparency, Algorithms, Delays, Optimization, Signals, Stress, Control equipment, Design
Proceedings Papers

Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint

Jiamin Wang, Sunit K. Gupta, Oumar Barry
Proc. ASME. DSCC2020, Volume 1: Adaptive/Intelligent Sys. Control; Driver Assistance/Autonomous Tech.; Control Design Methods; Nonlinear Control; Robotics; Assistive/Rehabilitation Devices; Biomedical/Neural Systems; Building Energy Systems; Connected Vehicle Systems; Control/Estimation of Energy Systems; Control Apps.; Smart Buildings/Microgrids; Education; Human-Robot Systems; Soft Mechatronics/Robotic Components/Systems; Energy/Power Systems; Energy Storage; Estimation/Identification; Vehicle Efficiency/Emissions, V001T08A001, October 5–7, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2020-3127
https://doi.org/10.1115/DSCC2020-3127
View Paper titled, Modeling Analysis of the Wrist Dynamics via an Ellipsoidal Joint
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Topics: Biomechanics, Computer simulation, Damping, Dynamics (Mechanics), Engineering simulation, Kinematics, Limit cycles, Modeling, Modeling analysis, Nonlinear dynamics
Proceedings Papers

Criticality of Hopf Bifurcation in Precision Motion Stage With PID and Time-Delayed Feedback Controls

Sunit K. Gupta, Jiamin Wang, Oumar R. Barry
Proc. ASME. IDETC-CIE2020, Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V002T02A047, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22188
https://doi.org/10.1115/DETC2020-22188
View Paper titled, Criticality of Hopf Bifurcation in Precision Motion Stage With PID and Time-Delayed Feedback Controls
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Topics: Bifurcation, Feedback
Proceedings Papers

Towards Data-Driven Modeling of Pathological Tremors

Jiamin Wang, Sunit K. Gupta, Oumar Barry
Proc. ASME. IDETC-CIE2020, Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V002T02A030, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22147
https://doi.org/10.1115/DETC2020-22147
View Paper titled, Towards Data-Driven Modeling of Pathological Tremors
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Topics: Modeling, Nonlinear dynamics, Artificial neural networks, Diseases, Dynamics (Mechanics), Essential tremors, Nervous system
Journal Articles

Multibody Analysis and Control of a Full-Wrist Exoskeleton for Tremor Alleviation

Jiamin Wang, Oumar R. Barry
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Research-Article
J Biomech Eng. December 2020, 142(12): 121008.
Paper No: BIO-19-1572
https://doi.org/10.1115/1.4047424
Published Online: September 8, 2020
View Article titled, Multibody Analysis and Control of a Full-Wrist Exoskeleton for Tremor Alleviation
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Topics: Control equipment, Design, Dynamics (Mechanics), Exoskeleton devices, Kinematics, Simulation, Rotation
Proceedings Papers

On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation

Jiamin Wang, Oumar Barry, Andrew J. Kurdila, Sujith Vijayan
Proc. ASME. DSCC2019, Volume 2: Modeling and Control of Engine and Aftertreatment Systems; Modeling and Control of IC Engines and Aftertreatment Systems; Modeling and Validation; Motion Planning and Tracking Control; Multi-Agent and Networked Systems; Renewable and Smart Energy Systems; Thermal Energy Systems; Uncertain Systems and Robustness; Unmanned Ground and Aerial Vehicles; Vehicle Dynamics and Stability; Vibrations: Modeling, Analysis, and Control, V002T27A008, October 8–11, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2019-9118
https://doi.org/10.1115/DSCC2019-9118
View Paper titled, On the Dynamics and Control of a Full Wrist Exoskeleton for Tremor Alleviation
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Topics: Dynamics (Mechanics), Exoskeleton devices, Kinematics, Design, Algorithms, Construction, Control equipment, Control systems, Diseases, Dynamic analysis
Proceedings Papers

On the Friction Isolator for Precision Motion Control and its Dynamics

Xin Dong, Chinedum Okwudire, Jiamin Wang, Oumar Barry
Proc. ASME. IDETC-CIE2019, Volume 8: 31st Conference on Mechanical Vibration and Noise, V008T10A067, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98354
https://doi.org/10.1115/DETC2019-98354
View Paper titled, On the Friction Isolator for Precision Motion Control and its Dynamics
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Topics: Dynamics (Mechanics), Friction, Motion control, Stability
Journal Articles

A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism

Yujiong Liu, Jiamin Wang, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051005.
Paper No: JMR-18-1439
https://doi.org/10.1115/1.4044067
Published Online: July 9, 2019
View Article titled, A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism
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Topics: Cables, Robotics, Shapes, Universal joints, Design, Yaw, Rotation, Kinematics
Proceedings Papers

A Multibody Toolbox for Hybrid Dynamic System Modeling Based on Nonholonomic Symbolic Formalism

Jiamin Wang, Vinay R. Kamidi, Pinhas Ben-Tzvi
Proc. ASME. DSCC2018, Volume 3: Modeling and Validation; Multi-Agent and Networked Systems; Path Planning and Motion Control; Tracking Control Systems; Unmanned Aerial Vehicles (UAVs) and Application; Unmanned Ground and Aerial Vehicles; Vibration in Mechanical Systems; Vibrations and Control of Systems; Vibrations: Modeling, Analysis, and Control, V003T29A003, September 30–October 3, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DSCC2018-9000
https://doi.org/10.1115/DSCC2018-9000
View Paper titled, A Multibody Toolbox for Hybrid Dynamic System Modeling Based on Nonholonomic Symbolic Formalism
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Topics: Dynamic systems, Modeling, Computer software, Design, Dynamic models, Dynamics (Mechanics), Engineering simulation, Kinematics, Matlab, Multibody dynamics