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Journal Articles

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
Open the PDF for A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator in another window
Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071006.
Paper No: JMR-23-1116
https://doi.org/10.1115/1.4063454
Published Online: October 16, 2023
View Article titled, An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss
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Topics: Cables, Cantilever beams, Deflection, Robots, Tension
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Article titled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
Open the PDF for Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot in another window
Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Open the PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches in another window
Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2023, 17(1): 014501.
Paper No: MED-22-1077
https://doi.org/10.1115/1.4056319
Published Online: December 14, 2022
View Article titled, Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery
Open the PDF for Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery in another window
Topics: Design, Exoskeleton devices, Surgery, Tendons, Rotation, Muscle, Kinematics, Wire, Ropes, Cables
Journal Articles

Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model

Jun Gao, Bin Zhou, Bin Zi, Sen Qian, Ping Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051008.
Paper No: JMR-21-1352
https://doi.org/10.1115/1.4053219
Published Online: February 21, 2022
View Article titled, Kinematic Uncertainty Analysis of a Cable-Driven Parallel Robot Based on an Error Transfer Model
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Topics: Cables, Errors, Kinematics, Pulleys, Uncertainty, Uncertainty analysis, Robots
Journal Articles

Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines

Sen Qian, Kunlong Bao, Bin Zi, W. D. Zhu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2020, 142(7): 073301.
Paper No: MD-19-1512
https://doi.org/10.1115/1.4045723
Published Online: February 14, 2020
View Article titled, Dynamic Trajectory Planning for a Three Degrees-of-Freedom Cable-Driven Parallel Robot Using Quintic B-Splines
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Topics: B-splines, Cables, Degrees of freedom, End effectors, Robots, Trajectories (Physics), Kinematics, Tension
Journal Articles

Strength Properties and Microstructural Characteristics of Stabilized Dredged Materials at High Water Contents

Jianwen Ding, Xusong Feng, Guizhong Xu, Sen Qian, Feng Ji
Journal: Journal of Testing and Evaluation
Publisher: ASTM International
Article Type: Technical Papers
J. Test. Eval.. May 2019, 47(3): 2225–2239.
Paper No: JTE20180049
https://doi.org/10.1520/JTE20180049
Published Online: May 1, 2019
View Article titled, Strength Properties and Microstructural Characteristics of Stabilized Dredged Materials at High Water Contents
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Journal Articles

Steady-State Heat-Flow Coupling Field of a High-Power Magnetorheological Fluid Clutch Utilizing Liquid Cooling

Daoming Wang, Bin Zi, Sen Qian, Jun Qian
Journal: Journal of Fluids Engineering
Publisher: ASME
Article Type: Research-Article
J. Fluids Eng. November 2017, 139(11): 111105.
Paper No: FE-16-1744
https://doi.org/10.1115/1.4037171
Published Online: August 11, 2017
View Article titled, Steady-State Heat-Flow Coupling Field of a High-Power Magnetorheological Fluid Clutch Utilizing Liquid Cooling
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Topics: Coolants, Cooling, Flow (Dynamics), Fluids, Heat, Heating, Simulation, Steady state, Temperature, Boundary-value problems