# IEEE/ASME Transactions on Mechatronics

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Displaying Results 1 - 25 of 65

Publication Year: 2015, Page(s):C1 - C4
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• ### IEEE/ASME Transactions on Mechatronics publication information

Publication Year: 2015, Page(s): C2
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• ### A Foldable Antagonistic Actuator

Publication Year: 2015, Page(s):1997 - 2008
Cited by:  Papers (13)
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We report on an actuator based on dielectric elastomers that is capable of antagonistic actuation and passive folding. This actuator enables foldability in robots with simple structures. Unlike other antagonistic dielectric elastomer devices, our concept uses elastic hinges to allow the folding of the structure, which also provides an additional design parameter. To validate the actuator concept t... View full abstract»

• ### Output-Feedback Adaptive Control of Networked Teleoperation System With Time-Varying Delay and Bounded Inputs

Publication Year: 2015, Page(s):2009 - 2020
Cited by:  Papers (24)
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The output-feedback based controller design problem is investigated for the networked teleoperation system in this paper. A new control scheme is proposed to guarantee the global asymptotic stability of the bilateral teleoperation system with time-varying delays and bounded inputs. First, a new fast terminal sliding-mode velocity observer is proposed to estimate the unknown velocity signals for th... View full abstract»

• ### Design and Assessment of a Z-Axis Precision Positioning Stage With Centimeter Range Based on a Piezoworm Motor

Publication Year: 2015, Page(s):2021 - 2030
Cited by:  Papers (3)
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This study presents a compact high precision positioner which is designed specifically for vertical axis motion with centimeter range based on a piezoworm motor arranged in flexure frames. The piezoworm motor for providing motion in Z axis is developed in complementary clamp configuration, provided that no power is required to maintain a fixed vertical position, holding the payload against the for... View full abstract»

• ### Automated Robotic Manipulation of Individual Colloidal Particles Using Vision-Based Control

Publication Year: 2015, Page(s):2031 - 2038
Cited by:  Papers (15)
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Automated manipulation of micro- and nanosized objects using robotic setups constitutes a major challenge due to the force-scaling laws and the limited control possibilities on that scale. This paper presents a new developed approach for automated manipulation of individual colloidal particles using a dedicated dual-probe setup inside a scanning electron microscope. Based on tailored probe geometr... View full abstract»

• ### On Designing Optimal Trajectories for Servo-Actuated Mechanisms: Detailed Virtual Prototyping and Experimental Evaluation

Publication Year: 2015, Page(s):2039 - 2052
Cited by:  Papers (6)
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Programmable servo-actuated mechanisms can enhance the flexibility and the reconfigurability of modern manufacturing systems. Differently from fully mechanical design solutions (such as mechanical cams) and especially in the case of high-dynamic motions, servomechanism performance depends on several interacting factors, namely electric motor and linkage dynamics, controller efficacy, and requested... View full abstract»

• ### A Modular Mechatronic Device for Arm Stiffness Estimation in Human–Robot Interaction

Publication Year: 2015, Page(s):2053 - 2066
Cited by:  Papers (2)
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Measuring human arm stiffness in robot interaction is a crucial topic in both neuroscience and the related learning process during skill acquisition and functional recovery in neurological subjects. However, it is a complex and time-consuming procedure often requiring a computational burden which prevents from an online estimation of the data. Most systems described in the previous literature uses... View full abstract»

• ### Active Locomotive Intestinal Capsule Endoscope (ALICE) System: A Prospective Feasibility Study

Publication Year: 2015, Page(s):2067 - 2074
Cited by:  Papers (15)
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Owing to the limitations of the conventional flexible endoscopes used in gastrointestinal diagnostic procedures, which cause discomfort and pain in patients, a wireless capsule endoscope has been developed and commercialized. Despite the many advantages of the wireless capsule endoscope, its restricted mobility has limited its use to diagnosis of the esophagus and small intestine only. Therefore, ... View full abstract»

• ### The Concept of Passive Control Assistance for Docking Maneuvers With N-Trailer Vehicles

Publication Year: 2015, Page(s):2075 - 2084
Cited by:  Papers (4)  |  Patents (1)
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We present a concept of passive control-assistance system, which can help a human driver in precise maneuvers with a tractor-trailer vehicle in the task of docking with the last trailer. The novel approach is developed for truly N-trailer vehicles comprising a car-like tractor and arbitrary number of on-axle or off-axle hitched trailers. Passivity of the proposed assistance system results from the... View full abstract»

• ### Broadening the Frequency Bandwidth of a Tire-Embedded Piezoelectric-Based Energy Harvesting System Using Coupled Linear Resonating Structure

Publication Year: 2015, Page(s):2085 - 2094
Cited by:  Papers (6)
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The efficiency of single-degree-of-freedom (SDOF) vibration-based energy harvesters significantly drops when the resonance frequency of the harvester is different from that of the ambient vibration. In this study, a novel piezoelectric-based energy harvesting mechanism is introduced for rotary motion applications, which can generate power over a broad range of angular velocities of the wheel. The ... View full abstract»

• ### Adaptive Control of a Gyroscopically Stabilized Pendulum and Its Application to a Single-Wheel Pendulum Robot

Publication Year: 2015, Page(s):2095 - 2106
Cited by:  Papers (5)
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This paper presents an adaptive decoupling control strategy for a gyroscopically stabilized pendulum. In the proposed model, the gyro moment acts directly on the pivot of the pendulum, the magnitude of which is restricted by gyroscopic precession. A decoupling algorithm based on virtual control is proposed to regulate the upright posture of the pendulum through gyroscopic precession. Virtual contr... View full abstract»

• ### Adaptive Nonlinear Crane Control With Load Hoisting/Lowering and Unknown Parameters: Design and Experiments

Publication Year: 2015, Page(s):2107 - 2119
Cited by:  Papers (21)
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For practical underactuated cranes, vertical load motion is always involved, which, owing to the internal nonlinear coupling, may trigger larger amplitude load oscillations, making the control problem much more cumbersome and challenging than the constant-rope-length case. Moreover, cranes always suffer from unknown or uncertain plant parameters such as load mass and friction parameters besides th... View full abstract»

• ### LPV Modeling and Mixed Constrained ${{H_2}/{H_infty}}$ Control of an Electronic Throttle

Publication Year: 2015, Page(s):2120 - 2132
Cited by:  Papers (6)
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Engine electronic throttle control (ETC) is challenging due to its high system nonlinearities and the required fast response time. In this paper, an electronic throttle system was modeled as a linear parameter varying (LPV) system in discrete-time domain, where the vehicle battery voltage is modeled as the measurable time-varying parameter; the nonlinear friction is modeled as a function of the me... View full abstract»

• ### Development of the SJTU Unfoldable Robotic System (SURS) for Single Port Laparoscopy

Publication Year: 2015, Page(s):2133 - 2145
Cited by:  Papers (20)
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Single-port laparoscopy (SPL) has attracted continuous attention in the past decade due to the potential of generating better surgical outcomes than the traditional multiport laparoscopy. In order to ease the challenging surgical manipulation tasks using manual tools in SPL, several robotic systems were constructed to provide surgeons an intuitive way to operate. With possible improvements identif... View full abstract»

• ### Adaptive Slope Walking With a Robotic Transtibial Prosthesis Based on Volitional EMG Control

Publication Year: 2015, Page(s):2146 - 2157
Cited by:  Papers (10)
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Allowing amputees to volitionally control robotic prostheses can improve the adaptability to terrain changes. In this paper, we propose a myoelectric controller for a robotic transtibial prosthesis to realize adaptive slope walking. It works together with the intrinsic controller, enabling amputee users to pay relatively less attention on myoelectric control during walking. Amputee users convey th... View full abstract»

• ### A High-Precision Motion Control Based on a Periodic Adaptive Disturbance Observer in a PMLSM

Publication Year: 2015, Page(s):2158 - 2171
Cited by:  Papers (15)
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This paper presents a novel disturbance compensation scheme to attenuate periodic disturbances on repetitive motion using permanent magnet linear synchronous motors (PMLSMs), and this scheme is called the periodical adaptive disturbance observer. The scheme is based on assumptions that all measured states and disturbances are periodic and repetitive when the tasks executed by PMLSM motion systems ... View full abstract»

• ### Design Choices in Needle Steering—A Review

Publication Year: 2015, Page(s):2172 - 2183
Cited by:  Papers (14)
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Alignment errors can arise during needle tip placement in deep-seated tissue structures. This can lead to undesired diagnostic and therapeutic outcomes. Path correction by means of needle steering has been investigated in scientific studies for the past decades. Several approaches exist, each of them with their own strengths and weaknesses. This paper describes the various needle-steering techniqu... View full abstract»

• ### Direct Measurement of Three-Dimensional Forces in Atomic Force Microscopy

Publication Year: 2015, Page(s):2184 - 2193
Cited by:  Papers (1)
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Direct measurement of three-dimensional (3-D) forces between an atomic force microscope (AFM) probe and the sample benefits diverse applications of AFM, including force spectroscopy, nanometrology, and manipulation. This paper presents the design and evaluation of a measurement system, wherein the deflection of the AFM probe is obtained at two points to enable direct measurement of all the three c... View full abstract»

• ### A New Algorithm for Continuous Sliding Mode Control With Implementation to Industrial Emulator Setup

Publication Year: 2015, Page(s):2194 - 2204
Cited by:  Papers (13)
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This paper presents a new control algorithm for obtaining continuous sliding mode control, based on integral sliding-mode control (ISMC), where the discontinuous part of the ISMC is replaced with a continuous control. It is shown that the well-known super twisting control (STC), which replaces the discontinuous part of the ISMC acts as a disturbance observer, and hence, cancels the matched disturb... View full abstract»

• ### Design of a Piezoelectric-Actuated Microgripper With a Three-Stage Flexure-Based Amplification

Publication Year: 2015, Page(s):2205 - 2213
Cited by:  Papers (27)
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This paper presents a novel microgripper mechanism for micromanipulation and assembly. The microgripper is driven by a piezoelectric actuator, and a three-stage flexure-based amplification has been designed to achieve large jaw displacements. The kinematic, static and dynamic models of the microgripper have been established and optimized considering the crucial parameters that determine the charac... View full abstract»

• ### Origami-Inspired Printed Robots

Publication Year: 2015, Page(s):2214 - 2221
Cited by:  Papers (26)
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Robot manufacturing is currently highly specialized, time consuming, and expensive, limiting accessibility and customization. Existing rapid prototyping techniques (e.g., 3-D printing) can achieve complex geometries and are becoming increasingly accessible; however, they are limited to one or two materials and cannot seamlessly integrate active components. We propose an alternative approach called... View full abstract»

• ### Sensor Reduction in Diesel Engine Two-Cell Selective Catalytic Reduction (SCR) Systems for Automotive Applications

Publication Year: 2015, Page(s):2222 - 2233
Cited by:  Papers (9)
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In this paper, we have studied the sensor reduction problem for two-cell selective catalytic reduction (SCR) systems with applications to Diesel-engine-powered automotive systems. For the purpose of constructing feedback control loops, three NOx sensors and three ammonia sensors are necessary for the ideal case. However, a large set of physical sensors will not only increase the system integration... View full abstract»

• ### An Efficient Fan Drive System Based on a Novel Hydraulic Transmission

Publication Year: 2015, Page(s):2234 - 2241
Cited by:  Papers (1)
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An efficient fan drive system based on a novel pressure-controlled hydraulic transmission (PCT) is studied in this paper. The new transmission uses a double-acting vane pump with a floating ring. By coupling the floating ring to an output shaft, the vane pump becomes a hydraulic transmission. The new transmission combines pumping and motoring functions in one unit, making it much simpler than a co... View full abstract»

• ### Automated Pairing Manipulation of Biological Cells With a Robot-Tweezers Manipulation System

Publication Year: 2015, Page(s):2242 - 2251
Cited by:  Papers (7)
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With an increased demand for various cell-based clinical applications and drug discovery, an enable technology that can automatically locate and pair biological cells from different groups, with high precision and throughput, is highly demanded. This paper presents a novel approach to achieving such cell manipulation using an automatically controlled holographic optical tweezers system, where a ro... View full abstract»

## Aims & Scope

IEEE/ASME Transactions on Mechatronics encompasses all practical aspects of the theory and methods of mechatronics, the synergetic integration of mechanical engineering with electronic and intelligent computer control in the design and manufacture of industrial products and processes.

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## Meet Our Editors

Editor-in-Chief
George Chiu
Purdue University
West Lafayette, IN USA
gchiu@purdue.edu