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Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061013.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: January 20, 2025
View Article titled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
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Topics: Kinematics, Tension, Uncertainty, Wire, Design, End effectors, Robots
Proceedings Papers

Design Considerations for 3RRR Parallel Robots With Lightweight, Approximate Static-Balancing

Giuseppe Del Giudice, Garrison L. H. Johnston, Nabil Simaan
Proc. ASME. IDETC-CIE2023, Volume 8: 47th Mechanisms and Robotics Conference (MR), V008T08A002, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-110947
https://doi.org/10.1115/DETC2023-110947
View Paper titled, Design Considerations for 3RRR Parallel Robots With Lightweight, Approximate Static-Balancing
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Topics: Design, Robots, Springs, Biomedicine, Wire, Simulation, Torque
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
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
Publisher: ASME
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
Journal Articles

Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration

Long Wang, Giuseppe Del Giudice, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051013.
Paper No: JMR-18-1255
https://doi.org/10.1115/1.4044162
Published Online: July 18, 2019
View Article titled, Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
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Topics: Calibration, Equilibrium (Physics), Kinematics, Modeling, Robots, Errors
Journal Articles

Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints

Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051003.
Paper No: JMR-18-1197
https://doi.org/10.1115/1.4043685
Published Online: July 8, 2019
View Article titled, Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints
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Topics: Kinematics, Redundancy (Engineering), Stiffness, Robots
Journal Articles

Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation

Long Wang, Zihan Chen, Preetham Chalasani, Rashid M. Yasin, Peter Kazanzides, Russell H. Taylor, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021010.
Paper No: JMR-16-1304
https://doi.org/10.1115/1.4035684
Published Online: March 9, 2017
View Article titled, Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation
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Topics: Control equipment, Geometry, Robots, Errors, Phantoms, Ablation (Vaporization technology)
Proceedings Papers

Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection

Giuseppe Del Giudice, Nima Sarli, Stanley D. Herrell, Nabil Simaan
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A030, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59303
https://doi.org/10.1115/DETC2016-59303
View Paper titled, Design Considerations for Continuum Robot Actuation Units Enabling Dexterous Transurethral Bladder Cancer Resection
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Topics: Cancer, Design, Robots, Surgery, Architecture, Degrees of freedom, Engineering simulation, Kinematics, Maintainability, Simulation
Proceedings Papers

Updating Virtual Fixtures From Exploration Data in Force-Controlled Model-Based Telemanipulation

Long Wang, Zihan Chen, Preetham Chalasani, Jason Pile, Peter Kazanzides, Russell H. Taylor, Nabil Simaan
Proc. ASME. IDETC-CIE2016, Volume 5A: 40th Mechanisms and Robotics Conference, V05AT07A031, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59305
https://doi.org/10.1115/DETC2016-59305
View Paper titled, Updating Virtual Fixtures From Exploration Data in Force-Controlled Model-Based Telemanipulation
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Topics: Ablation (Vaporization technology), Bearings, Force control, Geometry, Robots, Shapes, Surgery
Journal Articles

A Resectoscope for Robot-Assisted Transurethral Surgery

Nima Sarli, Giuseppe Del Giudice, Duke S. Herrell, Nabil Simaan
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Special Section Technical Briefs
J. Med. Devices. June 2016, 10(2): 020911.
Paper No: MED-16-1083
https://doi.org/10.1115/1.4033153
Published Online: May 12, 2016
View Article titled, A Resectoscope for Robot-Assisted Transurethral Surgery
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Topics: Robots, Surgery, Endoscopes, Visualization
Proceedings Papers

An Investigation of Stiffness Modulation Limits in a Pneumatically Actuated Parallel Robot With Actuation Redundancy

E. Bryn Pitt, Nabil Simaan, Eric J. Barth
Proc. ASME. FPMC2015, ASME/BATH 2015 Symposium on Fluid Power and Motion Control, V001T01A063, October 12–14, 2015
Publisher: American Society of Mechanical Engineers
Paper No: FPMC2015-9613
https://doi.org/10.1115/FPMC2015-9613
View Paper titled, An Investigation of Stiffness Modulation Limits in a Pneumatically Actuated Parallel Robot With Actuation Redundancy
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Topics: Redundancy (Engineering), Robots, Stiffness, Pneumatic actuators, Simulation, Actuators, Electromechanical actuators, End effectors, Kinematic chains, Kinematics
Journal Articles

Intelligent Surgical Robots with Situational Awareness

Nabil Simaan, Rusell H. Taylor, Howie Choset
Journal: Mechanical Engineering
Publisher: ASME
Article Type: Select Article
Mechanical Engineering. September 2015, 137(09): S3–S6.
Paper No: ME-15-SEP-6
https://doi.org/10.1115/1.2015-Sep-6
Published Online: September 1, 2015
View Article titled, Intelligent Surgical Robots with Situational Awareness
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Topics: Robots, Surgery, Computers, Robotics
Journal Articles

Design of Underactuated Steerable Electrode Arrays for Optimal Insertions

Jian Zhang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011008.
Paper No: JMR-11-1029
https://doi.org/10.1115/1.4007005
Published Online: January 24, 2013
View Article titled, Design of Underactuated Steerable Electrode Arrays for Optimal Insertions
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Topics: Electrodes, Shapes, Optimization algorithms, Modeling, Robots
Journal Articles

Modeling, Force Sensing, and Control of Flexible Cannulas for Microstent Delivery

Wei Wei, Nabil Simaan
Journal: Journal of Dynamic Systems, Measurement, and Control
Publisher: ASME
Article Type: Research Papers
J. Dyn. Sys., Meas., Control. July 2012, 134(4): 041004.
https://doi.org/10.1115/1.4006080
Published Online: April 27, 2012
View Article titled, Modeling, Force Sensing, and Control of Flexible Cannulas for Microstent Delivery
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Topics: Deflection, Interpolation, Modeling, Robots, Shapes, Stents, Surgery, Tubing, Cantilever beams, Stress
Proceedings Papers

Design and Preliminary Validation of a Rapid Automated Biodosimetry Tool for High Throughput Radiological Triage

Youhua Chen, Jian Zhang, Hongliang Wang, Guy Garty, Yanping Xu, Oleksandra V. Lyulko, Helen C. Turner, Gerhard Randers-Pehrson, Nabil Simaan, Y. Lawrence Yao, D. J. Brenner
Proc. ASME. IDETC-CIE2009, Volume 3: ASME/IEEE 2009 International Conference on Mechatronic and Embedded Systems and Applications; 20th Reliability, Stress Analysis, and Failure Prevention Conference, 61-67, August 30–September 2, 2009
Publisher: American Society of Mechanical Engineers
Paper No: DETC2009-86425
https://doi.org/10.1115/DETC2009-86425
View Paper titled, Design and Preliminary Validation of a Rapid Automated Biodosimetry Tool for High Throughput Radiological Triage
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Topics: Design, Hardware, Computer software, Computers, Cycles, Engineering prototypes, Laser cutting, Optimization, Real-time control, Robotics
Journal Articles

Enabling Technology for Microvascular Stenting in Ophthalmic Surgery

Wei Wei, Claire Popplewell, Stanley Chang, Howard F. Fine, Nabil Simaan
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2010, 4(1): 014503.
https://doi.org/10.1115/1.4001193
Published Online: March 26, 2010
View Article titled, Enabling Technology for Microvascular Stenting in Ophthalmic Surgery
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Topics: Agar, Stents, Surgery, Membranes, Wire, Blood vessels
Journal Articles

Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention

Wei Wei, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011012.
https://doi.org/10.1115/1.4000522
Published Online: January 11, 2010
View Article titled, Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention
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Topics: Robots, Springs, Stiffness, Statics, Actuators, Algorithms, Design
Journal Articles

Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals

Kai Xu, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011006.
https://doi.org/10.1115/1.4000519
Published Online: November 24, 2009
View Article titled, Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals
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Topics: Kinematics, Robots, Shapes, Statics, Disks, Equilibrium (Physics)
Journal Articles

Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery

Jian Zhang, J. Thomas Roland, Jr., Spiros Manolidis, Nabil Simaan
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research Papers
J. Med. Devices. March 2009, 3(1): 011001.
https://doi.org/10.1115/1.3039513
Published Online: December 18, 2008
View Article titled, Optimal Path Planning for Robotic Insertion of Steerable Electrode Arrays in Cochlear Implant Surgery
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Topics: Electrodes, Path planning, Surgery, Calibration