Journal: IEEE/ASME Transactions on Mechatronics

Abbreviation

IEEE/ASME Trans. Mechatron.

Publisher

IEEE

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ISSN

1083-4435
1941-014X

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Publications 1 - 10 of 49
  • Series Viscoelastic Actuators Can Match Human Force Perception
    Item type: Journal Article
    Parietti, Federico; Baud-Bovy, Gabriel; Gatti, Elia; et al. (2011)
    IEEE/ASME Transactions on Mechatronics
  • Efficient and Versatile Locomotion With Highly Compliant Legs
    Item type: Journal Article
    Hutter, Marco; Remy, C.David; Hoepflinger, Mark A.; et al. (2013)
    IEEE/ASME Transactions on Mechatronics
  • Actuator With Angle-Dependent Elasticity for Biomimetic Transfemoral Prostheses
    Item type: Journal Article
    Pfeifer, Serge; Pagel, Anna; Riener, Robert; et al. (2015)
    IEEE/ASME Transactions on Mechatronics
  • Atomic force microscope probe based controlled pushing for nanotribological characterization
    Item type: Journal Article
    Sitti, Metin (2004)
    IEEE/ASME Transactions on Mechatronics
    Using an atomic force microscope (AFM) probe as a nanomanipulator, micrometer- and nanometer-sized objects, especially particles, are pushed on substrates for characterizing the object-substrate friction parameters and behavior in various environments, e.g., air, liquid, and vacuum. Two possible nanotribological characterization methods are proposed in this paper: 1) sliding the micro/nano-object on the substrate while it is attached to an AFM probe and 2) nanorobotic pushing of the micro/nano-object with the sharp tip of an AFM probe. The modeling of these methods are realized and experiments are conducted for the latter method using a piezoresistive AFM probe as a one-dimensional force sensor and nanomanipulator. In the experiments, 500-nm radius gold-coated latex particles are pushed on a silicon substrate. Preliminary results show that different frictional behavior such as sliding, rolling, and rotation could be observed, and shear stresses and frictional behavior could be estimated using these techniques at the nanoscale.
  • Adaptive electromagnetic shunt damping
    Item type: Journal Article
    Niederberger, Dominik; Behrens, Sam; Fleming, Andrew J.; et al. (2006)
    IEEE/ASME Transactions on Mechatronics
  • Noncontact 3-D Orientation Control at Microscale: Hydrodynamic Out-of-Plane Rotation and In-Plane Rotation by Compacted Rotational Stage
    Item type: Journal Article
    Liu, Xiaoming; Li, Yuyang; Li, Lei; et al. (2022)
    IEEE/ASME Transactions on Mechatronics
    In cloning, clinical in vitro fertilization, gene research, and stem cell research, enucleation or injection of the individual cell is essential. Three-dimensional (3-D) orientation control of the target cell could significantly influence the operation success rate, which is still one of the main challenges in conventional micromanipulation. In this article, we give a cost-effective solution of the 3-D orientation control at the microscale combining the hydrodynamic out-of-plane rotation and the in-plane rotation by compacted rotational stage. We equipped a standard microinjection system with a single piezo-actuator and a 3-D printed compacted rotational stage. Using the resonance of the designed copper cantilever as the pipette holder and the Lissajous Principle, we extended the 1-D oscillation of the piezo-actuator to 2-D circular oscillation of the injecting micropipette. The circular oscillation could generate a whirling flow for noncontact immobilization and out-of-plane rotation of the target. After the out-of-plane rotation, the rotational stage was employed to realize the in-plane rotation, and a holding-position control strategy was proposed to compensate circular motion in global of the target. The performance of these two rotation methods has been tested by rotating microbeads with outer diameters of 98 mu m. 3-D orientation control of the microbead and the mouse oocyte has been achieved, which indicates that the proposed method could be widely applied in the biomedical field.
  • Synthetic Data-Assisted Miniature Medical Robot Navigation via Ultrasound Imaging
    Item type: Journal Article
    Wang, Chunxiang; Wang, Tianlu; Sitti, Metin (2025)
    IEEE/ASME Transactions on Mechatronics
    Wireless miniature robots are promising for minimally invasive biomedical applications. Effective tracking and navigation are essential for their safe deployment, but challenges persist in medical imaging and robot control, especially in localizing the robot in complex imaging scenes. Deep learning, though powerful for object identification, requires large supervised datasets, limiting its clinical applications due to the difficulty and cost of acquiring realistic data. Furthermore, miniature robots frequently exit the field of view of imaging systems, hindering continuous observation. Here, we present a framework for real-time magnetic navigation of wireless miniature robots using ultrasound imaging, leveraging synthetic data generation for deep learning-based detection. First, artificially generated synthetic data is combined with real data from synthetic materials to train a neural network capable of detecting versatile robots in real tissues. Then, a robotic system is developed to automatically track the robot with an ultrasound probe during magnetic actuation in tortuous lumens. With 85% less human-labeled data within synthetic materials, our approach effectively detects versatile robots in ex-vivo tissues, reducing data scarcity, imbalance, and manual labeling burdens. Demonstrations of automatic robot navigation through tortuous lumens in complex ultrasound scenes validate its effectiveness, enhancing the safe applicability of miniature medical robots in complex environments.
  • A 5-D Localization Method for a Magnetically Manipulated Untethered Robot Using a 2-D Array of Hall-Effect Sensors
    Item type: Journal Article
    Son, Donghoon; Yim, Sehyuk; Sitti, Metin (2016)
    IEEE/ASME Transactions on Mechatronics
    This paper introduces a new 5-D localization method for an untethered meso-scale magnetic robot, which is manipulated by a computer-controlled electromagnetic system. The developed magnetic localization setup is a 2D array (8 × 8) of mono-axial Hall-effect sensors, which measure the perpendicular magnetic fields at their given positions. We introduce two steps for localizing a magnetic robot more accurately. First, the dipole-modeled magnetic field of the electromagnet is subtracted from the measured data in order to determine the robot's magnetic field. Second, the subtracted magnetic field is twice differentiated in the perpendicular direction of the array, so that the effect of the electromagnetic field in the localization process is minimized. Five variables regarding the position and orientation of the robot are determined by minimizing the error between the measured magnetic field and the modeled magnetic field in an optimization method. The resulting position error is 2.1 ± 0.8 mm and angular error is 6.7 ± 4.3° within the applicable range (5 cm) of magnetic field sensors at 200 Hz. The proposed localization method would be used for the position feedback control of untethered magnetic devices or robots for medical applications in the future.
  • A new actuator with adjustable stiffness based on a variable ratio lever mechanism
    Item type: Journal Article
    Jafari, A.; Tsagarakis, N.; Sardellitti, I.; et al. (2013)
    IEEE/ASME Transactions on Mechatronics
  • Cooperative aerial manipulation using multirotors with multi-DOF robotic arms
    Item type: Journal Article
    Kim, Suseong; Seo, Hoseong; Shin, Jongho; et al. (2018)
    IEEE/ASME Transactions on Mechatronics
Publications 1 - 10 of 49