CONTENTS

PART A

34^" ANNUAL MECHANISMS A N D ROBOTICS CONFERENCE Introduction 1

BIOLOGICALLY-MOTIVATED MECHANISMS AND ROBOTICS (MEDICAL, HEALTHCARE, BIOMIMETIC) DETC2010-28022 3 A n Intell igent E x o s k e l e t o n fo r L o w e r L i m b R e h a b i l i t a t i o n ^

Hashem Ashrafiuon, Kent Grosh, Kevin J. Burlce, and Kathleen Bommer

DETC2010-28367 11 Equivalent M e c h a n i s m s T e c h n i q u e s f o r R e d e s i g n o f a S p h e r i c a l S u r g i c a l T o o l M a n i p u l a t o r

Carl A. Nelson and Xiaoli Zhang

DETC2010-28371 19 On the D y n a m i c M o d e l i n g o f a B e v e l - G e a r e d S u r g i c a l R o b o t i c M e c h a n i s m

Xiaoli Zhang and Carl A. Nelson ^ ,

DETC2010-28418 2 9 Design of a Robo t i c H a n d W i t h a B i o l o g i c a l l y - I n s p i r e d P a r a l l e l A c t u a t i o n S y s t e m fo r Prosthetic A p p l i c a t i o n s

Anthony L. Crawford and Alba Perez-Gracia

DETC2010-28476 3 7 Force-D isp lacement M o d e l o f t he F lexSuR™ S p i n a l Imp lan t

Eric Stratton, Larry L. Howell, and Anton Bowden

DETC2010-28500 4 7 A New 3D K i n e m a t i c M o d e l f o r t he P a s s i v e M o t i o n of t he T i b i a - F i b u l a - A n k l e C o m p l e x

Benedetta Baldisserri and Vincenzo Parenti Castelli , . ^

DETC2010-28513 57 A Rev iew of B i rd - Insp i red F l a p p i n g W i n g M i n i a t u r e A i r V e h i c l e D e s i g n s

John W. Gerdes, Satyandra K. Gupta, and Stephen A. Wilkerson f '

DETC2010-28519 6 9 Design and Fabr i ca t ion of a M u l t i - M a t e r i a l C o m p l i a n t F l a p p i n g W i n g D r i v e M e c h a n i s m fo r Miniature A i r V e h i c l e s

Wojciech Bejgerowski, John W. Gerdes, Satyandra K. Gupta, Hugh A. Bruck, and Stephen Wilkerson

DETC2010-28631 81 An Upper L i m b E x o s k e l e t o n fo r P i n p o i n t e d M u s c u l a r E x e r c i s e s W i t h O v e r e x t e n s i o n Injury Prevent ion

Tzong-Ming Wu, Shu-Yi Wang, and Dar-Zen Chen

mi

D E T C 2 0 1 0 - 2 8 6 8 1 91 T h e D e s i g n o f a n In te l l igent S o c i a l l y A s s i s t i v e R o b o t fo r P e r s o n - C e n t e r e d C o g n i t i v e In te rven t ions

Jeanie Chan and Goldie Nejat

D E T C 2 0 1 0 - 2 8 6 8 7 101 E n n p l o y i n g A s s u r T e n s e g r i t y S t r u c t u r e s M e t h o d s fo r S innu la t i ng a C a t e r p i l l a r L o c o m o t i o n

Omer Orki, Offer Shai, Itay Tehori, Michael Slavutin, and Uri Ben-Hanan

D E T C 2 0 1 0 - 2 8 6 8 8 107 W i r e l e s s B l u e t o o t h R e m o t e C o n t r o l o f a M u l t i - F i n g e r e d M e t a m o r p h i c H a n d - M e t a h a n d -

Hamzah N. Laimon and Jian S. Dai

D E T C 2 0 1 0 - 2 8 7 1 0 115 K i n e m a t i c D e s i g n of a T h u m b M e t a c a r p a l f o r a n A n t h r o p o m o r p h i c R o b o t i c H a n d

Louis-Alexis Allen Demers and Clement Gosselin

D E T C 2 0 1 0 - 2 8 7 5 9 125 Init ial D e s i g n a n d E v a l u a t i o n of a n I n t r a - C a r d i a c C a m e r a S y s t e m fo r V e n t r i c u l a r S e p t a l De fec t s

KeirD. Hart, Max B. Mitchell, and Mark E. Rentschler ^ ' K - . ' ^ ^

D E T C 2 0 1 0 - 2 8 7 6 9 135 P r e l i m i n a r y In V i v o C a p s u l e C r a w l e r M o b i l i t y

Levin J. Sliker, Jonathan A. Schoen, and Mark E. Rentschler ; ^ ^ -

D E T C 2 0 1 0 - 2 8 8 4 3 145 A Hear t S t a b i l i z a t i o n D e v i c e E x p l o i t i n g G y r o s c o p i c A c t u a t i o n : D e s i g n a n d C o n t r o l

Julien Gagne, Olivier Piccin, Edouard Laroche, and Jacques Gangloff

D E T C 2 0 1 0 - 2 8 9 3 3 155 Sta t i c A n a l y s i s o f S i n g l e - l n p u t / M u l t i p l e - O u t p u t T e n d o n - D r i v e n U n d e r a c t u a t e d M e c h a n i s m s fo r R o b o t i c H a n d s

Mathieu Baril, Thierry Laliberte, Frangois Guay, and Clement Gosselin ' A ; -

D E T C 2 0 1 0 - 2 8 9 6 5 165 O n D e s i g n i n g S t r u c t u r e d So f t C o v e r s f o r R o b o t i c L i m b s W i t h P r e d e t e r m i n e d C o m p l i a n c e

Giovanni Berselli, Marco Piccinini, and Gabriele Vassura

D E T C 2 0 1 0 - 2 9 0 0 4 175 Ex te rna l D i s t u r b a n c e s a n d C o u p l i n g M e c h a n i s m s in U n d e r a c t u a t e d H a n d s

Ravi Balasubramanian, Joseph T. Belter, and Aaron M. Dollar . ,. ^ ,

D E T C 2 0 1 0 - 2 9 0 6 0 185 M u l t i - S u b s t r a t e B u r r o w i n g P e r f o r m a n c e a n d C o n s t i t u t i v e M o d e l i n g o f R o b o C l a m : A B i o m i m e t i c R o b o t B a s e d o n R a z o r C l a m s

Amos G. Winter, V, Robin L. H. Deits, Daniel S. Dorsch, A. E. Hosoi, and Alexander H. Slocum

CABLE DRIVE SYSTEMS AND TENSEGRITY SYSTEMS D E T C 2 0 1 0 - 2 8 0 3 6 193 The Direct K inemat ics of Ob jec ts S u s p e n d e d F r o m C a b l e s

Qimi Jiang and Vijay Kumar

DETC2010 -28135 2 0 3 On the B o u n d a r i e s of t he W r e n c h - C l o s u r e W o r k s p a c e of P l a n a r P a r a l l e l C a b l e - D r i v e n M e c h a n i s m s

K. Azizian, P. Cardou, and B. Moore -

DETC2010 -28228 2 1 3 Workspace Inves t iga t ion of W i r e - A c t u a t e d P a r a l l e l M a n i p u l a t o r s W i t h U n c e r t a i n t i e s in Wire C o n n e c t i o n s

Leila Notasti and Derek McColl ^ - ^ ^ v

DETC2010-28257 2 2 3 Workspace C o m p u t a t i o n a n d A n a l y s i s o f a P l a n a r 2 - D o F T r a n s l a t i o n a l T e n s e g r i t y M e c h a n i s m

Sam Chen and Marc Arsenault

DETC2010-28292 2 3 3 Static A n a l y s i s of a L u m p e d M a s s C a b l e S y s t e m

Marco D. Masciola, Meyer Nahon, and Frederick R. Driscoll

DETC2010-28366 2 4 3 Trajectory P l a n n i n g a n d Impac t R e d u c t i o n in W i r e - A c t u a t e d P a r a l l e l M a n i p u l a t o r s With Elast ic W i r e s ...^ . ^

Maryam Agahi and Leila Notash

DETC2010-28374 2 5 3 Investigation of W i r e Fa i l u re Ef fec t o n S t i f f n e s s M a p s of P l a n a r W i r e - A c t u a t e d Parallel M a n i p u l a t o r s ' ,

Amir Moradi and Leila Notash

DETC2010-28405 261 On the Stat ic W o r k s p a c e o f L a r g e D i m e n s i o n C a b l e - S u s p e n d e d R o b o t s W i t h N o n - - ~ Negl ig ib le Cab le M a s s

Nicolas Riehl, Marc Gouttefarde, Cedric Baradat, and Frangois Pierrot

DETC2010-28424 271 A Planar S p r i n g - L o a d e d C a b l e - L o o p - D r i v e n P a r a l l e l M e c h a n i s m

Hanwei Liu, Clement Gosselin, and Thierry Laliberte

DETC2010-28718 281 Closed-Loop T r a n s m i s s i o n R o u t i n g s f o r C a r t e s i a n S C A R A - T y p e M a n i p u l a t o r s

Thierry Laliberte, Clement Gosselin, and Dalong Gao

DETC2010-28733 291 Analys is of a P lana r T e n s e g r i t y B a s e d C o m p l i a n t M e c h a n i s m

Youngjin Moon, Carl D. Crane, III, and Rodney G. Roberts ^ ,

D E T C 2 0 1 0 - 2 8 7 9 8 A N e w V a r i a b l e S t i f f n e s s S p r i n g U s i n g a P r e s t r e s s e d M e c h a n i s n n

Mojtaba Azadi, Saeed Behzadipour, and Simon Guest

301

D E T C 2 0 1 0 - 2 8 8 6 3 3 0 9 A C a b l e - A c t u a t e d R o b o t i c L u m b a r S p i n e fo r P a l p a t o r y T r a i n i n g o f M e d i c a l S t u d e n t s

Emur Karadogan and Robert L. Williams II

D E T C 2 0 1 0 - 2 9 1 5 3 3 1 9 D e s i g n a n d A p p l i c a t i o n o f C h a t t e r i n g - F r e e S l i d i n g M o d e C o n t r o l l e r to C a b l e - D r i v e n Pa ra l l e l R o b o t M a n i p u l a t o r : T h e o r y a n d E x p e r i m e n t ^̂^̂ .̂̂^̂^

Meysar Zeinali and Amir Khajepour

COMPLIANT MECHANISMS: MACRO, MICRO AND NANO D E T C 2 0 1 0 - 2 8 0 4 6 3 2 9 D e s i g n a n d M o d e l l i n g o f S p a t i a l C o m p l i a n t P a r a l l e l M e c h a n i s m s f o r L a r g e R a n g e of T r a n s l a t i o n

Guangbo Hao, Xianwen Kong, and Qiaoling Meng i

D E T C 2 0 1 0 - 2 8 0 7 1 341 A n E n e r g y A p p r o a c h to S ta t i c B a l a n c i n g o f S y s t e m s W i t h T o r s i o n S t i f f n e s s

Giuseppe Radaelli, Juan A. Gallego, and Just L. Herder

D E T C 2 0 1 0 - 2 8 1 2 7 3 5 5 D e s i g n o f an U n d e r a c t u a t e d F i n g e r W i t h a M o n o l i t h i c S t r u c t u r e a n d L a r g e l y D i s t r i bu ted C o m p l i a n c e

Peter Steutel, Gert A. Kragten, and Just L. Herder A * ^ ^ ' •

D E T C 2 0 1 0 - 2 8 1 5 0 3 6 5 T o p o l o g y O p t i m i z a t i o n o f C o m p l i a n t M e c h a n i s m s U s i n g H y b r i d D i s c r e t i z a t i o n M o d e l

Hong Zhou

D E T C 2 0 1 0 - 2 8 1 8 4 3 7 5 B e a m C o n s t r a i n t M o d e l : A N o n - L i n e a r S t r a i n E n e r g y F o r m u l a t i o n fo r G e n e r a l i z e d T w o - D i m e n s i o n a l B e a m F l e x u r e s ..^---r-,..:^y^'^'>'.>:-- . , .

Shorya Awtar and Shiladitya Sen

D E T C 2 0 1 0 - 2 8 1 8 5 387 D e s i g n o f a L a r g e R a n g e X Y N a n o p o s i t i o n i n g S y s t e m

Shorya Awtar and Gaurav Parmar

D E T C 2 0 1 0 - 2 8 1 8 6 401 D e s i g n a n d O p t i m i z a t i o n o f a S p a t i a l H y b r i d M o t i o n S y s t e m

P. R. Ouyang and Steven Cargnello - ^ ^

D E T C 2 0 1 0 - 2 8 2 3 5 . . . . . 4 0 9 E x p e r i m e n t a l V a l i d a t i o n o f an E l a s t i c a l l y A v e r a g e d B i n a r y M a n i p u l a t o r f o r M R I - G u i d e d P ros ta te C a n c e r In te rven t ions .

Sylvain Proulx, Genevieve Miron, Alexandre Girard, and Jean-Sebastien Plante

DETC2010-28329 4 1 9 Realizat ion of a P l a n a r S t i f f n e s s W i t h a S innp le S y m m e t r i c P a r a l l e l M e c h a n i s m

Shuguang Huang and Joseph M. Schimmels

DETC2010-28351 4 2 7 Design of a G e n e r i c Z e r o S t i f f n e s s C o m p l i a n t J o i n t

Femke M. Morsch and Just L Herder

DETC2010-28388 4 3 7 Achiev ing Mu l t i s tab i l i t y T h r o u g h U s e o f a S i n g l e B i s t a b l e C o m p l i a n t M e c h a n i s m

Guimin Chen, Yanjie Gou, and Aimei Zhang ; ,v

DETC2010-28406 4 4 7 Statically B a l a n c e d C o m p l i a n t M i c r o M e c h a n i s m s ( S B - M E M S ) : C o n c e p t s a n d S i m u l a t i o n

Nima Tolou, Vincent A. Henneken, and Just L. Herder

DETC2010-28447 4 5 5 An Energy A p p r o a c h to a 2 D 0 F C o m p l i a n t P a r a l l e l M e c h a n i s m W i t h S e l f - G u i d i n g Stat ica l ly -Balanced S t r a i g h t - L i n e B e h a v i o r

Emile J. Rosenberg, Giuseppe Radaelli, and Just L. Herder

DETC2010-28469 4 6 5 Criteria for the Sta t ic B a l a n c i n g o f C o m p l i a n t M e c h a n i s m s

Juan A. Gallego and Just L. Herder

DETC2010-28473 4 7 5 Util izing a C lass i f i ca t i on S c h e m e to Fac i l i t a te R i g i d - B o d y R e p l a c e m e n t f o r C o m p l i a n t Mechan ism Des ign

Brian M. Olsen, Yanal Issac, Larry L. Howell, and Spencer P. Magleby

DETC2010-28474 491 A Numer ica l M e t h o d for P o s i t i o n A n a l y s i s o f C o m p l i a n t M e c h a n i s m s W i t h M o r e Degrees of F r e e d o m T h a n Inputs

Quentin T. Aten, Shannon A. Zirbel, Brian D. Jensen, and Larry L. Howell

DETC2010-28517 5 0 3 Realizing O r thogona l M o t i o n s W i t h W i r e F l e x u r e s C o n n e c t e d in P a r a l l e l

Hai-Jun Su and Hafez Tari

DETC2010-28531 5 1 3 Identifying Potent ia l A p p l i c a t i o n s fo r L a m i n a E m e r g e n t M e c h a n i s m s U s i n g T e c h n o l o g y Push Product D e v e l o p m e n t '

Nathan B. Albrechtsen, Spencer P. Magleby, and Larry L. Howell -

DETC2010-28546 5 2 3 Direct D isp lacement S y n t h e s i s M e t h o d fo r S h a p e M o r p h i n g S k i n s U s i n g Compl iant M e c h a n i s m s

Luke A. Berglind and Joshua D. Summers

DETC2010-28672 5 3 3 Compl iant Hexagona l M e s o - S t r u c t u r e s H a v i n g B o t h H i g h S h e a r S t r e n g t h a n d High Shear St ra in

Jaehyung Ju, Joshua D. Summers, John Ziegert, and George Fadel

D E T C 2 0 1 0 - 2 8 7 8 3 543 T y p e S y n t h e s i s P r i n c i p l e a n d P r a c t i c e o f F l e x u r e S y s t e m s in t he F r a m e w o r k o f S c r e w T h e o r y : Par t I — G e n e r a l M e t h o d o l o g y

J. J. Yu, S. Z Li, X. Pei, Hai-Jun Su, J. B. Hopkins, and M. L. Culpepper

D E T C 2 0 1 0 - 2 8 7 9 4 553 T y p e S y n t h e s i s P r i n c i p l e a n d P r a c t i c e o f F l e x u r e S y s t e m s in t he F r a m e w o r k o f S c r e w T h e o r y : Par t II — N u m e r a t i o n s a n d S y n t h e s i s o f C o m p l e x F l e x i b l e J o i n t s

J. J. Yu, X. Pei, S. Z. Li, Hai-Jun Su, J. B. Hopkins, and M. L. Culpepper

D E T C 2 0 1 0 - 2 8 8 1 0 563 L o a d - T r a n s m i t t e r C o n s t r a i n t S e t s : Par t I — A n E f fec t i ve T o o l f o r V i s u a l i z i n g L o a d F l o w in C o m p l i a n t M e c h a n i s m s a n d S t r u c t u r e s

Girish Krishnan, Charles Kim, and Sridhar Kota , A

D E T C 2 0 1 0 - 2 8 8 1 9 577 L o a d - T r a n s m i t t e r C o n s t r a i n t S e t s : Par t II — A B u i l d i n g B l o c k B a s e d M e t h o d o l o g y f o r t he S y n t h e s i s o f C o m p l i a n t M e c h a n i s m s

Girish Krishnan, Charles Kim, and Sridhar Kota

D E T C 2 0 1 0 - 2 8 8 3 4 589 D e s i g n a n d A n a l y s i s o f a V a r i a b l e S t i f f n e s s M e c h a n i s m

Olugbenga Anubi, Carl Crane, and Shanon Ridgeway

D E T C 2 0 1 0 - 2 8 9 4 3 597 A n E n h a n c e d S t a b i l i t y M o d e l f o r E l e c t r o s t a t i c C o m b - D r i v e A c t u a t o r D e s i g n

Tristan T. Trutna and Shorya Awtar

D E T C 2 0 1 0 - 2 8 9 5 3 607 N o n l i n e a r C o n s t r a i n t M o d e l f o r S y m m e t r i c T h r e e - D i m e n s i o n a l B e a m s

Shiladitya Sen and Shorya Awtar

D E T C 2 0 1 0 - 2 8 9 6 3 619 T y p e S y n t h e s i s P r i n c i p l e a n d P r a c t i c e o f F l e x u r e S y s t e m s in t he F r a m e w o r k o f S c r e w T h e o r y : Par t III — N u m e r a t i o n s a n d S y n t h e s i s o f F l e x u r e M e c h a n i s m s , S. Z. Li, J. J. Yu, X. Pei, Hai-Jun Su, J. B. Hopkins, and M. L. Culpepper - j I -

D E T C 2 0 1 0 - 2 9 0 0 2 629 Fast , A c c u r a t e M o d e l s fo r P r e d i c t i n g the C o m p l i a n c e of E l a s t i c F l e x u r e - J o i n t e d R o b o t s

Laet Odhner and Aaron Dollar

D E T C 2 0 1 0 - 2 9 0 1 7 637 C o n s t r a i n t - B a s e d S y n t h e s i s o f S h a p e - M o r p h i n g S t r u c t u r e s in V i r t u a l R e a l i t y

Judy M. Vance and Denis Dorozhkin ^

D E T C 2 0 1 0 - 2 9 0 7 6 645 A n E x p l o r a t i o n of B u c k l i n g M o d e s a n d D e f l e c t i o n o f a F i x e d - G u i d e d B e a m

Gregory L. Hoist, Gregory H. Teichert, and Brian D. Jensen ? ;

D E T C 2 0 1 0 - 2 9 0 7 9 6 5 5 C o n c e p t S t u d y o f a P a s s i v e R e d u c e d - G r a v i t y S i m u l a t o r f o r T r a i n i n g A s t r o n a u t s

Ou Ma, Qi Lu, Jesse McAvoy, and Ken Ruble

xii

DETC2010-29109 6 6 5 On Evaluat ion of A d a p t i v e M a s k O v e r l a y T o p o l o g y S y n t h e s i s M e t h o d U s i n g Different M a s k S h a p e s

Pranay Sharma and Anupam Saxena : A

DETC2010-29113 6 7 5 On an Adap t i ve M a s k O v e r l a y T o p o l o g y S y n t h e s i s M e t h o d

Anupam Saxena

DETC2010-29137 6 8 5 On the Cri ter ia for C h o i c e of t he B e s t S o l u t i o n Fronn a G e n e r a t e d S e t o f Pa r t i a l l y -Compl iant L inkages _

Sujitkumar V. Naik, Anupam Saxena, and Ashok Kumar Rai \

DETC2010-29172 6 9 5 On a So lu t ion P r o c e d u r e to S y n t h e s i z e N o n - S n n o o t h P a t h G e n e r a t i n g C o m p l i a n t Mechan isms W i th Se l f C o n t a c t

B. V. S. Nagendra Reddy and Anupam Saxena

DETC2010-29190 7 0 5 Model ing the C o m p l i a n c e of a V a r i a b l e S t i f f n e s s C - S h a p e d L e g U s i n g Cast ig l iano's T h e o r e m

Yasemin 0. Aydin, Kevin C. Galloway, Yigit Yazicioglu, and Daniel E. Koditschek

DETC2010-29230 7 1 5 Part 1: M o m e n t - D e p e n d e n t P s e u d o - R i g i d - B o d y M o d e l s f o r S t r a i g h t B e a m s

Diego A. Espinosa and Craig P. Lusk

MECHANISM ANALYSIS AND SYNTHESIS DETC2010-28020 7 2 3 An Approach for A c c e l e r a t i o n A n a l y s i s o f L o w e r M o b i l i t y P a r a l l e l M a n i p u l a t o r

Haitao Liu, Tian Huang, and Derek G. Chetwynd

DETC2010-28072 7 3 3 A Hoop M e t h o d for O r i en ta t i on O r d e r A n a l y s i s o f S p h e r i c a l M e c h a n i s m s

Hemanth Tipparthi and Pierre Larochelle ; .

DETC2010-28082 7 4 3 Algebraic A l go r i t hm for the K i n e m a t i c A n a l y s i s o f S l i d e r - C r a n k / R o c k e r M e c h a n i s m s

Giorgio Figliolini, Marco Conte, and Pierluigi Rea

DETC2010-28107 7 5 3 Technology-Or iented O p t i m i z a t i o n o f t he S e c o n d a r y D e s i g n P a r a m e t e r s o f R o b o t s fo r High-Speed M a c h i n i n g A p p l i c a t i o n s

Sebastien Briot, Anatol Pashkevich, and Damien Chablat

DETC2010-28108 7 6 3 Development of P lanar M e c h a n i s m S ta te M a t r i c e s fo r R e c o n f i g u r a b l e M e c h a n i s m s

Brian J. Slaboch and Philip Voglewede .

x i i i

D E T C 2 0 1 0 - 2 8 1 8 8 771 U s i n g a S i n g u l a r i t y L o c u s to E x h i b i t t he N u m b e r o f G e o m e t r i c I n v e r s i o n s , T r a n s i t i o n s a n d C i r cu i t s o f a L i n k a g e

David H. Myszka, Andrew P. Murray, and James P. Schmiedeler

D E T C 2 0 1 0 - 2 8 1 8 9 783 A R o b u s t S o l u t i o n of t he S p h e r i c a l B u r m e s t e r P r o b l e m

Jorge Angeles and Shaoping Bai

D E T C 2 0 1 0 - 2 8 2 6 3 791 P e r f o r m a n c e M a p p i n g a n d M o t i o n S i m u l a t i o n of a 4 U P S - I - P U R e d u n d a n t l y A c t u a t e d Pa ra l l e l M a n i p u l a t o r

Zhen Gao and Dan Zhang - ^ \^

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Jun Wu, Q. J. Ge, Hai-Jun Su, and Feng Gao - ~ . i

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Khalid Al-Widyan and Jorge Angeles

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Xiaoli Zhang and Carl A. Nelson ---^y v-,,.:-

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Philippe Cardou, Denis Laurendeau, Luc Beaulieu, Luc Belanger, and Alexandre Carette

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Martin A. Pucheta and Alberto Cardona

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Win-Bin Shieh, Dar-Zen Chen, and Tzung-Shiun Liu

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Damien Chablat, Stephane Caro, Raza Ur-Rehman, and Philippe Wenger

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Novona Rakotomanga and llian A. Bonev

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Dongming Gan, Jian S. Dai, and Darwin G. Caldwell

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Anurag Purwar, Jun Wu, Aditya Gupta, and Q. Jeffrey Ge

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David A. Perkins and Andrew P. Murray

DETC2010-28947 9 0 7 Structural Syn thes i s of S e r i a l R o b o t i c M a n i p u l a t o r s S u b j e c t t o S p e c i f i c M o t i o n C o n s t r a i n t s

Chin-Hsing Kuo and Jian S. Dai

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Lucas Campos, Francis Bourbonnais, llian A. Bonev, and Pascal Bigras

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Jun Wu, Q. J. Ge, Feng Gao, and W. Z. Guo

DETC2010-29151 9 3 3 Synthesis and A n a l y s i s o f S l i d e r - C r a n k M e c h a n i s m M o t i o n s

Hsin-Pao Chen, Der-Min Tsay, and Cecil O. Huey, Jr. • • -•- -^^

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Duanling Li, Zhonghai Zhang, Jian S. Dai, and J. Michael McCarthy

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Feng Gao, Jialun Yang, and Qiaode Jeffrey Ge

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Chi Min Seow and Carl A. Nelson ^ '

DETC2010-28501 9 6 9 Challenge Based Instruct ion a n d Its A p p l i c a t i o n in a C o u r s e in M e c h a n i s m s a n d Related Courses

Robert A. Freeman v ^

DETC2010-28537 9 7 9 Tools to Assist Teach ing a n d L e a r n i n g o f M e c h a n i s m s , R o b o t i c s , a n d B i o m e c h a n i c s

Robert L. Williams II

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J. M. Rico, J. J. Cervantes-Sanchez, A. Tadeo-Chavez, and G. I. Perez-Soto

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IHrishi Shah, Sumit Tripathi, Leng-Feng Lee, and Venl<at Krovi

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Stephen L. Canfield, Lindsay Smith, and Andrew Bryant " \

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Nora Ayanian, James F. Keller, Paul J. White, and Vijay Kumar

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Chin Pei Tang, Matthew Goeckner, and Mark W. Spong

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Guangbo Hao and Xianwen Kong . -

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Bryan Wagenknecht and Dimi Apostolopoulos

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Ziming Chen, Jingfang Liu, and Zhen Huang ^

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Gianluca Palli, Giovanni Berselli, Claudio Melchiorri, and Gabriele Vassura ^

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Po-Chih Lee, Jyh-Jone Lee, and Chung-Ching Lee

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Ahmed Hachem Chebbi and Vincenzo Parenti-Castelli

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Keisuke Arikawa

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James D. Robinson and M. John D. Hayes

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Patrice Lambert, Hans Langen, and Robert IVIunnig Schmidt

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Andreea Ancuta, Olivier Company, and Frangois Pierrot

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Patrick Labenda, Tim Sadek, and Thomas Predki

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Timothy Cyders and Robert L. Williams II

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David St-Onge, Clement Gosselin, and Nicolas Reeves

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Steven R. Gray, Jungwon Seo, Paul J. White, Nathan J. Zeichner, Mark Vim, and Vijay Kumar

D E T C 2 0 1 0 - 2 8 8 7 5 1177 On the K i n e m a t i c s o f S o l a r M i r r o r s U s i n g M a s s i v e l y P a r a l l e l B i n a r y A c t u a t i o n

Seung J. Lee, Amy M. Bilton, and Steven Dubowsky

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Aaron T. O'Toole and Stephen L. Canfield

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Giorgio Figliolini, Pierluigi Rea, and Jorge Angeles

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Viktor Orekhov, Mark Yim, and Dennis Hong • *

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REVIEW OF RECENT MECHANICAL SYSTEM AND DEVICE PATENTS D E T C 2 0 1 0 - 2 8 4 6 5 1213 A R e v i e w of T w o P a t e n t s R e l a t i n g to N o v e l E n e r g y H a r v e s t i n g T e c h n i q u e s to P r o v i d e E lec t r i ca l P o w e r O n - B o a r d G u n - F i r e d P r o j e c t i l e s

Jahangir Rastegar and Richard Murray

D E T C 2 0 1 0 - 2 8 4 6 8 1217 A R e v i e w of T h r e e P a t e n t s R e l a t i n g to the D e v e l o p m e n t o f N o v e l I ne r t i a -Dr i ven M e c h a n i s m s fo r Ign i ters O n - B o a r d G u n - F i r e d M u n i t i o n s

Richard Murray and Jahangir Rastegar A ^ .

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Carlos M. Pereira and Jahangir Rastegar '

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Wei Jian Chin and Carl A. Nelson

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Satyajit Ambike, James P. Schmiedeler, and Michael M. Stanisic i -

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Xianwen Kong, Clement Gosselin, and James M. Ritchie

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Zhongzhe Chi, Dan Zhang, and Qiaokang Liang

D E T C 2 0 1 0 - 2 8 1 6 2 1259 O n the M a n i p u l a b i l i t y o f t he C e n t e r o f M a s s of H u m a n o i d R o b o t s : A p p l i c a t i o n to D e s i g n

Sebastien Cotton, Philippe Fraisse, and Andrew P. Murray

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Nicolas Lauzier and Clement Gosselin

D E T C 2 0 1 0 - 2 8 2 2 2 1279 A G e n e r a l M e t h o d o l o g y fo r the F o r w a r d K i n e m a t i c P r o b l e m o f S y m m e t r i c a l P a r a l l e l M e c h a n i s m s a n d A p p l i c a t i o n to 5 - P R U R Pa ra l l e l M e c h a n i s m s (3T2R)

Mehdi Tale Masouleh, Manfred Husty, and Clement Gosselin

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Eric Barnett, Pieter Sijpkes, Jorge Angeles, and Damiano Pasini

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C. H. Liu, Chi-Hwa Wu, and Yin-Tien Wang

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B. Moore and E. Oztop

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Semaan Amine, Daniel Kanaan, Stephane Caro, and Philippe Wenger

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Andre Gallant, Roger Boudreau, and Marise Gallant

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Mehdi Tale Masouleh, Mohammad Hossein Saadatzi, Clement Gosselin, and Hamid D. Taghirad

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Hamid Abdi and Saeid Nahavandi % t - •

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Quentin J. Lindsey, Michael Shomin, and Vijay Kumar

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A. Fattah and A. Fakhari ^

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Matteo Zoppi, Dimiter Zlatanov, and Rezia Molfino

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Deepak Trivedi, Daniel Lesutis, and Christopher D. Rahn

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Francesco Mazzini and Steven Dubowsky

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David E. Johnson, Tobias Martin, and Elaine Cohen

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Ya Wang and Dennis Hong

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Ping Ren and Dennis Hong

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Joe Hays, Dennis Hong, Corina Sandu, and Adrian Sandu . * A > C

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D E T C 2 0 1 0 - 2 8 2 4 6 1491 M u l t i v a r i a b l e C o n t r o l o f an O v e r - H e a d C r a n e S y s t e m B a s e d o n En t i r e E i g e n - S t r u c t u r e A s s i g n m e n t

Hamed Moradi, K. Haji Hajikolaei, Firooz Bakhtiari-Nejad, and Aria Alasty

D E T C 2 0 1 0 - 2 8 2 5 4 1499 M o d e l P a r a m e t e r Iden t i f i ca t ion of N o n l i n e a r D y n a m i c s S y s t e m s b y T r a j e c t o r y Pa t te rn M e t h o d . A

Jahangir Rastegar, Dake Feng, and Kavous Jorabchi

m

D E T C 2 0 1 0 - 2 8 3 7 8 'Rea l -T ime V i b r a t i o n S u p p r e s s i o n a n d C o m p o s i t e A d a p t i v e C o n t r o l o f C o o r d i n a t e d M o t i o n for Space F lex ib le M a n i p u l a t o r

Zhaobin Hong and Chen Li

DETC2010-28423 Act ive D y n a m i c B a l a n c i n g U n i t f o r C o n t r o l l e d S h a k i n g F o r c e a n d S h a k i n g Momen t B a l a n c i n g

Voll<ert van der Wijl< and Just L. Herder

DETC2010-28479 Stabil i ty A n a l y s i s fo r H a p t i c R e n d e r i n g o f V i r t u a l K e l v i n V i s c o e l a s t i c O b j e c t s

Tamas Kerekes, Ali Bonakdar, and Jozsef Kovecses \^

DETC2010-28482 Improving M o b i l e R o b o t S t e p - C l i m b i n g C a p a b i l i t i e s W i t h C e n t e r - o f - G r a v i t y C o n t r o l

Krzysztof Skonieczny and Gabriele M. T. D'Eleuterio

DETC2010-28518 Dynamic M o t i o n G e n e r a t i o n fo r R e d u n d a n t S y s t e m s U n d e r E x t e r n a l C o n s t r a i n t s

Joo H. Kim, Karim Abdel-Maiek, Yujiang Xiang, Jingzhou (James) Yang, and Jasbir S. Arora

DETC2010-28555 Model l ing and S i m u l a t i o n o f a F l a p p i n g W i n g M e c h a n i s m D r i v e n b y a B r u s h l e s s Servo Mo to r

Jin Xie and Yong Chen . j .

DETC2010-28674 Social Intel l igence for a T a s k - D r i v e n A s s i s t i v e R o b o t

Goldie Nejat and Maurizio Ficocelli

ETC2010-28750 Evaluat ion of Con tac t Fo rce a n d E l a s t i c F o u n d a t i o n M o d e l s f o r W e a r A n a l y s i s o f Mul t ibody S y s t e m

Saad M. Mukras, Nam Ho Kim, Tony L. Schmitz, and W. Gregory Sawyer

DETC2010-28793 Singular i ty To lerant R o b o t i c M a n i p u l a t i o n fo r A u t o n o m o u s F i e l d T r a c k i n g in a n Unknown E n v i r o n m e n t

Soo Jeon , , }

DETC2010-28857 Fuzzy Contro l of Ver t i ca l J u m p i n g W i t h a P l a n a r B i p e d

Matthew Hester, Patrick M. Wensing, James P. Schmiedeler, and David E. Orin

DETC2010-28861 Optimal Syn thes is of a P l a n a r R e a c t i o n l e s s T h r e e - D e g r e e - o f - F r e e d o m Pa ra l l e l M e c h a n i s m

Jean-Francois Collard and Clement Gosselin

XX i

D E T C 2 0 1 0 - 2 8 8 6 7 1609 C o n t r o l of an U n d e r w a t e r B i o m i m e t i c V e h i c l e U s i n g F l o q u e t T h e o r y

Nicolas Plamondon and Meyer Nahon v "

D E T C 2 0 1 0 - 2 8 9 9 6 1619 E x p a n d e d W o r k s p a c e s of M a n i p u l a t i o n D e v i c e s U s i n g F r i c t i o n a n d D y n a m i c s

Tyson L Ringold and Raymond J. Cipra

D E T C 2 0 1 0 - 2 9 0 3 8 1627 A Free F o r m R o b o t i c G r i n d i n g S y s t e m : A M a t h e m a t i c a l M o d e l a n d a n A c t u a l S y s t e m

Shuihua Wu, Kazem Kazerounian, Zhongxue Gan, and Yunquan Sun .i: r

D E T C 2 0 1 0 - 2 9 1 4 1 1635 P a r a m e t e r Iden t i f i ca t ion of a F r i c t i on M o d e l f o r R o b o t i c J o i n t s

Mohammad Vakil, Reza Fotouhi, and Peter N. Nikiforuk ^

THEORETICAL AND COMPUTATIONAL KINEMATICS D E T C 2 0 1 0 - 2 8 0 8 4 1643 H o w L i ke l y is t he V a r i e t y o f S i n g u l a r i t i e s o f a S e r i a l M a n i p u l a t o r a S m o o t h M a n i f o l d ?

Andreas Muller ^/^^^^^^^.r^^^^^ .

D E T C 2 0 1 0 - 2 8 1 2 5 1653 C u r v a t u r e T h e o r y o f t he E n v e l o p C u r v e : S u r f a c e f o r a L i n e in P l a n a r M o t i o n a n d a P l a n e in S p a t i a l M o t i o n

Wei Wang and Delun Wang

D E T C 2 0 1 0 - 2 8 1 7 5 1663 S i n g u l a r i t i e s o f S i n g l e - D O F S p h e r i c a l M e c h a n i s m s Iden t i f i ed b y M e a n s o f P o l e A x e s ' P r o p e r t i e s - : :

Raffaele Di Gregorio

D E T C 2 0 1 0 - 2 8 3 3 1 1671 A V e l o c i t y M e t r i c fo r R i g i d - B o d y P l a n a r M o t i o n

Joseph M. Schimmels and Luis E. Criales v -

D E T C 2 0 1 0 - 2 8 3 6 1 1679 O n L ine S c r e w S y s t e m s a n d T h e i r A p p l i c a t i o n to F l e x u r e S y n t h e s i s

Hai-Jun Su and Hafez Tari , s ; . • r ' •

D E T C 2 0 1 0 - 2 8 4 3 4 1689 T o p o l o g y a n d C o n s t r a i n t A n a l y s i s o f R e c o n f i g u r a t i o n in M e t a m o r p h i c M e c h a n i s m s

KetaoZhang, Jian S. Dai, Yuefa Fang, andZi-QiangZhu ^

D E T C 2 0 1 0 - 2 8 6 5 3 1699 S i n g u l a r - V a l u e D e c o m p o s i t i o n B a s e d K i n e m a t i c A n a l y s i s o f t he M e t a m o r p h i c M u l t i f i n g e r e d H a n d

Lei Cui and Jian S. Dai

D E T C 2 0 1 0 - 2 8 6 7 8 1709 L i n k a g e s T h a t T r a n s f e r R o t a t i o n s to R a d i a l l y R e c i p r o c a t i n g M o t i o n

Guowu Wei and Jian S. Dai

D E T C 2 0 1 0 - 2 8 8 8 3 1719 M o t i o n a n d C o n s t r a i n t R u l e d S u r f a c e s o f t he S c h a t z L i n k a g e

Lei Cui, Jian S. Dai, and Cliung-Cliing Lee

D E T C 2 0 1 0 - 2 8 9 2 6 1727 T o p o l o g i c a l S y n t h e s i s o f A l l 2 D M e c h a n i s m s T h r o u g h A s s u r G r a p h s

Offer Shai

D E T C 2 0 1 0 - 2 8 9 6 1 1739 Mob i l i t y Ident i f i ca t ion o f a G r o u p o f S i n g l e D e g r e e - o f - F r e e d o m E i g h t - B a r L i n k a g e s

Jun Wang and Kwun-Lon Ting

D E T C 2 0 1 0 - 2 9 0 0 0 1751 A Un i f ied C o n j u g a t i o n T h e o r y fo r P l a n a r T r a n s m i s s i o n

IHuimin Dong, Kwun-Lon Ting, Jian Liu, and Delun Wang

D E T C 2 0 1 0 - 2 9 0 6 4 1761 Kinemat ic C o n v e x i t y o f R i g i d B o d y D i s p l a c e m e n t s

Anurag Purwar and Jeff Ge

D E T C 2 0 1 0 - 2 9 0 9 9 1 7 7 3 Spat ia l G e n e r a l i z a t i o n s o f P l a n a r P o i n t - A n g l e a n d P a t h G e n e r a t i o n P r o b l e m s

Chintien Huang and Ching-Lung Lai

DETC2010 -29148 1781 Screw S y s t e m s G e n e r a t e d F r o m S u b a l g e b r a s : P r o p e r t i e s a n d A p p l i c a t i o n s

J. M. Rico, J. J. Cervantes-Sanchez, A. Tadeo-Chavez, and G. I. Perez-Soto

Author Index 1791

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