An open-source hierarchical multi-fidelity modeling stack for design and analysis of compliant mechanisms
ASME Journal of Mechanisms and Robotics (under review)
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Recent Projects
2026
Large language model assisted human-AI collaborative development of analytical inverse kinematics solvers for robot manipulators
Mechanism and Machine Theory 222, 106392
2025
Analytical Solvers for Common Algebraic Equations Arising in Kinematics Problems
arXiv preprint arXiv:2509.01010
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2024
A compliant hinge joint driven by the PneuNets bending actuator
Journal of Mechanisms and Robotics 16 (8), 081015
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An efficient design model for parallel-guided layer jamming compliant mechanisms
2024 6th International Conference on Reconfigurable Mechanisms and Robots...
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A Compliant PneuNets Linear Actuator with Large Off-Axis Stiffness
Combined IFToMM Symposium of RoManSy and the USCToMM Symposium on Mechanical...
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2023
A compliant hinge joint driven by the pneunets bending actuator for enhancing the performance of soft robots
International Design Engineering Technical Conferences and Computers and...
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A high performance pneumatically actuated soft gripper based on layer jamming
Journal of Mechanisms and Robotics 15 (1), 014501
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DNA origami tubes with reconfigurable cross-sections
Nanoscale 15 (2), 562-572
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2022
Editorial: Journal of Mechanisms and Robotics
Journal of Mechanisms and Robotics 14, 050201-1
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A novel wearable soft glove for hand rehabilitation and assistive grasping
Sensors 22 (16), 6294
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Machine learning models for predicting deflection and shape of 2D cantilever beams
International Design Engineering Technical Conferences and Computers and...
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Gait prediction for prosthesis design evaluation
International Design Engineering Technical Conferences and Computers and...
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Model analysis and experimental investigation of soft pneumatic manipulator for fruit grasping
Sensors 22 (12), 4532
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Research and application of a multi-degree-of-freedom soft actuator
Sensors and Actuators A: Physical 338, 113492
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A 3D printed soft robotic gripper with a variable stiffness enabled by a novel positive pressure layer jamming technology
IEEE Robotics and Automation Letters 7 (2), 5477–5482, 2022
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Carbon black/PDMS based flexible capacitive tactile sensor for multi-directional force sensing
Sensors 22 (2), 628
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2021
A parametric study of compliant link design for safe physical human-robot interaction
Robotica 39 (10), 1739-1759
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Integrated computer-aided engineering and design for DNA assemblies
Nature Materials 20 (9), 1264-1271
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Design, modeling, and manufacturing of a variable lateral stiffness arm via shape morphing mechanisms
Journal of Mechanisms and Robotics 13 (3), 031020
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Drivers’ spatio-temporal attentional distributions are influenced by vehicle dynamics and displayed point of view
Human Factors 63 (4), 578-591
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2020
Design of self-reconfigurable multiarm robot mechanism based on deployable kinematic chains
Chinese Journal of Mechanical Engineering 33 (1), 70
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Stiffness modeling of a variable stiffness compliant link
Mechanism and Machine Theory 153, 104021
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Toward tradeoff between impact force reduction and maximum safe speed: Dynamic parameter optimization of variable stiffness robots
Journal of Mechanisms and Robotics 12 (5), 054503
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A novel variable stiffness compliant robotic gripper based on layer jamming
Journal of Mechanisms and Robotics 12 (5), 051013
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Optimization of the compliant drive mechanism for a prosthetic ankle
International Design Engineering Technical Conferences and Computers and...
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A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction
International Design Engineering Technical Conferences and Computers and...
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A parallel-guided compliant mechanism with variable stiffness based on layer jamming
Mechanism and Machine Theory 148, 103791
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A comparative study on the effect of mechanical compliance for a safe physical human-robot interaction
Journal of Mechanical Design 142 (6), 063305
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Design automation for DNA origami mechanisms
Support of the Sixteenth Conference on the Foundations of Nanoscience (FNANO)...
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Design and modeling of a continuously tunable stiffness arm for safe physical human-robot interaction
Journal of Mechanisms and Robotics 12 (1), 011006
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Before 2020
Earlier publications are available through Prof. Su’s Google Scholar profile.