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
Deriving Analytical Inverse Kinematics of 6R Robots with Three Parallel Joints via Prompting Large Language Models
Proceedings of the 4th International Symposium on Mechanical Systems and Robotics (MSR 2026), Irvine, CA, May 21–23, 2026
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Where we are in the path towards AGI in kinematics?
Proceedings of the ASME 2026 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE 2026), Houston, TX, August 23–26, 2026, Paper No. DETC2026-193961
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Solving Kinematics Problems by Leveraging the Power of Large Language Models
Proceedings of the ASME 2026 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference (IDETC/CIE 2026), Houston, TX, August 23–26, 2026, Paper No. DETC2026-193726
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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.