Recent Projects

2026

An open-source hierarchical multi-fidelity modeling stack for design and analysis of compliant mechanisms

HJ Su, B Servey

ASME Journal of Mechanisms and Robotics (under review)

2025

Analytical Solvers for Common Algebraic Equations Arising in Kinematics Problems

HJ Su

arXiv preprint arXiv:2509.01010

2024

A compliant hinge joint driven by the PneuNets bending actuator

Y Jin, HJ Su

Journal of Mechanisms and Robotics 16 (8), 081015

An efficient design model for parallel-guided layer jamming compliant mechanisms

X Zeng, HJ Su

2024 6th International Conference on Reconfigurable Mechanisms and Robots...

A Compliant PneuNets Linear Actuator with Large Off-Axis Stiffness

Y Jin, H Su

Combined IFToMM Symposium of RoManSy and the USCToMM Symposium on Mechanical...

2023

A compliant hinge joint driven by the pneunets bending actuator for enhancing the performance of soft robots

Y Jin, HJ Su

International Design Engineering Technical Conferences and Computers and...

A high performance pneumatically actuated soft gripper based on layer jamming

X Zeng, HJ Su

Journal of Mechanisms and Robotics 15 (1), 014501

DNA origami tubes with reconfigurable cross-sections

A Kucinic, CM Huang, J Wang, HJ Su, CE Castro

Nanoscale 15 (2), 562-572

2022

Editorial: Journal of Mechanisms and Robotics

V Krovi, J Schmiedeler, H Su

Journal of Mechanisms and Robotics 14, 050201-1

A novel wearable soft glove for hand rehabilitation and assistive grasping

Y Zhu, W Gong, K Chu, X Wang, Z Hu, H Su

Sensors 22 (16), 6294

Machine learning models for predicting deflection and shape of 2D cantilever beams

Y Jin, HJ Su

International Design Engineering Technical Conferences and Computers and...

Gait prediction for prosthesis design evaluation

T Morrison, HJ Su

International Design Engineering Technical Conferences and Computers and...

Model analysis and experimental investigation of soft pneumatic manipulator for fruit grasping

Y Zhu, K Feng, C Hua, X Wang, Z Hu, H Wang, H Su

Sensors 22 (12), 4532

Research and application of a multi-degree-of-freedom soft actuator

Y Zhu, K Chu, X Chen, X Wang, H Su

Sensors and Actuators A: Physical 338, 113492

A 3D printed soft robotic gripper with a variable stiffness enabled by a novel positive pressure layer jamming technology

GB Crowley, X Zeng, HJ Su

IEEE Robotics and Automation Letters 7 (2), 5477–5482, 2022

Carbon black/PDMS based flexible capacitive tactile sensor for multi-directional force sensing

Y Zhu, X Chen, K Chu, X Wang, Z Hu, H Su

Sensors 22 (2), 628

2021

A parametric study of compliant link design for safe physical human-robot interaction

Y She, S Song, H Su, J Wang

Robotica 39 (10), 1739-1759

Integrated computer-aided engineering and design for DNA assemblies

CM Huang, A Kucinic, JA Johnson, HJ Su, CE Castro

Nature Materials 20 (9), 1264-1271

Design, modeling, and manufacturing of a variable lateral stiffness arm via shape morphing mechanisms

Y She, Z Gu, S Song, HJ Su, J Wang

Journal of Mechanisms and Robotics 13 (3), 031020

Drivers’ spatio-temporal attentional distributions are influenced by vehicle dynamics and displayed point of view

TN Morrison, E Rizzi, OA Turkkan, RJ Jagacinski, H Su, J Wang

Human Factors 63 (4), 578-591

2020

Design of self-reconfigurable multiarm robot mechanism based on deployable kinematic chains

FQ Zhao, S Guo, HJ Su, HB Qu, YQ Chen

Chinese Journal of Mechanical Engineering 33 (1), 70

Stiffness modeling of a variable stiffness compliant link

T Morrison, HJ Su

Mechanism and Machine Theory 153, 104021

Toward tradeoff between impact force reduction and maximum safe speed: Dynamic parameter optimization of variable stiffness robots

S Song, Y She, J Wang, HJ Su

Journal of Mechanisms and Robotics 12 (5), 054503

A novel variable stiffness compliant robotic gripper based on layer jamming

Y Gao, X Huang, IS Mann, HJ Su

Journal of Mechanisms and Robotics 12 (5), 051013

Optimization of the compliant drive mechanism for a prosthetic ankle

T Morrison, D Trainor, H Su

International Design Engineering Technical Conferences and Computers and...

A Continuously Tunable Stiffness Arm With Cable-Driven Mechanisms for Safe Physical Human-Robot Interaction

Y She, Z Gu, S Song, HJ Su, J Wang

International Design Engineering Technical Conferences and Computers and...

A parallel-guided compliant mechanism with variable stiffness based on layer jamming

X Zeng, C Hurd, HJ Su, S Song, J Wang

Mechanism and Machine Theory 148, 103791

A comparative study on the effect of mechanical compliance for a safe physical human-robot interaction

Y She, S Song, HJ Su, J Wang

Journal of Mechanical Design 142 (6), 063305

Design automation for DNA origami mechanisms

CM Huang, A Kucinic, CE Castro, HJ Su

Support of the Sixteenth Conference on the Foundations of Nanoscience (FNANO)...

Design and modeling of a continuously tunable stiffness arm for safe physical human-robot interaction

Y She, HJ Su, D Meng, C Lai

Journal of Mechanisms and Robotics 12 (1), 011006

Before 2020

Earlier publications are available through Prof. Su’s Google Scholar profile.