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Journal Articles

Helical Actuator–Driven Inchworm Robot Design and Prototype

Joel Quarnstrom, Yujiang Xiang
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Research Papers
J. Comput. Inf. Sci. Eng. May 2024, 24(5): 051012.
Paper No: JCISE-23-1397
https://doi.org/10.1115/1.4065091
Published Online: April 22, 2024
View Article titled, Helical Actuator–Driven Inchworm Robot Design and Prototype
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Topics: Actuators, Design, Engineering prototypes, Kinematics, Robots
Journal Articles

A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting

Asif Arefeen, Yujiang Xiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081010.
Paper No: JMR-23-1209
https://doi.org/10.1115/1.4064234
Published Online: December 22, 2023
View Article titled, A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting
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Topics: Biomechanics, Exoskeleton devices, Knee, Torque, Torque control, Optimization
Proceedings Papers

Fatigue Prediction for Repetitive Lifting

Shuvrodeb Barman, Yujiang Xiang, Ritwik Rakshit, James Yang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A034, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-116839
https://doi.org/10.1115/DETC2023-116839
View Paper titled, Fatigue Prediction for Repetitive Lifting
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Topics: Fatigue, Optimization
Proceedings Papers

Design and Control of a Bio-Inspired Inchworm Robot Using a Novel Helical Artificial Muscle Actuator

Joel Quarnstrom, Yujiang Xiang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A067, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-115207
https://doi.org/10.1115/DETC2023-115207
View Paper titled, Design and Control of a Bio-Inspired Inchworm Robot Using a Novel Helical Artificial Muscle Actuator
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Topics: Actuators, Artificial muscles, Biomimetics, Design, Robots
Proceedings Papers

Optimal Control of Spine and Shoulder Powered Exoskeletons for Squat Lifting

Asif Arefeen, Yujiang Xiang
Proc. ASME. IDETC-CIE2023, Volume 2: 43rd Computers and Information in Engineering Conference (CIE), V002T02A066, August 20–23, 2023
Publisher: American Society of Mechanical Engineers
Paper No: DETC2023-114984
https://doi.org/10.1115/DETC2023-114984
View Paper titled, Optimal Control of Spine and Shoulder Powered Exoskeletons for Squat Lifting
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Topics: Exoskeleton devices, Optimal control
Proceedings Papers

Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting

Rahid Zaman, Joel Quarnstrom, Yujiang Xiang, Ritwik Rakshit, James Yang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A022, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89127
https://doi.org/10.1115/DETC2022-89127
View Paper titled, Hybrid Predictive Model for Assessing Spinal Loads for 3d Asymmetric Lifting
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Topics: Musculoskeletal system, Stress, Wounds, Muscle, Dynamics (Mechanics), Optimization, Compression, Degrees of freedom, Electromyography, Equations of motion
Proceedings Papers

Assessments and Evaluation Methods for Upper Limb Exoskeleton - a Literature Survey

Seunghun Lee, Yujiang Xiang, Ting Xia, James Yang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A021, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-88968
https://doi.org/10.1115/DETC2022-88968
View Paper titled, Assessments and Evaluation Methods for Upper Limb Exoskeleton - a Literature Survey
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Topics: Evaluation methods, Exoskeleton devices
Proceedings Papers

Human Grasping Force Prediction, Measurement, and Validation for Human-Robot Lifting

Asif Arefeen, Joel Quarnstrom, Shahbaz P Qadri Syed, He Bai, Yujiang Xiang
Proc. ASME. IDETC-CIE2022, Volume 2: 42nd Computers and Information in Engineering Conference (CIE), V002T02A025, August 14–17, 2022
Publisher: American Society of Mechanical Engineers
Paper No: DETC2022-89752
https://doi.org/10.1115/DETC2022-89752
View Paper titled, Human Grasping Force Prediction, Measurement, and Validation for Human-Robot Lifting
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Topics: Grasping, Robots
Proceedings Papers

Design Human-Robot Collaborative Lifting Task Using Optimization

Asif Arefeen, Yujiang Xiang
Proc. ASME. IDETC-CIE2021, Volume 2: 41st Computers and Information in Engineering Conference (CIE), V002T02A010, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-71818
https://doi.org/10.1115/DETC2021-71818
View Paper titled, Design Human-Robot Collaborative Lifting Task Using Optimization
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Topics: Design, Optimization, Robots
Journal Articles

Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation

Yujiang Xiang, Shadman Tahmid, Paul Owens, James Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2021, 13(2): 024501.
Paper No: JMR-19-1445
https://doi.org/10.1115/1.4049647
Published Online: February 23, 2021
View Article titled, Single Task Optimization-Based Planar Box Delivery Motion Simulation and Experimental Validation
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Topics: Optimization, Simulation, Torque, Wounds, Dynamics (Mechanics)
Journal Articles

Two-Dimensional Versus Three-Dimensional Symmetric Lifting Motion Prediction Models: A Case Study

Rahid Zaman, Yujiang Xiang, Jazmin Cruz, James Yang
Journal: Journal of Computing and Information Science in Engineering
Publisher: ASME
Article Type: Technical Briefs
J. Comput. Inf. Sci. Eng. August 2021, 21(4): 044501.
Paper No: JCISE-20-1162
https://doi.org/10.1115/1.4049217
Published Online: February 11, 2021
View Article titled, Two-Dimensional Versus Three-Dimensional Symmetric Lifting Motion Prediction Models: A Case Study
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Topics: Optimization, Three-dimensional models, Weight (Mass), Simulation
Proceedings Papers

Two-Dimensional Team Lifting Prediction With Different Box Weights

Asif Arefeen, Yujiang Xiang
Proc. ASME. IDETC-CIE2020, Volume 9: 40th Computers and Information in Engineering Conference (CIE), V009T09A004, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22115
https://doi.org/10.1115/DETC2020-22115
View Paper titled, Two-Dimensional Team Lifting Prediction With Different Box Weights
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Topics: Dynamics (Mechanics), Optimization, Teams
Proceedings Papers

Three-Dimensional Symmetric Maximum Weight Lifting Prediction

Rahid Zaman, Yujiang Xiang, Jazmin Cruz, James Yang
Proc. ASME. IDETC-CIE2020, Volume 9: 40th Computers and Information in Engineering Conference (CIE), V009T09A005, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22120
https://doi.org/10.1115/DETC2020-22120
View Paper titled, Three-Dimensional Symmetric Maximum Weight Lifting Prediction
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Topics: Pareto optimization, Weight (Mass)
Proceedings Papers

Design a Four-Bar Linkage for Upper Limb Muscle Rehabilitation Exercise: A Simulation Study

Joel Quarnstrom, Yujiang Xiang
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A037, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22121
https://doi.org/10.1115/DETC2020-22121
View Paper titled, Design a Four-Bar Linkage for Upper Limb Muscle Rehabilitation Exercise: A Simulation Study
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Topics: Design, Linkages, Muscle, Musculoskeletal system, Simulation, Trajectories (Physics)
Proceedings Papers

Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints

Shuvrodeb Barman, Yujiang Xiang
Proc. ASME. IDETC-CIE2020, Volume 2: 16th International Conference on Multibody Systems, Nonlinear Dynamics, and Control (MSNDC), V002T02A028, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22646
https://doi.org/10.1115/DETC2020-22646
View Paper titled, Recursive Newton-Euler Dynamics and Sensitivity Analysis for Robot Manipulator With Revolute Joints
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Topics: Dynamics (Mechanics), Manipulators, Optimization, Rotation, Sensitivity analysis, Trajectories (Physics), Path planning, Torque
Proceedings Papers

Muscle Force Prediction in OpenSim Using Skeleton Motion Optimization Results As Input Data

Rahid Zaman, Yujiang Xiang, Ritwik Rakshit, James Yang
Proc. ASME. IDETC-CIE2019, Volume 1: 39th Computers and Information in Engineering Conference, V001T02A046, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-97520
https://doi.org/10.1115/DETC2019-97520
View Paper titled, Muscle Force Prediction in OpenSim Using Skeleton Motion Optimization Results As Input Data
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Topics: Dynamics (Mechanics), Muscle, Optimization
Journal Articles

An Inverse Dynamics Optimization Formulation With Recursive B-Spline Derivatives and Partition of Unity Contacts: Demonstration Using Two-Dimensional Musculoskeletal Arm and Gait

Yujiang Xiang
Journal: Journal of Biomechanical Engineering
Publisher: ASME
Article Type: Technical Briefs
J Biomech Eng. March 2019, 141(3): 034503.
Paper No: BIO-18-1395
https://doi.org/10.1115/1.4042436
Published Online: January 31, 2019
View Article titled, An Inverse Dynamics Optimization Formulation With Recursive B-Spline Derivatives and Partition of Unity Contacts: Demonstration Using Two-Dimensional Musculoskeletal Arm and Gait
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Topics: B-splines, Dynamics (Mechanics), Muscle, Musculoskeletal system, Optimization
Proceedings Papers

Human Box Delivering Simulation by Subtask Division

Paul Owens, Yujiang Xiang
Proc. ASME. IDETC-CIE2018, Volume 1B: 38th Computers and Information in Engineering Conference, V01BT02A008, August 26–29, 2018
Publisher: American Society of Mechanical Engineers
Paper No: DETC2018-86195
https://doi.org/10.1115/DETC2018-86195
View Paper titled, Human Box Delivering Simulation by Subtask Division
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Topics: Boundary-value problems, Design, Optimization, Simulation, Simulation results, Torque
Proceedings Papers

Foot-Ground Interaction for 2D Gait Using Concurrent Optimization

Yujiang Xiang, Benjamin Ramirez, Sarah Hoffman, Tonoy Chowdhury
Proc. ASME. IDETC-CIE2017, Volume 1: 37th Computers and Information in Engineering Conference, V001T02A050, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67985
https://doi.org/10.1115/DETC2017-67985
View Paper titled, Foot-Ground Interaction for 2D Gait Using Concurrent Optimization
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Topics: Optimization, Deformation, Degrees of freedom, Dynamics (Mechanics), Equations of motion, Simulation
Proceedings Papers

Squat Lifting Motion Prediction With Heavy Load Considering Dynamic Strength of Knee Joint

Rahid Zaman, Yujiang Xiang
Proc. ASME. IDETC-CIE2017, Volume 1: 37th Computers and Information in Engineering Conference, V001T02A049, August 6–9, 2017
Publisher: American Society of Mechanical Engineers
Paper No: DETC2017-67933
https://doi.org/10.1115/DETC2017-67933
View Paper titled, Squat Lifting Motion Prediction With Heavy Load Considering Dynamic Strength of Knee Joint
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Topics: Knee, Stress, Weight (Mass), Dynamics (Mechanics), Modeling, Optimization, Simulation, Torque