Publications

2020

 

Compliant, large-strain, and self-sensing twisted string actuators 
D. Bombara, S. Fowzer and J. Zhang
Soft Robotics (SoRo), under review 

 

Decentralized function approximated Q-learning in multi-robot systems for predator avoidance
R. Konda, H. La and J. Zhang
IEEE Robotics and Automation Letters (RAL), vol. 5, no. 4, pp. 6342-6349, 2020 [site]

 

Modeling of a bending supercoiled polymer (SCP) artificial muscle
J. Zhang
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2020 IEEE International Conference on Soft Robotics), vol. 5, no. 3, pp. 3822-3829, 2020 [site]

 

Vibration-based multi-axis force sensing: Design, characterization, and modeling
W. Kuang, M. C. Yip and J. Zhang
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2020 IEEE International Conference on Robotics and Automation), vol. 5, no. 2, pp. 3082-3089, 2020 [site]

 

TSA-BRAG: A twisted string actuator-powered biomimetic robotic assistive glove
T. Tsabedze, E. Hartman, E. Abrego, C. Brennan and J. Zhang
Proceedings of the 2020 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, to appear [preprint]

 

Compliant and large-strain twisted string actuators using supercoiled polymers 
J. Zhang, D. Bombara, S. Fowzer and C. Brennan
Proceedings of the 2020 IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, pp. 201-207, 2020 [site] [preprint]

 

Helically wrapped supercoiled polymer (HW-SCP) artificial muscles: Design, characterization, and modeling
T. Tsabedze, C. Mullen, R. Coulter, S. Wade and J. Zhang
Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, pp. 5862-5868, 2020 [preprint]

 

Experimental investigation of the lonely stroke behavior in supercoiled polymer artificial muscles 
R. Konda and J. Zhang
Proceedings of the 2020 SPIE Electroactive Polymer Actuators and Devices Conference (EAPAD) XXII, 113751I, Anaheim, California, USA [site] [pdf]

 

2019

 

A high-performance helically wrapped supercoiled polymer (HW-SCP) artificial muscle
R. Coulter, C. Mullen, S. Wade, T. Tsabedze, J. Zhang
Proceedings of the ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Poster presentation, 2019

 

The effects of nylon polymer threads on strain-loading hysteresis behavior of supercoiled polymer (SCP) artificial muscles 
R. Konda and J. Zhang
Proceedings of the ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Paper DSCC2019-9169 (10 pp), 2019 [site] [.pdf]

 

Self-sensing for twisted string actuators using conductive supercoiled polymers
D. Bombara, V. Mansurov, R. Konda, S. Fowzer and J. Zhang
Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Louisville, KY, USA, Paper SMASIS2019-5587 (9 pp), 2019 [site] [.pdf]

 

Robotic artificial muscles: Current progress and future perspectives for biomimetic actuators
J. Zhang, J. Sheng, C. O'Neill, C. J. Walsh, R. J. Wood, J-H, Ryu, J. P. Desai and M. C. Yip
IEEE Transactions on Robotics (TR-O), vol. 35, no. 3, pp. 761 - 781, 2019 [site] [.pdf]

 

2018

 

Bundled super-coiled polymer artificial muscles: Design, characterization, and modeling 
A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2018 IEEE International Conference on Robotics and Automation), vol. 3, no. 3, pp. 1671-1678, 2018 [site]

 

Hysteresis-based mechanical state programming of MEMS mirrors
D. Torres*, J. Zhang*, S. Dooley, X. Tan and N. Sepulveda 
Journal of Microelectromechanical Systems (JMEMS), vol. 27, no. 2, pp. 344-354, 2018 (*equal contribution) [site]

 

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles
J. Zhang, A. Simeonov and M. C. Yip
Smart Materials and Structures (SMS), vol. 27, no. 3, p. 035002, 2018 [site]

 

Programming of systems with hysteresis using pulsed inputs 
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Proceedings of the 2018 American Control Conference (ACC), Milwaukee, WI, USA, pp. 4490-4495, 2018 [site]

 

2017

 

Modeling and inverse compensation of hysteresis in super-coiled polymer artificial muscles 
J. Zhang, K. Iyer, A. Simeonov and M. C. Yip
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2017 IEEE International Conference on Robotics and Automation), vol. 2, no. 2, pp. 773-780, 2017 [site]

 

Modeling of MEMS mirrors actuated by phase-change mechanism
D. Torres, J. Zhang, S. Dooley, X. Tan and N. Sepulveda
Micromachines, vol. 8, no. 5: 138, pp. 1-17, 2017 [site]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators 
J. Zhang and M. C. Yip
Proceedings of the 2017 Robotics: Science and Systems XIII (RSS), Cambridge, Massachusetts, USA, 2017. DOI: 10.15607/RSS.2017.XIII.004 [site]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators
J. Zhang and M. C. Yip
Robotics: Science and Systems (RSS), In Workshop: Material Robotics -- Bridging Materials Science and Robotics. (3 pp), Cambridge, Massachusetts, USA, 2017

 

2016

 

A composite hysteresis model in self-sensing feedback control of fully integrated VO2 microactuator
J. Zhang, D. Torres, J. L. Ebel, N. Sepulveda and X. Tan
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 21, no. 5, pp. 2405-2417, 2016 [site]

 

VO2-based MEMS mirrors
D. Torres, T. Wang, J. Zhang, X. Zhang, S. Dooley, X. Tan, H. Xie and N. Sepulveda
Journal of Microelectromechanical Systems (JMEMS), vol. 25, no. 4, pp. 780-787, 2016 [site]

 

A compressive sensing-based approach for Preisach hysteresis model identification
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Smart Materials and Structures (SMS), vol. 25, no. 7, p. 075008, 2016 [site]

 

Experimental characterization of the dynamics of VO2-based MEMS mirrors
D. Torrs, T. Wang, J. Zhang, S. Dooley, X. Tan and N. Sepulveda 
Proceedings of the 2016 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stowe, Vermont, USA, Paper SMASIS2016-9129 (7 pp), 2016 [site]

 

Microbial fuel cells: Control-oriented modeling and experimental validation
A. Abul, J. Zhang, R. Steidl, R. Gemma and X. Tan
Proceedings of the 2016 American Control Conference (ACC), Boston, MA, USA, pp. 412-417, 2016 [site]

 

Designing muscle-powered robotics with super-coiled polymers 
J. Zhang and M. C. Yip
Robotics: Science and Systems (RSS), In Workshop: Robot Makers: The future of digital rapid design and fabrication of robots. (4 pp), Ann-Arbor, Michigan, MI, USA, 2016 

 

2015

 

Optimal compression of generalized Prandtl-Ishlinskii hysteresis models
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Automatica, vol. 57, pp. 170-179, 2015 [site]

 

Compressive sensing-based Preisach hysteresis model identification
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Proceedings of the 2015 American Control Conference (ACC), Chicago, IL, USA, pp. 2637-2642, 2015 [site]

 

Modeling, identification, and control of hysteretic systems with application to vanadium dioxide microactuators
J. Zhang
Michigan State University, East Lansing, MI, 2015 [Dissertation] [site]

 

2014

 

Modeling and inverse compensation of hysteresis in vanadium dioxide using an extended generalized Prandtl-Ishlinskii model
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Smart Materials and Structures (SMS), vol. 23, no. 12, p. 125017, 2014 [site]

 

Robust control of VO2-coated micro-benders using self-sensing feedback
E. Merced, J. Zhang, X. Tan and N. Sepulveda
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 19, no. 5, pp. 579-588, 2014 [site]

 

Modeling and inverse compensation of non-monotonic hysteresis in VO2-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 19, no. 2, pp. 1583-1592, 2014 [site]

 

A hysteresis-compensated self-sensing scheme for vanadium dioxide-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2014 ASME Dynamic Systems and Control Conference (DSCC), San Antonio, TX, USA, Paper DSCC2014-6222 (10 pp), 2014 [site]

 

Inversion of an extended generalized Prandtl-Ishlinskii hysteresis model: Theory and experimental results
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2014 American Control Conference (ACC), Portland, OR, USA, pp. 4765-4770, 2014 [site]

 

2013

 

Optimal compression of a generalized Prandtl-Ishlinskii operator in hysteresis modeling
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2013 ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, USA, Paper DSCC2013-3969 (10 pp), 2013 [Best Conference Paper in Applications Award] [site]

 

Robust control of VO2-coated microactuators based on self-sensing feedback
E. Merced, J. Zhang, X. Tan and N. Sepulveda
Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Vollongong, Australia, pp. 656-661, 2013 [Finalist for Best Conference Paper Award] [site]

 

Kullback-Leibler divergence-based optimal compression of Preisach operator in hysteresis modeling
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2013 American Control Conference (ACC), Washington, DC, USA, pp. 591-596, 2013 [site]

 

2012

 

Modeling of non-monotonic hysteresis behavior in VO2-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2012 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stone Mountain, GA, USA, Paper SMASIS2012-7940 (10 pp), pp. 591-596, 2012 [Student Best Paper Competition Award] [site]

 

Experimental characterization of work per volumn density of VO2-based MEMS actuators
E. Merced, J. Zhang, X. Tan and N. Sepulveda
Proceedings of the 2012 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stone Mountain, GA, USA, Paper SMASIS2012-7975 (10 pp), pp. 591-596, 2012 [site]

 

TSA-BRAG: A twisted string actuator-powered biomimetic robotic assistive glove
T. Tsabedze, E. Hartman, E. Abrego, C. Brennan and J. Zhang
Proceedings of the 2020 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, to appear 

 

Compliant and large-strain twisted string actuators using supercoiled polymers 
J. Zhang, D. Bombara, S. Fowzer and C. Brennan
Proceedings of the 2020 IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, to appear

 

Helically wrapped supercoiled polymer (HW-SCP) artificial muscles: Design, characterization, and modeling
T. Tsabedze, C. Mullen, R. Coulter, S. Wade and J. Zhang
Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, to appear

 

Experimental investigation and modeling of the lonely stroke behavior in supercoiled polymer artificial muscles 
R. Konda and J. Zhang
Proceedings of the 2020 SPIE Electroactive Polymer Actuators and Devices Conference (EAPAD), Anaheim, California, USA, to appear

 

2019

 

A high-performance helically wrapped supercoiled polymer (HW-SCP) artificial muscle
R. Coulter, C. Mullen, S. Wade, T. Tsabedze, J. Zhang
Proceedings of the ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Poster presentation, 2019

 

The effects of nylon polymer threads on hysteresis behavior of supercoiled polymer (SCP) artificial muscles 
R. Konda and J. Zhang
Proceedings of the ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Paper DSCC2019-9169 (10 pp), 2019 [site] [.pdf]

 

Self-sensing for twisted string actuators using conductive supercoiled polymers
D. Bombara, V. Mansurov, R. Konda, S. Fowzer and J. Zhang
Proceedings of the ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Louisville, KY, USA, Paper SMASIS2019-5587 (9 pp), 2019 [site] [.pdf]

 

Robotic artificial muscles: Current progress and future perspectives for biomimetic actuators
J. Zhang, J. Sheng, C. O'Neill, C. J. Walsh, R. J. Wood, J-H, Ryu, J. P. Desai and M. C. Yip
IEEE Transactions on Robotics (TR-O), vol. 35, no. 3, pp. 761 - 781, 2019 [site] [.pdf]

 

2018

 

Bundled super-coiled polymer artificial muscles: Design, characterization, and modeling 
A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2018 IEEE International Conference on Robotics and Automation), vol. 3, no. 3, pp. 1671-1678, 2018 [site]

 

Hysteresis-based mechanical state programming of MEMS mirrors
D. Torres*, J. Zhang*, S. Dooley, X. Tan and N. Sepulveda 
Journal of Microelectromechanical Systems (JMEMS), vol. 27, no. 2, pp. 344-354, 2018 (*equal contribution) [site]

 

Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles
J. Zhang, A. Simeonov and M. C. Yip
Smart Materials and Structures (SMS), vol. 27, no. 3, p. 035002, 2018 [site]

 

Programming of systems with hysteresis using pulsed inputs 
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Proceedings of the 2016 American Control Conference (ACC), Milwaukee, WI, USA, pp. 4490-4495, 2018 [site]

 

2017

 

Modeling and inverse compensation of hysteresis in super-coiled polymer artificial muscles 
J. Zhang, K. Iyer, A. Simeonov and M. C. Yip
IEEE Robotics and Automation Letters (RAL) (chosen for presentation at the 2017 IEEE International Conference on Robotics and Automation), vol. 2, no. 2, pp. 773-780, 2017 [site]

 

Modeling of MEMS mirrors actuated by phase-change mechanism
D. Torres, J. Zhang, S. Dooley, X. Tan and N. Sepulveda
Micromachines, vol. 8, no. 5: 138, pp. 1-17, 2017 [site]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators 
J. Zhang and M. C. Yip
Proceedings of the 2017 Robotics: Science and Systems XIII (RSS), Cambridge, Massachusetts, USA, 2017. DOI: 10.15607/RSS.2017.XIII.004 [site]

 

Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators
J. Zhang and M. C. Yip
Robotics: Science and Systems (RSS), In Workshop: Material Robotics -- Bridging Materials Science and Robotics. (3 pp), Cambridge, Massachusetts, USA, 2017

 

2016

 

A composite hysteresis model in self-sensing feedback control of fully integrated VO2 microactuator
J. Zhang, D. Torres, J. L. Ebel, N. Sepulveda and X. Tan
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 21, no. 5, pp. 2405-2417, 2016 [site]

 

VO2-based MEMS mirrors
D. Torres, T. Wang, J. Zhang, X. Zhang, S. Dooley, X. Tan, H. Xie and N. Sepulveda
Journal of Microelectromechanical Systems (JMEMS), vol. 25, no. 4, pp. 780-787, 2016 [site]

 

A compressive sensing-based approach for Preisach hysteresis model identification
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Smart Materials and Structures (SMS), vol. 25, no. 7, p. 075008, 2016 [site]

 

Experimental characterization of the dynamics of VO2-based MEMS mirrors
D. Torrs, T. Wang, J. Zhang, S. Dooley, X. Tan and N. Sepulveda 
Proceedings of the 2016 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stowe, Vermont, USA, Paper SMASIS2016-9129 (7 pp), 2016 [site]

 

Microbial fuel cells: Control-oriented modeling and experimental validation
A. Abul, J. Zhang, R. Steidl, R. Gemma and X. Tan
Proceedings of the 2016 American Control Conference (ACC), Boston, MA, USA, pp. 412-417, 2016 [site]

 

Designing muscle-powered robotics with super-coiled polymers 
J. Zhang and M. C. Yip
Robotics: Science and Systems (RSS), In Workshop: Robot Makers: The future of digital rapid design and fabrication of robots. (4 pp), Ann-Arbor, Michigan, MI, USA, 2016 

 

2015

 

Optimal compression of generalized Prandtl-Ishlinskii hysteresis models
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Automatica, vol. 57, pp. 170-179, 2015 [site]

 

Compressive sensing-based Preisach hysteresis model identification
J. Zhang, D. Torres, N. Sepulveda and X. Tan
Proceedings of the 2015 American Control Conference (ACC), Chicago, IL, USA, pp. 2637-2642, 2015 [site]

 

Modeling, identification, and control of hysteretic systems with application to vanadium dioxide microactuators
J. Zhang
Michigan State University, East Lansing, MI, 2015 [Dissertation] [site]

 

2014

 

Modeling and inverse compensation of hysteresis in vanadium dioxide using an extended generalized Prandtl-Ishlinskii model
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Smart Materials and Structures (SMS), vol. 23, no. 12, p. 125017, 2014 [site]

 

Robust control of VO2-coated micro-benders using self-sensing feedback
E. Merced, J. Zhang, X. Tan and N. Sepulveda
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 19, no. 5, pp. 579-588, 2014 [site]

 

Modeling and inverse compensation of non-monotonic hysteresis in VO2-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
IEEE/ASME Transactions on Mechatronics (TMECH), vol. 19, no. 2, pp. 1583-1592, 2014 [site]

 

A hysteresis-compensated self-sensing scheme for vanadium dioxide-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2014 ASME Dynamic Systems and Control Conference (DSCC), San Antonio, TX, USA, Paper DSCC2014-6222 (10 pp), 2014 [site]

 

Inversion of an extended generalized Prandtl-Ishlinskii hysteresis model: Theory and experimental results
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2014 American Control Conference (ACC), Portland, OR, USA, pp. 4765-4770, 2014 [site]

 

2013

 

Optimal compression of a generalized Prandtl-Ishlinskii operator in hysteresis modeling
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2013 ASME Dynamic Systems and Control Conference (DSCC), Palo Alto, CA, USA, Paper DSCC2013-3969 (10 pp), 2013 [Best Conference Paper in Applications Award] [site]

 

Robust control of VO2-coated microactuators based on self-sensing feedback
E. Merced, J. Zhang, X. Tan and N. Sepulveda
Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Vollongong, Australia, pp. 656-661, 2013 [Finalist for Best Conference Paper Award] [site]

 

Kullback-Leibler divergence-based optimal compression of Preisach operator in hysteresis modeling
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2013 American Control Conference (ACC), Washington, DC, USA, pp. 591-596, 2013 [site]

 

2012

 

Modeling of non-monotonic hysteresis behavior in VO2-coated microactuators
J. Zhang, E. Merced, N. Sepulveda and X. Tan
Proceedings of the 2012 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stone Mountain, GA, USA, Paper SMASIS2012-7940 (10 pp), pp. 591-596, 2012 [Student Best Paper Competition Award] [site]

 

Experimental characterization of work per volumn density of VO2-based MEMS actuators
E. Merced, J. Zhang, X. Tan and N. Sepulveda
Proceedings of the 2012 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stone Mountain, GA, USA, Paper SMASIS2012-7975 (10 pp), pp. 591-596, 2012 [site]