School of Mechanical and Materials Engineering
Modeling, Motion, and Medical Robotics Laboratory (M3 Robotics Lab)
PUBLICATIONS
Journal Articles
- Babaiasl, M., Boccelli, S., Chen, Y. et al. Predictive mechanics-based model for depth of cut (DOC) of waterjet in soft tissue for waterjet-assisted medical applications. Med Biol Eng Comput (2020). https://doi.org/10.1007/s11517-020-02182-0
- Yang F, Babaiasl M, Swensen JP. Fracture-directed steerable needles. Journal of Medical Robotics Research. 2019 Mar 11;4(01):1842002.
- E. A. Allen, L. D. Taylor, and J. P. Swensen, “Smart material composites for discrete stiffness materials,” Smart Materials and Structures, vol. 28, no. 7, p. 074007, Jun. 2019.
- E. A. Allen and J. P. Swensen, “Directional stiffness control through geometric patterning and localized heating of fields metal lattice embedded in silicone,” Actuators, vol. 7, no. 4, p. 80, Nov. 2018.
- J. P. Swensen, L. U. Odhner, B. Araki, and A. M. Dollar. Printing 3D electrical traces in additive manufactured parts for injection of low melting temperature metals. ASME Journal of Mechanisms and Robotics, 2014.
- J. P. Swensen, A. I. Nawroj, P. E. I. Pounds, and A. M. Dollar. Active cells for redundant and configurable articulated structures. Smart Materials and Structures 23(10):104003, 2014.
- J. P. Swensen, M. Lin, A. Okamura, and N. Cowan. Torsional dynamics of steerable needles: Modeling and fluoroscopic guidance. Biomedical Engineering, IEEE Transactions on PP(99):1–1, 2014.
- A. I. Nawroj, J. P. Swensen, and A. M. Dollar. Electrically conductive bulk composites through a contact-connected aggregate. PLoS ONE 8(12):e82260, 12 2013.
- J. P. Swensen and A. M. Dollar. The connectedness of packed circles and spheres with application to conductive cellular materials. PLoS ONE 7(12):e51695, 12 2012.
Journal Articles (in prep)
- J. P. Swensen and A. M. Dollar. Optimization of spring antagonists for nitinol shape memory alloy actuators.
- A. I. Nawroj, J. P. Swensen, and A. M. Dollar. Low-order modeling of nitinol coils as a design tool for modular actuated structures.
- J. P. Swensen, R. Balasubramanian, and A. M. Dollar. Performance of serial underactuated mechanisms: Number of degrees of freedom and actuators.
- V. Kallem, J. P. Swensen, M. Dewan, G. D. Hager, and N. J. Cowan. Encoding self movement via kernel projections.
- J. P. Swensen, V. Kallem, and N. J. Cowan. State estimation and control for tip-steerable needles.
Theses
- J. P. Swensen. Torsional dynamics and rotational estimation of tip-steerable needles. Doctoral thesis, Johns Hopkins University, 2011.
- M. Babaiasl. Waterjet Fracture-directed Steerable Needles. Doctoral thesis, Washington State University, 2020.
- F. Yang. Fracture-directed Steerable Needles. Doctoral thesis, Washington State University, 2020.
- E. A. Allen. Variable Stiffness Structures Via Mechanics Modification and Antagonistic Actuation in Soft Robotic Materials. Master’s thesis, Washington State University, 2020.
- H. Joo. Design and Experimentation of a Tunably Compliant Robotic Finger Using Low Melting Point Metals. Master’s thesis, Washington State University, 2016
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B. D. Laferriere. Modeling and Design of a Bi-stable Spring Mechanism. Master’s thesis, Washington State University, 2016
Chapters in Edited Volumes
- J. P. Swensen, V. Kallem, and N. J. Cowan. Empirical characterization of convergence properties for kernel-based visual servoing. Visual Servoing via Advanced Numerical Methods pp. 23–38, 2010.
- R. J. Webster III, J. P. Swensen, J. M. Romano, and N. J. Cowan. Closed-form differential kinematics for concentric-tube continuum robots with application to visual servoing. Experimental Robotics XI, vol. 54, pp. 485–494, 2009.
Refereed Conference Articles
- E. A. Allen and J. P. Swensen, “Design of a Highly-Maneuverable Pneumatic Soft Actuator Driven by Intrinsic SMA Coils (PneuSMA Actuator),” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), Las Vegas, NV, (In-press).
- Yang, F., Babaiasl, M., Chen, Y., Ding, J.L. And Swensen, J.P., “Resultant Radius of Curvature of Stylet-and-Tube Steerable Needles Based on the Mechanical Properties of the Soft Tissue and the Needle“, In 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE
- E. A. Allen and J. P. Swensen, “Controlling the Rotational DOF of Laminar Jamming Structures,” in Proc. ASME 2020 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2020), Irvine, CA, (In-press).
- E. A. Allen, B. C. Townsend, and J. P. Swensen, “Configuration Modeling of a Soft Robotic Element with Selectable Bending Axes,” in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), Macau, China, Nov. 2019.
- Babaiasl M, Yang F, Chen Y, Ding JL, Swensen JP. Predicting Depth of Cut of Water-jet in Soft Tissue Simulants based on Finite Element Analysis with the Application to Fracture-directed Water-jet Steerable Needles. In2019 International Symposium on Medical Robotics (ISMR) 2019 Apr 3 (pp. 1-7). IEEE.
- E. A. Allen, L. D. Taylor, and J. P. Swensen, “Smart material composites for discrete stiffness materials,” in Proc. ASME 2018 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2018), San Antonio, TX, 2018, p. V002T06A015.
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Babaiasl M, Yang F, Swensen JP. Towards water-jet steerable needles. In2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) 2018 Aug 26 (pp. 601-608). IEEE.
- E. A. Allen and J. P. Swensen, “Versatile Layering Approach to Pneumatic Soft Actuator Fabrication,” in Proc. ASME 2019 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS2019), Louisville, KY, 2019, p. V001T01A001.
- H. Joo and J.P. Swensen. Design and Experimentation of a Tunably-Compliant Robotic Finger Using Low Melting Point Metals. In ASME 2016 Conference on Smart Materials, Adaptive Structures and Intelligent Systems (pp. V002T06A011-V002T06A011). American Society of Mechanical Engineers, 2016.
- A. Nawroj, J. P. Swensen, A. M. Dollar. Design of Mesoscale Active Cells for Networked, Compliant Robotic Structures, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015. (Accepted)
- J. P. Swensen, L. U. Odhner, B. Araki, and A. M. Dollar. Injected 3D electrical traces in additive manufactured parts with low melting temperature metals. IEEE International Conference on Robotics and Automation (ICRA), 2015.
- J. Swensen, A. Nawroj, P. Pounds, and A. Dollar. Simple, scalable active cells for articulated robot structures. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 1241–1246, May 2014.
- J. Swensen and A. Dollar. Optimization of parallel spring antagonists for nitinol shape memory alloy actuators. Robotics and Automation (ICRA), 2014 IEEE International Conference on, pp. 6345–6349, May 2014.
- J. P. Swensen and N. J. Cowan. An almost global estimator on SO(3) with measurement on S2. Proc. of AACC American Control Conference (ACC), 2012, pp. 1780–1786, 2012.
- J. P. Swensen and N. J. Cowan. Torsional dynamics compensation enhances robotic control of tip-steerable needles. Proc. of IEEE International Conference on Robotics and Automation (ICRA), 2012, pp. 1601–1606, 2012.
- V. Kallem, M. Dewan, J. P. Swensen, G. D. Hager, and N. J. Cowan. Kernel-based visual servoing. Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1975–1980, Oct. 2007.
- D. S. Acton, T. Towell, J. Schwenker, J. Swensen, D. Shields, E. Sabatke, L. Klingemann, A. R. Contos, B. Bauer, K. Hansen, P. D. Atcheson, D. Redding, F. Shi, S. Basinger, B. Dean, and
L. Burns. Demonstration of the james webb space telescope commissioning on the JWST testbed telescope. Proc. SPIE 6265, Space Telescopes and Instrumentation I: Optical, Infrared, and Millimeter, vol. 6265, p. 21, 2006.
Contributed Articles Abstracts and Posters
- A. I. Nawroj, J. P. Swensen, and A. M. Dollar. Development of Active-Cells for Macroscopically Deformable Structures. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent Systems (SMASIS), 2014.
- J. P. Swensen and A. M. Dollar. Active-cells for the Construction of Redundant and Configurable Articulated Structures. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent Systems (SMASIS), 2013.
- A. I. Nawroj, J. P. Swensen, and A. M. Dollar. Design of a Bulk Conductive Polymer Using Embedded Macroscopic Copper Cells. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Inteligent Systems (SMASIS), 2013.
- J. P. Swensen and A. M. Dollar. Towards hyper-redundant and super-configurable articulated structures. Proc. ASME Conference on Smart Materials, Adaptive Structures, and Intelligent System (SMASIS), pp. 3888–3895, 2012.
- J. P. Swensen and N. J. Cowan. Modeling, estimation, and control of tip-steerable needles with torsional dynamics, Sept 2011. Presented at the Needle Steering Demo Session of 2011 IEEE/RSJ International Conference on Intelligent Robotics and Systems. [Poster PDF]
- J. P. Swensen, R. J. Webster III, and N. J. Cowan. Active cannulas: Applications to needle steering, Sept 2008. Presented at the Needle Steering Workshop at 2008 Medical Image Computing and Computer Assisted Intervention Society conference. [Poster PDF]
- J. P. Swensen, R. J. Webster III, and N. J. Cowan. Image guidance of active cannulas, Jan 2009. Presented at the IEEE-RAS/IFRR Winter School of Robotics Science on Medical Robotics and Computer-Integrated Interventional Systems. [Poster PDF]
- M. Torrie, D. Cripps, and J. Swensen. Joint architecture for unmanned ground vehicles (JAUGS) applied to autonomous agricultural vehicles. Proc: Automation technology for off-road equipment, pp. 1–12, 2002.