Publications
Journal Publications
[29] R. Konda, D. Bombara, E. Chow, and J. Zhang, "Kinetostatic modeling and open-loop control of a twisted string actuator-driven soft robotic manipulator," Journal of Mechanisms and Robotics, vol. 16, no. 4, p. 041007, 2024
[28] R. Konda*, D. Bombara*, and J. Zhang, "Overtwisting and coiling highly enhances strain generation of twisted string actuators," Soft Robotics, vol. 10, no. 4, pp. 760-769, 2023 (*equal contribution)
[27] D. Bombara, R. Konda, Z. Kibria, and J. Zhang, "Inverse modeling for component selection of twisted string actuators," [open-sourced Graphical User Interface, instruction], IEEE/ASME Transactions on Mechatronics, vol. 28, no. 2, pp. 1047-1058, 2023
[26] R. Konda*, D. Bombara*, S. Swanbeck*, and J. Zhang, "Anthropomorphic twisted string actuated soft robotic gripper with tendon-based stiffening," IEEE Transactions on Robotics, vol. 39, no. 2, pp. 1178-1195, 2023 (*equal contribution)
[25] L. Raymond, E. Bandala, W. Hua, K. Mitchell, T. Tsabedze, K. Leong, J. Zhang, and Y. Jin, "Hybrid 3D printing of functional smart hinges", Machines, vol. 11, no. 7, p. 686, 2023
[24] K. Mitchell, L. Raymond, J. Wood, J. Su, J. Zhang, and Y. Jin, "Material extrusion of helical shape memory polymer artificial muscles for human space exploration apparatus", Polymers, vol. 14, no. 23, p. 5325, 2022
[23] D. Bombara, S. Fowzer, and J. Zhang, "Compliant, large-strain, and self-sensing twisted string actuators," Soft Robotics, vol.9, no. 1, pp. 72-88, 2022
[22] R. Konda and J. Zhang, "Hysteresis with lonely stroke in artificial muscles: Characterization, modeling, and inverse compensation," Mechanical Systems and Signal Processing, vol. 164, p. 108240, 2022
[21] S. Yang, H. Shi, J. Zhang, Y. Liu, and Y. Huang, "Leader-follower Stackelberg game oriented adaptive robust constraint-following control design for fuzzy exoskeleton robot systems," Information Sciences, vol. 606, pp. 272-291, 2022
[20] T. Tsabedze, E. Hartman, and J. Zhang, "A compact, compliant, and biomimetic robotic assistive glove driven by twisted string actuators," International Journal of Intelligent Robotics and Applications, vol. 5, no. 3, pp. 381-394, 2021
[19] D. Bombara, R. Konda, and J. Zhang, "Experimental characterization and modeling of the self-sensing property in compliant twisted string actuators," IEEE Robotics and Automation Letters (chosen for presentation at the 2021 IEEE International Conference on Soft Robotics), vol. 6, no. 2, pp. 974-981, 2021 [Best Paper Award]
[18] T. Tsabedze and J. Zhang, "Design, characterization, modeling, and comparison of helically wrapped super-coiled polymer artificial muscles," Sensors and Actuators: A. Physical, vol. 331, p. 113018, 2021
[17] J. Guo, Z. Chen, Q. Wang, W. Li, J. Zhang, and J. Zhao, "Introduction to the focused section on flexible mechatronics for robotics," International Journal of Intelligent Robotics and Applications, vol. 5, no. 3, pp. 283–286, 2021
[16] R. Konda, H. La and J. Zhang, "Decentralized function approximated Q-learning in multi-robot systems for predator avoidance," IEEE Robotics and Automation Letters, vol. 5, no. 4, pp. 6342-6349, 2020
[15] J. Zhang, "Modeling of a bending supercoiled polymer (SCP) artificial muscle," IEEE Robotics and Automation Letters (chosen for presentation at the 2020 IEEE International Conference on Soft Robotics), vol. 5, no. 3, pp. 3822-3829, 2020
[14] W. Kuang, M. C. Yip and J. Zhang, "Vibration-based multi-axis force sensing: Design, characterization, and modeling," IEEE Robotics and Automation Letters (chosen for presentation at the 2020 IEEE International Conference on Robotics and Automation), vol. 5, no. 2, pp. 3082-3089, 2020
[13] J. Zhang, J. Sheng, C. O'Neill, C. J. Walsh, R. J. Wood, J-H, Ryu, J. P. Desai and M. C. Yip, "Robotic artificial muscles: Current progress and future perspectives for biomimetic actuators," IEEE Transactions on Robotics, vol. 35, no. 3, pp. 761 - 781, 2019
[12] A. Simeonov, T. Henderson, Z. Lan, G. Sundar, A. Factor, J. Zhang and M. C. Yip, "Bundled super-coiled polymer artificial muscles: Design, characterization, and modeling," IEEE Robotics and Automation Letters (chosen for presentation at the 2018 IEEE International Conference on Robotics and Automation), vol. 3, no. 3, pp. 1671-1678, 2018
[11] D. Torres*, J. Zhang*, S. Dooley, X. Tan, and N. Sepulveda, "Hysteresis-based mechanical state programming of MEMS mirrors," Journal of Microelectromechanical Systems, vol. 27, no. 2, pp. 344-354, 2018 (*equal contribution)
[10] J. Zhang, A. Simeonov and M. C. Yip, "Three-dimensional hysteresis compensation enhances accuracy of robotic artificial muscles," Smart Materials and Structures, vol. 27, no. 3, p. 035002, 2018
[9] J. Zhang, K. Iyer, A. Simeonov and M. C. Yip, "Modeling and inverse compensation of hysteresis in super-coiled polymer artificial muscles," IEEE Robotics and Automation Letters (chosen for presentation at the 2017 IEEE International Conference on Robotics and Automation), vol. 2, no. 2, pp. 773-780, 2017
[8] D. Torres, J. Zhang, S. Dooley, X. Tan, and N. Sepulveda, "Modeling of MEMS mirrors actuated by phase-change mechanism," Micromachines, vol. 8, no. 5: 138, pp. 1-17, 2017
[7] J. Zhang, D. Torres, J. L. Ebel, N. Sepulveda and X. Tan, "A composite hysteresis model in self-sensing feedback control of fully integrated VO2 microactuator," IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2405-2417, 2016
[6] D. Torres, T. Wang, J. Zhang, X. Zhang, S. Dooley, X. Tan, H. Xie, and N. Sepulveda, "VO2-based MEMS mirrors," Journal of Microelectromechanical Systems, vol. 25, no. 4, pp. 780-787, 2016
[5] J. Zhang, D. Torres, N. Sepulveda, and X. Tan, "A compressive sensing-based approach for Preisach hysteresis model identification," Smart Materials and Structures, vol. 25, no. 7, p. 075008, 2016
[4] J. Zhang, E. Merced, N. Sepulveda, and X. Tan, "Optimal compression of generalized Prandtl-Ishlinskii hysteresis models," Automatica, vol. 57, pp. 170-179, 2015
[3] J. Zhang, E. Merced, N. Sepulveda, and X. Tan, "Modeling and inverse compensation of hysteresis in vanadium dioxide using an extended generalized Prandtl-Ishlinskii model," Smart Materials and Structures, vol. 23, no. 12, p. 125017, 2014
[2] E. Merced, J. Zhang, X. Tan, and N. Sepulveda, "Robust control of VO2-coated micro-benders using self-sensing feedback," IEEE/ASME Transactions on Mechatronics, vol. 19, no. 5, pp. 579-588, 2014
[1] J. Zhang, E. Merced, N. Sepulveda, and X. Tan, "Modeling and inverse compensation of non-monotonic hysteresis in VO2-coated microactuators," IEEE/ASME Transactions on Mechatronics, vol. 19, no. 2, pp. 1583-1592, 2014
Conference Proceedings
[30] R. Konda and J. Zhang, "Modeling and inverse compensation of the non-smooth coiling-induced actuation in twisted and coiled string actuators," Proceedings of the 2024 American Control Conference (ACC), Toronto, ON, Canada, to appear
[29] S. Swanbeck, R. Konda, and J. Zhang, "Kinematic modeling of a twisted-string actuated soft robotic finger as part of an anthropomorphic gripper," Proceedings of the 2023 Modeling, Estimation, and Control Conference (MECC), Lake Tahoe, NV, USA, accepted and to appear
[28] A. Baker, C. Foy, S. Swanbeck, R. Konda, and J. Zhang, "STAR–2: A soft twisted-string-actuated anthropomorphic robotic gripper: Design, fabrication, and preliminary testing," Proceedings of the 2023 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Seattle, WA, USA, pp. 643-648, 2023
[27] R. Konda and J. Zhang, "Experimental investigation of the non-smooth actuation in twisted and coiled string artificial muscles,'' Proceedings of the 2023 SPIE Conference on Bioinspiration, Biomimetics, and Bioreplication XIII, Long Beach, CA, USA, 2023
[26] R. Konda, E. Hartman, and J. Zhang, "A biomimetic multi-directional HASEL actuator-driven soft robotic tail: Design and characterization,'' Proceedings of the 2023 SPIE Electroactive Polymer Actuators and Devices Conference XXV, Long Beach, CA, USA, 2023
[25] T. Tsabedze, F. McLelland, F. van Breugel, and J. Zhang, "Parameter estimation and adaptive control of super-coiled polymer artificial muscles," Proceedings of the 2022 Modeling, Estimation, and Control Conference (MECC), Jersey City, NJ, USA, pp. 445-450, 2022
[24] T. Tsabedze, J. Trinh, A. Alomran, J. Clayton, and J. Zhang, "Design and characterization of AWARD: An active wearable assistive and resistive device," Proceedings of the 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Hokkaido, Japan, pp. 844-849, 2022
[23] R. Konda, D. Bombara, and J. Zhang, "Parameter estimation and adaptive control of twisted string actuators," Proceedings of the 2022 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Sapporo, Hokkaido, Japan, pp. 1366-1371, 2022
[22] D. Bombara*, R. Konda*, E. Chow, and J. Zhang, "Physics-based kinematic modeling of a twisted string actuator-driven soft robotic manipulator," Proceedings of the 2022 American Control Conference (ACC), Atlanta, Georgia, USA, pp. 4365-4370, 2022 (*equal contribution)
[21] T. Tsabedze, E. Hartman, C. Brennan, and J. Zhang, "A compliant robotic wrist orthosis driven by twisted string actuators," Proceedings of the 2021 IEEE International Symposium on Medical Robotics (ISMR), Atlanta, Georgia, USA, 2021
[20] D. Bombara*, R. Coulter*, R. Konda* and J. Zhang, "A twisted string actuator-driven soft robotic manipulator," Proceedings of the 2021 Modeling, Estimation, and Control Conference (MECC), Austin, Texas, USA, pp. 141-146, 2021 (*equal contribution)
[19] R. Konda and J. Zhang, "Modeling and inverse compensation of the quasi-static voltage-strain lonely stroke and hysteresis in supercoiled polymer artificial muscles," Proceedings of the 2021 American Control Conference (ACC), New Orleans, Louisiana, USA, pp. 4309-4314, 2021
[18] T. Tsabedze, E. Hartman, E. Abrego, C. Brennan and J. Zhang, "TSA-BRAG: A twisted string actuator-powered biomimetic robotic assistive glove," Proceedings of the 2020 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, pp. 159-165, 2020
[17] J. Zhang, D. Bombara, S. Fowzer, and C. Brennan, "Compliant and large-strain twisted string actuators using supercoiled polymers," Proceedings of the 2020 IEEE International Conference on Soft Robotics (RoboSoft), New Haven, CT, USA, pp. 201-207, 2020
[16] T. Tsabedze, C. Mullen, R. Coulter, S. Wade and J. Zhang, "Helically wrapped supercoiled polymer (HW-SCP) artificial muscles: Design, characterization, and modeling," Proceedings of the 2020 IEEE International Conference on Robotics and Automation (ICRA), Paris, France, pp. 5862-5868, 2020
[15] R. Konda and J. Zhang, "Experimental investigation of the lonely stroke behavior in supercoiled polymer artificial muscles," Proceedings of the 2020 SPIE Electroactive Polymer Actuators and Devices Conference (EAPAD) XXII, 113751I, Anaheim, California, USA
[14] R. Konda and J. Zhang, "The effects of nylon polymer threads on hysteresis behavior of supercoiled polymer (SCP) artificial muscles," Proceedings of the 2019 ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Paper DSCC2019-9169 (10 pp), 2019
[13] D. Bombara, V. Mansurov, R. Konda, S. Fowzer, and J. Zhang, "Self-sensing for twisted string actuators using conductive supercoiled polymers," Proceedings of the 2019 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Louisville, KY, USA, Paper SMASIS2019-5587 (9 pp), 2019
[12] J. Zhang, D. Torres, N. Sepulveda and X. Tan, "Programming of systems with hysteresis using pulsed inputs," Proceedings of the 2018 American Control Conference (ACC), Milwaukee, WI, USA, pp. 4490-4495, 2018
[11] J. Zhang and M. C. Yip, "Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators," Proceedings of the 2017 Robotics: Science and Systems XIII (RSS), Cambridge, Massachusetts, USA, 2017. DOI: 10.15607/RSS.2017.XIII.004
[10] D. Torrs, T. Wang, J. Zhang, S. Dooley, X. Tan and N. Sepulveda, "Experimental characterization of the dynamics of VO2-based MEMS mirrors," Proceedings of the 2016 ASME Conference on Smart Materials, Adaptive Structures and Intelligent Systems (SMASIS), Stowe, Vermont, USA, Paper SMASIS2016-9129 (7 pp), 2016
[9] A. Abul, J. Zhang, R. Steidl, R. Gemma, and X. Tan, "Microbial fuel cells: Control-oriented modeling and experimental validation," Proceedings of the 2016 American Control Conference (ACC), Boston, MA, USA, pp. 412-417, 2016
[8] J. Zhang, D. Torres, N. Sepulveda, and X. Tan, "Compressive sensing-based Preisach hysteresis model identification," Proceedings of the 2015 American Control Conference (ACC), Chicago, IL, USA, pp. 2637-2642, 2015
[7] J. Zhang, E. Merced, N. Sepulveda, and X. Tan, "A hysteresis-compensated self-sensing scheme for vanadium dioxide-coated microactuators," Proceedings of the 2014 ASME Dynamic Systems and Control Conference (DSCC), San Antonio, TX, USA, Paper DSCC2014-6222 (10 pp), 2014
[6] J. Zhang, E. Merced, N. Sepulveda and X. Tan, "Inversion of an extended generalized Prandtl-Ishlinskii hysteresis model: Theory and experimental results," Proceedings of the 2014 American Control Conference (ACC), Portland, OR, USA, pp. 4765-4770, 2014
[5] J. Zhang, E. Merced, N. Sepulveda and X. Tan, "Optimal compression of a generalized Prandtl-Ishlinskii operator in hysteresis modeling," 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]
[4] E. Merced, J. Zhang, X. Tan and N. Sepulveda, "Robust control of VO2-coated microactuators based on self-sensing feedback," Proceedings of the 2013 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), Wollongong, Australia, pp. 656-661, 2013 [Finalist for Best Conference Paper Award]
[3] J. Zhang, E. Merced, N. Sepulveda and X. Tan, "Kullback-Leibler divergence-based optimal compression of Preisach operator in hysteresis modeling," Proceedings of the 2013 American Control Conference (ACC), Washington, DC, USA, pp. 591-596, 2013
[2] J. Zhang, E. Merced, N. Sepulveda and X. Tan, "Modeling of non-monotonic hysteresis behavior in VO2-coated microactuators," 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]
[1] E. Merced, J. Zhang, X. Tan and N. Sepulveda, "Experimental characterization of work per volume density of VO2-based MEMS actuators," 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
Workshop Papers and Posters
[3] R. Coulter, C. Mullen, S. Wade, T. Tsabedze, J. Zhang, "A high-performance helically wrapped supercoiled polymer (HW-SCP) artificial muscle," ASME Dynamic Systems and Control Conference (DSCC), Park City, UT, USA, Poster presentation, 2019
[2] J. Zhang and M. C. Yip, "Three-dimensional hysteresis modeling of robotic artificial muscles with application to shape memory alloy actuators," Robotics: Science and Systems (RSS), In Workshop: Material Robotics -- Bridging Materials Science and Robotics. (3 pp), Cambridge, Massachusetts, USA, 2017
[1] J. Zhang and M. C. Yip, "Designing muscle-powered robotics with super-coiled polymers," 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
Patents
[1] M. C. Yip, J. Zhang, A. Tran and W. Kuang, “System and method for robust and low-cost multi-axis force sensor,” U.S. Patent US20200093560A1, 2020
Dissertations/Theses
[4] R. Konda, "Design, Analysis, and Control of Soft Wearable Devices using Twisted String Actuators," Ph.D. Dissertation, University of Nevada, Reno, 2023
[3] R. Konda, "Exploring Twisted String Actuation for Application in Soft Robotics," Ph.D. Dissertation, University of Nevada, Reno, 2023
[2] D. Bombara, "Compliant, Large-Strain, and Self-Sensing Twisted String Actuators with Applications to Soft Robots," MS Thesis, University of Nevada, Reno, 2022
[1] J. Zhang, "Modeling, identification, and control of hysteretic systems with application to vanadium dioxide microactuators," Ph.D. Dissertation, Michigan State University, 2015