Nelson Lab: Publications

The following subscripts are used to indicate student co-authors:

                        1:  Masters student; 2: Ph.D. student; 3: Undergraduate student; 4: Postdoc 

Peer Reviewed Journal Publications 

  1. Nelson, C. A. (2022)  “In-Hand Manipulation with a Novel Reconfigurable Robotic Hand,” Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 236(18): 9919-9928, DOI: 10.1177/09544062221085092.
  2. Kedar, S., Tong, J., Bader, J., Havens, S., Fan, S., Thorell, W., Nelson, C., Gu, L., High, R., Gulati, V., and Ghate, D. (2021)  “Effects of Acute Intracranial Pressure Changes on Optic Nerve Head Morphology in Humans and Pig Model,” Current Eye Research, 47(2): 304-311, DOI: 10.1080/02713683.2021.1952604.
  3. Rastegari, E., Orn, D., Zahiri, M.4, Nelson, C. A., Ali, H., Siu, K. C., (2021)  “Assessing Laparoscopic Surgical Skills using Similarity Network Models: A Pilot Study,” Surgical Innovation, 28(5): 600-610, doi: 10.1177/15533506211002753.
  4. Nelson, C. A. (2021)  “Applications of Thick Rigid Flat-folding Origami to Practical Objects,” International Journal of Mechanisms and Robotic Systems, 5(1-2): 3-21.  
  5. Ghate, D., Kedar, S., Havens, S., Fan, S., Thorell, W., Nelson, C., Gu, X., Tong, J., Gulati, V. (2020)  “The Effects of Acute Intracranial Pressure Changes on the Episcleral Venous Pressure, Retinal Vein Diameter and Intraocular Pressure in a Pig Model,” Current Eye Research, 46(4): 524-531, DOI: 10.1080/02713683.2020.1805769.  
  6. Papachatzis, N., Malcolm, P., Nelson, C. A., Takahashi, K. Z. (2020)  “Walking with added mass magnifies salient features of human foot energetics,” Journal of Experimental Biology, 223, jeb207472. doi:10.1242/jeb.207472.
  7. Nelson, C. A., Nouaille, L., Poisson, G. (2020)  “A redundant rehabilitation robot with a variable stiffness mechanism,” Mechanism and Machine Theory, 150: 103862, https://doi.org/10.1016/j.mechmachtheory.2020.103862.
  8. Zhao, B.2, Nelson, C. A. (2019)  “A sensorless force-feedback system for robot-assisted laparoscopic surgery,” Computer Assisted Surgery, DOI: 10.1080/24699322.2018.1557887.
  9. Burnfield, J. M., Buster, T. W., Pfeifer, C. M, Irons, S. L., Cesar, G. M., Nelson, C. A. (2019)  “Adapted Motor-Assisted Elliptical for Rehabilitation of Children with Physical Disabilities,” ASME Journal of Medical Devices, 13: 011006-1-011006-9, DOI: 10.1115/1.4041588.
  10. Nelson, C. A., Laribi, M. A., Zeghloul, S. (2018)  “Multi-robot system optimization based on redundant serial spherical mechanism for robotic minimally invasive surgery,” Robotica, 37(SI 7):1202-1213, doi:10.1017/S0263574718000681.

  11. Shen, T.2, Hennings, D., Nelson, C. A., Oleynikov, D. (2018)  “Performance of a Multifunctional Robot for Natural Orifice Transluminal Endoscopic Surgery,” Surgical Innovation, 25(4): 364-373.  

  12. Shen, T.2, Nelson, C., Bradley, J. (2018)  “Design of a model-free cross-coupled controller with application to robotic NOTES,” Journal of Intelligent & Robotic Systems, 95(2):473-489, doi:10.1007/s10846-018-0836-2.  

  13. Dutta, A., Dasgupta, P., Nelson, C. (2018)  “Distributed Configuration Formation with Modular Robots Using (Sub)Graph Isomorphism-based Approach,” Autonomous Robots, 43(4):837-857, https://doi.org/10.1007/s10514-018-9759-9.  

  14. Zahiri, M.4, Booton, R., Nelson, C. A., Oleynikov, D., Siu, K.-C. (2018) “Virtual Reality Training System for Anytime/Anywhere Acquisition of Surgical Skills: Pilot Study,” Military Medicine, 183(suppl_1):86-91, https://doi.org/10.1093/milmed/usx138. 

  15. Zahiri, M.2, Nelson, C., Oleynikov, D., Siu, K.-C. (2018) “Evaluation of Augmented Reality Feedback in Surgical Training Environment,” Surgical Innovation, 25(1):81-87. 

  16. Villanueva, C. A., Gu, L., Nelson, C. (2018) “Ureteral Tunnel Length Versus Ureteral Orifice Configuration in the Determination of Ureterovesical Junction Competence: A Computer Simulation Model,” Journal of Pediatric Urology, 14:258.e1-258.e6. 

  17. Thienpont, R.1, Nelson, C. (2017)  “Conception mécanique et mécatronique d'un système de compensation du poids corporel destiné à des fins de rééducation motrice,” Revue Scientifique des Ingénieurs Industriels, 31:73-87.

  18. Nouaille, L., Laribi, M. A., Nelson, C. A., Zeghloul, S., Poisson, G. (2017) “Review of kinematics for minimally invasive surgery and tele-echography robots,” ASME Journal of Medical Devices, 11(4):040802-040802-14, doi:10.1115/1.4037053.

  19. Hossain, K. M.1, Nelson, C. A., Dasgupta, P. (2017) “Enumeration of Configurations and their Kinematics for ModRED II Modular Robots,” ASME Journal of Mechanisms and Robotics, 9(5):054501 (5 pages), doi: 10.1115/1.4036740.

  20. Xie, W., Lewis, W. M., Kaser, J., Welch, C. R.1, Li, P., Nelson, C. A., Kothari, V., Terry, B. S. (2017)  “Design and Validation of a Biosensor Implantation Capsule Robot,” ASME Journal of Biomechanical Engineering, 139(8), 081003 (10 pages), doi: 10.1115/1.4036607.  

  21. Baca, J., Woosley, B., Dasgupta, P., Nelson, C. A. (2017) “Configuration discovery of modular self-reconfigurable robots: Real-time, distributed, IR+XBee communication method,” Robotics and Autonomous Systems, 91:284-298.

  22. Dehghani, H., Welch, C. R.1, Pourghodrat, A.2, Nelson, C. A., Oleynikov, D., Dasgupta, P., Terry, B. S. (2017) “Design and Preliminary Evaluation of a Self-Steering, Pneumatically-Driven Colonoscopy Robot,” Journal of Medical Engineering and Technology, 41(3):223-236, doi: 10.1080/03091902.2016.1275853.

  23. Pourghodrat, A.2, Nelson, C. A., Oleynikov, D. (2017) “Hydraulic Robotic Surgical Tool Changing Manipulator,” ASME Journal of Medical Devices, 11(1):011008-011008-6, DOI: 10.1115/1.4035548.

  24. Chen, J., Zhang, X., Gu, L., Nelson, C. (2017) “Estimating muscle forces and knee joint torque using surface electromyography: A musculoskeletal biomechanical model,” Journal of Mechanics in Medicine and Biology, 17(3):1750069 (21 pages).

  25. Li, S., Webb, J., Zhang, X., Nelson, C. A. (2017) “User Evaluation of a Novel Eye-based Control Modality for Robot-Assisted Object Retrieval,” Advanced Robotics, 31(7):382-393, DOI: 10.1080/01691864.2016.1271748.

  26. Burnfield, J. M., Cesar, G. M., Buster, T. W., Irons, S. L., Nelson, C. A. (2017) “Kinematic and muscle demand similarities between motor-assisted elliptical training and walking: Implications for pediatric gait rehabilitation,” Gait and Posture, 51:194-200.

  27. Pourghodrat, A.2, Nelson, C. A. (2016) “Disposable Fluidic Actuators for Miniature In Vivo Surgical Robotics,” ASME Journal of Medical Devices, 11(1):011003-011003-8, DOI: 10.1115/1.4035005.

  28. Zahiri, M.2, Booton, R., Siu, K.-C., Nelson, C. A. (2016)  “Design and Evaluation of a Portable Laparoscopic Training System using Virtual Reality,” ASME Journal of Medical Devices, 11(1), 011002 (6 pp.), DOI: 10.1115/1.4034881.  

  29. Nouaille, L., Laribi, M. A., Nelson, C. A., Essomba, T., Poisson, G., Zeghloul, S. (2016)  “Design Process for Robotic Medical Tool-Guidance Manipulators,” Proc. IMechE Part C: J Mechanical Engineering Science 230(2): 259-275.  
  30. Zhao, B.2, Nelson, C. A. (2015)  “Estimating Tool-Tissue Forces using a 3-DOF Robotic Surgical Tool,” Journal of Mechanisms and Robotics, 8(5): 051015 (10 pp.), DOI: 10.1115/1.4032591.  
  31. Nelson, C. A., Zhang, X., Webb, J., Li, S.  (2015)  “Fuzzy Control for Gaze-Guided Personal Assistance Robots: Simulation and Experimental Application,” International Journal on Advances in Intelligent Systems 8(1-2): 77-84.  
  32. Zhao, B.2, Nelson, C. A.  (2015)  “Sensorless Force Sensing for Minimally Invasive Surgery,” Journal of Medical Devices 10(1), (14 pp.) doi:10.1115/1.4031282.  
  33. Nelson, C., Stolle, C. J.2, Burnfield, J. M., Buster, T. W.  (2015)  “Modification of the Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) System for Pediatric Therapy,” Journal of Medical Devices 9(4), 041010 (6 pp.), doi:10.1115/1.4030276.  
  34. Villanueva, C., Stolle, C.2, Nelson, C. A.  (2015)  “The intravesical tunnel length to ureteral diameter ratio insufficiently explains ureterovesical junction competence: a parametric simulation study,” Journal of Pediatric Urology 11(3): 144.e1-5, doi: 10.1016/j.jpurol.2015.01.015.  
  35. Nugent, G., Barker, B., Welch, G., Grandgenett, N., Wu, C.R., Nelson, C.  (2015)  “A Model of Factors Contributing to STEM Learning and Career Orientation,” International Journal of Science Education 37(7): 1067-1088, http://dx.doi.org/10.1080/09500693.2015.1017863.  
  36. Shen, T.2, Nelson, C., Warburton, K.3, Oleynikov, D.  (2015)  “Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot,” ASME Journal of Mechanisms and Robotics 7(1): 011004 (8 pp.), doi:10.1115/1.4029307.  
  37. Hossain, S.G.M.2, Nelson, C. A., Chu, K.3, Dasgupta, P.  (2014)  “Kinematics and Interfacing of ModRED: A Self-Healing Capable, Four-DOF Modular Self-Reconfigurable Robot,” ASME Journal of Mechanisms and Robotics 6(4): 041017 (12 pp.).  
  38. Hua, Y., Akula, P. K., Berg, J.2, Gu, L., Nelson, C. A.  (2014)  “Experimental and numerical investigation of the mechanism of blast wave transmission through a surrogate head,” ASME Journal of Computational and Nonlinear Dynamics 9(3): 031010 (9 pp.).  
  39. Dutta, A., Baca, J., Dasgupta, P., Nelson, C. A.  (2014)  “SearchUCSG: A Fast Coalition Structure Search Algorithm for Modular Robot Reconfiguration Planning under Uncertainty,” Robotica 32(SI2): 225-244.  
  40. Essomba, T., Nouaille, L., Laribi, M. A., Nelson, C. A., Zeghloul, S., Poisson, G.  (2014)  “Spherical wrist dimensional synthesis adapted for tool-guidance medical robots,” Mechanics and Industry 15(3): 217-223.  
  41. Nouaille, L., Poisson, G., Zhang, X.4, Nelson, C. A.  (2014)  “Method of Dimensional Optimization of Spherical Robots for Medical Applications using Specialized Indices,” Advanced Robotics, 28(3): 173-186.  
  42. Baca, J., Hossain, S.G.M.2, Dasgupta, P., Nelson, C. A.  (2014)  “ModRED: Hardware Design and Reconfiguration Planning for a High Dexterity Modular Self-reconfigurable Robot for Extra-terrestrial Exploration,” Robotics and Autonomous Systems 62(7): 1002-1015.  
  43. Head, M.1, Nelson, C. A., Siu, K. C.  (2013)  “Multi-Degree of Freedom Joystick for Virtual Reality Simulation,” Journal of Medical Engineering and Technology 37(8): 475-483 (doi:10.3109/03091902.2013.831492).  
  44. Midday, J.1, Nelson, C. A., Oleynikov, D.  (2013)  “Improvements in Robotic Natural Orifice Surgery with a Novel Material Handling System,” Surgical Endoscopy 27(9): 3474-3477, DOI: 10.1007/s00464-013-2942-3.  
  45. Pourghodrat, A.1, Hansen, S.1, Kamarajugadda, V.1, Platt, S. R., Nelson, C. A.  (2013)  “Power Harvesting Systems Design for Railroad Safety,” Journal of Rail and Rapid Transit 228(5): 504-521, doi: 10.1177/0954409713482659, winner of IMechE Railway Division 2014 Alfred Rosling Bennett Premium and Charles S Lake Award.  
  46. Nelson, C. A.  (2013)  “Material Selection Indices for Design of Surgical Instruments with Long Tubular Shafts,” Journal of Medical Engineering and Technology 37(2): 102-108.  
  47. Midday, J.1, Nelson, C. A., Goyzueta, A.1, Oleynikov, D.  (2013)  “Material Handling System for Natural Orifice Surgery,” ASME Journal of Medical Devices, 7(1): 011003 (7 pages), doi:10.1115/1.4023265.  
  48. Seow, C. M.1, Chin, W. J.1, Nelson, C. A., Nakamura, A., Farritor, S., Oleynikov, D.  (2013)  “Articulated Manipulator with Multiple Instruments for Natural Orifice Transluminal Endoscopic Surgery,” ASME Journal of Medical Devices 7: 041004 (10 pp.), doi: 10.1115/1.4025183.  
  49. Zhang, X.4, Nelson, C. A., Oleynikov, D.  (2012)  “Usability Assessment of Two Different Control Modes for the Master Console of a Laparoscopic Surgical Robot,” Journal of Healthcare Engineering 3(1): 105-123.  
  50. Kaushik, D., Clay, K., Hossain, S.G.M.2, Park, E., Nelson, C. A., LaGrange, C. A.  (2012)  “Effect of Robotic Manipulation on Unidirectional Barbed Suture Integrity: Evaluation of Tensile Strength and Sliding Force,” Journal of Endourology 26(6): 711-715, doi:10.1089/end.2011.0521.  
  51. Nelson, C. A., Hossain, S.G.M.2, Al-okaily, A., Ong, J.  (2012)  “A Novel Vending Machine for Supplying Root Canal Tools during Surgery,” Journal of Medical Engineering and Technology 36(2): 102-116.  
  52. Nelson, C. A., Luxon, E.3, Oleynikov, D.  (2012)  “Tool Sequence Trends in Minimally Invasive Surgery: Statistical Analysis and Implications for Predictive Control of Multifunction Instruments,” Journal of Healthcare Engineering 3(2): 261-278.  
  53. Burnfield, J. M., Shu, Y., Buster, T. W., Taylor, A. P., Nelson, C. A.  (2011)  “Impact of Elliptical Trainer Ergonomic Modifications on Perceptions of Safety, Comfort, Workout and Usability by Individuals with Physical Disabilities and Chronic Conditions,” Physical Therapy 91(11): 1604-1617.  
  54. Villanueva, C., Hossain, S.G.M.2, Nelson, C. A.  (2011)  “Silicone Catheters May Be Superior to Latex Catheters in the Difficult Urethral Catheterization After Urethral Dilatation,” Journal of Endourology, 25(5): 841-844, DOI: 10.1089/end.2010.0591.  
  55. Nelson, C. A., Burnfield, J. M., Shu, Y., Buster, T. W., Taylor, A. P., Graham, A.1  (2011)  “Modified Elliptical Machine Motor-Drive Design for Assistive Gait Rehabilitation,” ASME Journal of Medical Devices, 5(2): 021001 (7 pp.), DOI: 10.1115/1.4003693.  
  56. Zhang, X.2, and Nelson, C. A.  (2011)  “Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms using Genetic Algorithms,” ASME Journal of Mechanical Design, 133(1): 011005 (11 pp.), DOI: 10.1115/1.4003138.  
  57. Zhang, X.2, and Nelson, C. A.  (2010)  “On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism,” ASME Journal of Medical Devices 4(4): 041002 (11 pp.).  
  58. Lehman, A. C., Tiwari, M. M., Shah, B. C., Farritor, S. M., Nelson, C. A., Oleynikov, D.  (2010)  “Recent Advances in the CoBRASurge Robotic Manipulator and Dexterous Miniature In Vivo Robotics for Minimally Invasive Surgery,” Journal of Mechanical Engineering Science, Part C, Proc. IMechE 224(7): 1487-1494.  
  59. Ryland, K.1, Nelson, C. A., Hejkal, T.  (2010)  “An Infant Surgical Table for Laser Photocoagulation: Ergonomic Improvement Analysis,” Journal of Medical Engineering and Technology 34(2): 124-133.  
  60. Nelson, C. A., Zhang, X.2, Shah, B. C., Goede, M. R., Oleynikov, D.  (2010)  “Multipurpose Surgical Robot as a Laparoscope Assistant,” Surgical Endoscopy 24(7): 1528-1532.  
  61. Miller, D. J.2, Nelson, C. A., Cannon, M. B., Cannon, K.  (2009)  “Comparison of Fuzzy Clustering Methods and Their Applications to Geophysics Data,” Applied Computational Intelligence and Soft Computing 2009, Article ID 876361, 16 pages, doi:10.1155/2009/876361.  
  62. Nelson, C. A., Zhang, X.2, Buettner, S., Oleynikov, D.  (2009)  “Tool Guidance using a Compact Robotic Assistant,” Journal of Robotic Surgery 3(3): 171-173.  
  63. Miller, D. J.2, Nelson, C. A., and Oleynikov, D.  (2009)  “Shortened OR Time and Decreased Patient Risk Through Use of a Modular Surgical Instrument with Artificial Intelligence,” Surgical Endoscopy 23(5): 1099-1105.  
  64. Ryland, K.1, Nelson, C. A., and Hejkal, T.  (2008)  “An Infant Surgical Table for Laser Photocoagulation: Design and Development,” ASME Journal of Medical Devices 2(3): 031003 (8 pp.). 
  65. Miller, D. J.2, Luxon, E.3, and Nelson, C. A.  (2008)  “Intelligent Modular Tool for Emergency Surgical Treatment During Payload-Critical Missions,” Transactions of the Nebraska Academy of Sciences 31: 69-76.  
  66. Zhang, X.2, Nelson, C. A.  (2008)  “Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation,” ASME Journal of Medical Devices 2(2): 021003 (8 pp.).  
  67. Miller, D. J.2, Nelson, C. A.  (2008)  “Novel Mechanical Actuation of a Modular Laparoscopic Surgical Tool,” ASME Journal of Medical Devices 2(3): 031002 (8 pp.).  
  68. Miller, D. J.2, Nelson, C. A., Oleynikov, D., and Jones, D. D.  (2008)  “Pre-Operative Ordering of Minimally Invasive Surgical Tools: A Fuzzy Inference System Approach,” Artificial Intelligence in Medicine 43(1): 35-45.  
  69. Nelson, C. A., Cipra, R. J.  (2005)  “Similarity and Equivalence of Nutating Mechanisms to Bevel Epicyclic Gear Trains for Modeling and Analysis,” ASME Journal of Mechanical Design 127(2): 269-277.  
  70. Nelson, C. A., Cipra, R. J.  (2005)  “Simplified Kinematic Analysis of Bevel Epicyclic Gear Trains with Application to Power Flow and Efficiency Analyses,” ASME Journal of Mechanical Design 127(2): 278-286. 

 

Books and Book Chapters

  1. Nelson, C. A. (2012)  “Generating transferable skills in STEM through educational robotics,” chapter in Robotics in K-12 Education (Barker et al., eds.), IGI Global.
  2. Nelson, C. A.  (2013)  A Primer on Engineering Design of Biomedical Devices, text for Biomedical Device Design course, 1st edition published Jan. 2010 (Lulu), 2nd edition published Jan. 2013.
  3. Barker, B., Nugent, G., Grandgenett, N., Melander, J., Nelson, C. A., & Leduc-Mills, B. (2016) “Developing an Elementary Engineering Education Program through Problem-Based Wearable Technologies Activities,” In Handbook of Research on Wearable and Mobile Technologies in Education. Hershey, PA, IGI Global.

 

Conference Proceedings: Peer reviewed abstract and/or peer reviewed paper

  1. Ang, H. W.1, Nelson, C. A. (2024) “Modeling of a Reconfigurable Cable-Driven Parallel Robot Under Low Gravity,” ASME International Design Engineering Technical Conferences (IDETC 2024), August 25-28, 2024, Washington, DC, paper no. IDETC2024-143628.

  2. Zwiener, B.1, Nelson, C. A. (2024) “Comparison of Several Compliant Variable-Stiffness Mechanism Designs for Industrial Applications,” ASME International Design Engineering Technical Conferences (IDETC 2024), August 25-28, 2024, Washington, DC, paper no. IDETC2024-143637.

  3. Nelson, C. A. (2024) “An Improved Mechanism for Rotational Variable Stiffness,” 6th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2024), June 27-29, 2024, Timişoara, Romania.

  4. Nelson, V.1, Ang, H. W.1, Thengvall, S.3, Nelson, C. A., Li, H., Suh, I., Siu, K.-C. (2024) “Improved Portable Instrument Tracking System for Surgical Training,” Design of Medical Devices Conference, April 8-10, 2024, Minneapolis, MN, paper no. DMD2024-1077.

  5. Scholnik, L.3, Nelson, C. A. (2024) “A Modular Articulated Instrument for Manual Laparoscopic Manipulation,” Design of Medical Devices Conference, April 8-10, 2024, Minneapolis, MN, paper no. DMD2024-1043.

  6. Swerczek, N.1, Kullmann, P.3, Nelson, C. A., Carlson, M. A. (2024) “User-centered Design Enhancements for Minimally Invasive Stapler-Cutter Instruments,” Design of Medical Devices Conference, April 8-10, 2024, Minneapolis, MN, paper no. DMD2024-1063.

  7. Scholnik, L.3, Nelson, C. A., Christensen, J. (2024) “Robotic Ultrasound for Remote Diagnostics: Design and Prototyping,” Design of Medical Devices Conference, April 8-10, 2024, Minneapolis, MN, paper no. DMD2024-1048.

  8. Jensen, S., Leiting, M., Romero, B.-D., Wester, N., Runge, H. J., Nelson, C. A., Siu, K.-C. (2024) “Validation of the Intu-VR-vention Program for Enhancing Medical Training through Virtual Reality (VR) Storyboard Integration for Intubation,” Design of Medical Devices Conference, April 8-10, 2024, Minneapolis, MN, paper no. DMD2024-1078.

  9. Suh, I. H., Li, H., De, S., Oleynikov, D., Nelson, C., Siu, K.-C. (2024) “Attaining the Critical View of Safety in Laparoscopic Cholecystectomy Using Adaptive Visual Feedback in Virtual Reality Training System,” SAGES Annual Meeting, April 17-20, 2024, Cleveland, OH (abstract and poster presentation).

  10. Nelson, C. A. (2023) “A Novel Mechanism for Rotational Variable Stiffness,” 16th IFToMM World Congress, November 5-10, 2023, Tokyo, Japan.

  11. Swerczek, N.1, Nelson, C. A., Cerny, J.3, Tannehill, A.3 (2023) “Sea-Leg: A Wheel-Leg Hybrid Locomotion Platform for Uncontrolled Environments Using Series Elastic Actuators,” ASME International Design Engineering Technical Conferences (IDETC 2023), August 20-23, 2023, Boston, MA, paper no. IDETC2023-116769.

  12. Nelson, C. A., Swerczek, N.1, Tannehill, A.3 (2023) “A Variable-Stiffness Link for Safe Robot Interactions,” ASME International Design Engineering Technical Conferences (IDETC 2023), August 20-23, 2023, Boston, MA, paper no. IDETC2023-114980.

  13. Nelson, C. A., Nouaille, L., Poisson, G. (2023) “Stiffness Performance Analysis of a Delta Robot with Variable-Stiffness Joints,” 6th IFToMM International Conference on Mechanisms, Transmissions, and Applications (MeTrApp 2023), Poitiers, France, May 24-26, 2023.

  14. Swerczek, N.1, Nelson, C. A., Carlson, M. A. (2023) “Articulated Surgical Stapler with Improved Range of Motion for Minimally Invasive Colorectal Surgery,” Design of Medical Devices Conference, April 17-20, 2023, Minneapolis, MN, paper no. DMD2023-5056.

  15. Suh, I. H., Li, H., De, S., Oleynikov, D., Nelson, C., Siu, K.-C. (2023) “Development of a Portable Simulation Trainer to Enhance Surgical Skill Acquisitions for Avoiding Bile Duct Injury in Laparoscopic Cholecystectomy,” SAGES Annual Meeting, March 29-April 1, 2023, Montréal, Québec, Canada (abstract and poster presentation).

  16. Pusnik, Z.1, Nelson, C. A., Hunt, N. (2022) “Biomechanics and Simulations of Squirrels’ Branch Landing Dynamics,” North American Congress on Biomechanics, August 21-25, 2022, Ottawa, Ontario, Canada, Abstract ID #139171.

  17. Nelson, C. A. (2022) “Design and Modeling of a Robot for De-Icing Overhead Power Lines,” ASME International Design Engineering Technical Conferences (IDETC 2022), August 14-17, 2022, St. Louis, MO, paper no. DETC2022-89554.

  18. Chae, J. S.2, Nelson, C. A., Baca, J., Mukherjee, M. (2022) “Design, Kinematics, and Control of a Modular Robotic Suit as an Exercise System to Prevent Muscle Atrophy of Astronauts During Long-Duration Space Missions,” ASME International Design Engineering Technical Conferences (IDETC 2022), August 14-17, 2022, St. Louis, MO, paper no. DETC2022-91274.

  19. Bomze, M.3, Nelson, C. (2022)  “Experimental Validation and Design Refinement of a Disposable, Articulated Surgical Instrument,” Design of Medical Devices Conference, April 12-14, 2022, Minneapolis, MN, paper no. DMD2022-1011.

  20. Bomze, M.3, Nelson, C. (2021)  “Experimental Validation of Material for Disposable, Articulated Surgical Instrument,” 2021 BMES Annual Meeting, Oct. 6-9, 2021, Orlando, FL, abstract and podium presentation.
  21. Pusnik, Z.1, Nelson, C. A., Burnfield, J. M., Buster, T. W. (2021)  “Kinematic Synthesis of Gait Correction for a Rehabilitation Machine,” ASME International Design Engineering Technical Conferences (IDETC 2021), August 17-20, 2021, online, paper no. IDETC2021-68538.
  22. Nelson, C. A (2021)  “A Reconfigurable Underactuated Grasper with In-Hand Manipulation,” 5th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2021), Poitiers, France, June 23-25, 2021, winner of best research paper award.
  23. Nelson, C. A (2021)  “A Cable-Robot System for Promoting Healthy Postural Stability and Lower-Limb Biomechanics in Gait Rehabilitation,” Seventh International Workshop on Medical and Service Robots (MESROB 2021), Basel, Switzerland, June 7-9, 2021.
  24. Nelson, C. A. (2021)  “Kirigami-Based Disposable Laparoscopic Instruments Under Direct Surgeon Control,” Design of Medical Devices Conference, April 13-15, 2021, Minneapolis, MN, paper no. DMD2021-1010.
  25. Nelson, C. A. (2020)  “Preliminary Design and Modeling of a Robot for Pipe Navigation with a Novel Wheel-Leg Architecture,” 23rd CISM IFToMM Symposium on Robot Design, Dynamics and Control (ROMANSY 2020), September 20-24, 2020, Sapporo, Japan
  26. Jensen, N. A.1, Nelson, C. A. (2020)  “Kinematics, Workspace Optimization, and Performance Evaluation of a 3-Leg 6-DOF Robot in RRRS Configuration,” ASME International Design Engineering Technical Conferences (IDETC 2020), August 16-19, 2020, St. Louis, MO, paper no. IDETC2020-22098.

  27. Nelson, C. A. (2020) “OrigamiBoat: An Application of Thick Rigid Flat-folding Origami to Portable Watercraft,” 2020 USCToMM Symposium on Mechanical Systems and Robotics, May 14-16, 2020, Rapid City, SD (Mechanism and Machine Science vol. 83, Springer).

  28. Cheng, P. H.3, Nelson, C. A., Wolfe, J. (2020) “Towards Manufacturing Scale-Up of Air Retention Device for Colonoscopy,” Design of Medical Devices Conference, April 6-9, 2020, Minneapolis, MN, paper no. DMD2020-9022.

  29. Lowery, J.3, Nelson, C. A. (2020) “Design of a Modular Cost-Effective Robot Arm for Increased Dexterity in Laparoscopic Surgery,” Design of Medical Devices Conference, April 6-9, 2020, Minneapolis, MN, paper no. DMD2020-9010.

  30. Yap, T. Y.1, Nelson, C. A., Ghate, D., Gulati, V., Fan, S., Kedar, S., Gagrani, M., Hahn, A., Minden, B., Moorhous, L., Fowler, Z., Khazanchi, D. (2020) “Design of a Portable Venomanometer System for Episcleral Venous Pressure Measurement,” Design of Medical Devices Conference, April 6-9, 2020, Minneapolis, MN, paper no. DMD2020-9021.

  31. Dasgupta, P., Mishra, A., Nelson, C., Burnfield, J. (2019)  “Towards Intelligent Semi-Autonomous Control of a Modular Robot for Human Mobility Assistance,” 2019 Do Good Robotics Symposium (DGRS'19), October 3-4, 2019, College Park, MD.
  32. Nelson, C. A., Nouaille, L., Poisson, G. (2019)  “Variable Stiffness Mechanism for Robotic Rehabilitation,” 2019 IFToMM World Congress, June 30-July 4, 2019, Kraków, Poland.
  33. Nelson, C. A., Dempsey, C. A.3, Brush, E. R.3, Laribi, M. A. (2019)  “Improved Surgical Robot Design using a Novel Compliant Rolling-Contact Joint,” ASME International Design Engineering Technical Conferences (IDETC 2019), August 18-21, 2019, Anaheim, CA, paper no. IDETC2019-97981.
  34. Nelson, C. A., Bruckner, M. A.1, Chae, J. S.2, Burnfield, J. M., Buster, T. W., Cesar, G. M., Pfeifer, C. M., Dasgupta, P. (2019)  “Design and Kinematics of a Modular Robot for Assistive Tasks for the Disabled,” ASME International Design Engineering Technical Conferences (IDETC 2019), August 18-21, 2019, Anaheim, CA, paper no. IDETC2019-98011.
  35. Steingrimsson, B., Phan, B., Nelson, C., Frederick, T., Yi, S. (2019)  “Evaluation of Ecosystem for Design Assessment and Verification by BAJA Dynamometer Capstone Team at the University of Nebraska,” 2019 SAE World Congress, April 9-11, 2019, Detroit, MI, paper no. 2019-01-0812.
  36. Nelson, C. A., Bruckner, M. A.1, Chae, J. S.2, Burnfield, J. M., Buster, T. W., Cesar, G. M., Pfeifer, C. M., Dasgupta, P. (2019)  “Modular Self-Reconfigurable Robot for Autonomous Rehabilitation Assistance in Daily Living Tasks for Spinal Cord Injury Patients,” Design of Medical Devices Conference, April 16-18, 2019, Minneapolis, MN, paper no. DMD2019-3240.
  37. Kizghin, D.1, Nelson, C. A. (2019)  “Optimal Design of a Parallel Robot for Dental Articulation,” Design of Medical Devices Conference, April 16-18, 2019, Minneapolis, MN, paper no. DMD2019-3209.

  38. Nelson, C. A. (2018) “A Modular Cable-Driven Surgical Robot with a Safe Joint Design,” 4th IFToMM Symposium on Mechanism Design for Robotics (MEDER 2018), Udine, Italy, Sept. 11-13, 2018.

  39. Brush, E. R.3, Nelson, C. A. (2018) “A Positively-Engaged Infinitely Variable Transmission Using Split Helical Gears,” in Proceedings of the ASME International Design Engineering Technical Conferences (IDETC 2018), Aug. 26-29, Quebec City, Canada, ASME Paper No. DETC2018-85260.

  40. Jensen, N. A.3, Nelson, C. A. (2018) “Prototyping and Validation of a Fixed-Actuator 3-Leg 6-DOF Robot,” in Proceedings of the ASME International Design Engineering Technical Conferences (IDETC 2018), Aug. 26-29, Quebec City, Canada, ASME Paper No. DETC2018-85261.

  41. Nelson, C. A. (2018) “A Bistable Underactuated Finger with Reconfigurable Grasping Modes,” 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR), Delft, The Netherlands, June 20-22, 2018.

  42. Craig, T. L.1, Nelson, C. A., Fan, S., Gulati, V., Kedar, S., Ghate, D. (2018) “Design of an Automated Measurement System for Episcleral Venous Pressure,” Design of Medical Devices Conference, April 10-12, 2018, Minneapolis, MN, paper no. DMD2018-6819.

  43. Elley, C.1, Nelson, C. A. (2018) “A Passive Two-degree-of-freedom Ankle-foot Prosthesis,” Design of Medical Devices Conference, April 10-12, 2018, Minneapolis, MN, paper no. DMD2018-6820.

  44. Nelson, N.3, Nelson, C. A. (2018) “Design of a Modular, Partially Disposable Robot for Minimally Invasive Surgery,” Design of Medical Devices Conference, April 10-12, 2018, Minneapolis, MN, paper no. DMD2018-6821.

  45. Dutta, A., Dasgupta, P., Nelson, C. (2017) “Adaptive Locomotion Learning in Modular Self-reconfigurable Robots: A Game Theoretic Approach,” IEEE 2017 International Conference on Intelligent Robots and Systems (IROS), Vancouver, BC, Canada.
  46. Nelson, C. A. (2017) “A Fixed-Actuator Configuration for 3-Leg 6-DOF Robots,” in Proceedings of the ASME International Design Engineering Technical Conferences (IDETC 2017), Aug. 6-9, 2017, Cleveland, OH, USA, ASME Paper No. IDETC2017-67768.
  47. Nelson, C. A. (2017)  “On Improving Stiffness of Cable Robots,” 3rd International Conference on Cable-Driven Parallel Robots (CableCon2017), Aug. 2-4, 2017, Québec City, Canada.

  48. Nelson, C., Laribi, M. A., Zeghloul, S. (2017) “Optimization of a Redundant Serial Spherical Mechanism for Robotic Minimally Invasive Surgery,” 7th International Workshop on Computational Kinematics (CK2017), May 22-24, 2017, Poitiers, France.

  49. Nelson, C., Bashford, G. (2017) “UNL Summer REU Program in Biomedical Devices,” ASEE Annual Conference, Columbus, OH, June 25-28, 2017.

  50. Nelson, C., Burnfield, J. M., Gu, L., Wagler, A., Dick, W. E. (2017) “Mechanical Engineering Capstone Projects in Rehabilitation Design,” ASEE Annual Conference, Columbus, OH, June 25-28, 2017.

  51. Tong, J., Villanueva, C., Nelson, C., Gu, L. (2017)  “Ureterovesical Junction Competence Depends on Ureteral Orifice More than Intravesical Tunnel Length,” Design of Medical Devices Conference, April 11-13, 2017, Minneapolis, MN, paper no. DMD2017-3450
  52. Shen, T.2, Nelson, C., Oleynikov, D. (2017) “A Pan/Tilt Surgical Camera with Parallel Structure and Elastic Platform,” Design of Medical Devices Conference, April 11-13, 2017, Minneapolis, MN, paper no. DMD2017-3327.
  53. Fischer, S.3, Shen, T.2, Nelson, C., Oleynikov, D. (2017) “Design of an Adjustable Table Mount for Multifunctional NOTES Robot,” Design of Medical Devices Conference, April 11-13, 2017, Minneapolis, MN, paper no. DMD2017-3329 (selected for oral presentation).
  54. Woosley, B., Dasgupta, P., Dehghani, H., Welch, C. R.1, Baca, J., Nelson, C., Terry, B., Oleynikov, D. (2017) “Towards Tracking a Semi-autonomous, Pneumatic Colonoscope Robot,” Proceedings of the 1st Latin American Congress on Automation and Robotics, Panama City, Panama, Feb. 8-10, 2017.
  55. Dutta, A., Dasgupta, P., Nelson, C. A. (2016)  “Distributed Adaptive Locomotion Learning in ModRED Modular Self-Reconfigurable Robot,” 13th International Symposium on Distributed Autonomous Robotic Systems 2016 (DARS2016).
  56. Nelson, C. A., Thienpont, R.1, Shinde, A.1 (2016)  “Planar Pose-Independent Counterweighting of Cable-Suspended Payloads with Application to Rehabilitation,” 6th European Conference on Mechanism Science (EUCOMES 2016), Nantes, France, Sept. 20-23, 2016.
  57. Hossain, K. M.1, Nelson, C. A., Dasgupta, P., Baca, J. (2016)  “Modular Robot Task Functionality Driven by Hybrid Automata,” in Proceedings of the 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Auckland, New Zealand, Aug. 29-31, 2016.
  58. Craig, T. L.1, Nelson, C. A., Li, S., Zhang, X. (2016)  “Human Gaze Commands Classification: A Shape Based Approach to Interfacing with Robots,” in Proceedings of the 12th IEEE/ASME International Conference on Mechatronic and Embedded Systems and Applications (MESA), Auckland, New Zealand, Aug. 29-31, 2016.
  59. Hossain, K. M.1, Nelson, C. A., Dasgupta, P. (2016)  “Enumeration of Configurations and their Kinematics for ModRED II Modular Robots,” in Proceedings of the ASME International Design Engineering Technical Conferences (IDETC 2016), Aug. 21-24, 2016, Charlotte, NC, USA, ASME Paper No. IDETC2016-60307.
  60. Stolle, C. J.2, Nelson, C. A., Burnfield, J. M., Buster, T. W. (2016)  “Improved Design of a Gait Rehabilitation Robot,” 5th International Workshop on Medical and Service Robots (MESROB 2016), Graz, Austria, July 4-6, 2016.
  61. Shen, T.2, Nelson, C., Oleynikov, D. (2016)  “Design and Analysis of a Bimanual Multifunctional Robot for NOTES,” Design of Medical Devices Conference, April 12-14, 2016, Minneapolis, MN, paper no. DMD2016-8308.
  62. Hawks, J., Nelson, C. A., Akbarisamani, S.1, Bashford, G. (2016)  “An Ultrasound Trainer for Astronauts,” Design of Medical Devices Conference, April 12-14, 2016, Minneapolis, MN, paper no. DMD2016-8352.
  63. Dutta, A., Dasgupta, P., Nelson, C. (2016)  “A Bottom-Up Search Algorithm for Size-Constrained Partitioning of Modules to Generate Configurations in Modular Robots,” Web Intelligence 14, 67-82, IOS Press, DOI 10.3233/WEB-160322.
  64. Nugent, G., Barker, B., Grandgenett, N., Melander, J., Nelson, C. (2015)  “Wearable Technologies to Promote STEM Learning and Attitudes,” In Proceedings of E-Learn: World Conference on E-Learning in Corporate, Government, Healthcare, and Higher Education 2015 (pp. 878-883). Chesapeake, VA: Association for the Advancement of Computing in Education (AACE).
  65. Stolle, C. J.2, Nelson, C. A., Burnfield, J. M., Buster, T. W. (2015)  “Synthesis of a Rehabilitation Mechanism Replicating Normal Gait,” 14th World Congress in Mechanism and Machine Science (IFToMM 2015 World Congress), Taipei, Taiwan, Oct. 25-30, 2015.
  66. Zhao, B.2, Nelson, C. A. (2015)  “Tool-Tissue Force Estimation for a 3-DOF Robotic Surgical Tool,” ASME IDETC 2015, Boston, MA, Aug. 2-5, 2015, ASME Paper No. DETC2015-46344.
  67. Welch, C. R.1, Akbarisamani, S.1, Detweiler, C., Nelson, C. A. (2015)  “Lightweight, Low-Cost, Compliant Grasper for UAV-Based Pick-and-Place Operations,” ASME IDETC 2015, Boston, MA, Aug. 2-5, 2015, ASME Paper No. DETC2015-47377.
  68. Nelson, C. A. (2015)  “A Software Tool for Analyzing Motions and Loading in Spatial Tensegrity Structures,” ASME IDETC 2015, Boston, MA, Aug. 2-5, 2015, ASME Paper No. DETC2015-46339.
  69. Zahiri, M.2, Nelson, C., Garay-Romero, R. G.3, Oleynikov, D. (2015)  “Integration of Automated Camera Steering for Robotic Single-Site Surgery,” 4th IFToMM International Symposium on Robotics and Mechatronics (ISRM), June 23-25, 2015, Poitiers, France.
  70. Nelson, C. A. (2015)  “A Modular Shape-Adaptive Mechanism for Robust Robotic Grasping,” 3rd IFToMM Symposium on Mechanism Design for Robotics, Aalborg, Denmark, June 2-4, 2015.
  71. Dutta, A., Dasgupta, P., Baca, J., Nelson, C. (2015)  “Spanning Tree Partitioning Approach for Configuration Generation in Modular Robots,” 28th International FLAIRS Conference, Hollywood, FL, May 18-20, 2015.
  72. Baca, J., Woosley, B., Dasgupta, P., Nelson, C. (2015)  “Real-Time Distributed Configuration Discovery of Modular Self-reconfigurable Robots,” 2015 IEEE International Conference on Robotics and Automation (ICRA 2015), pp. 1919-1924, Seattle, WA, May 26-30, 2015.
  73. Nelson, C. A., Jones, M. B. (2015)  “Improving Colonoscopy through Automation of Biopsy Tool Motion,” Design of Medical Devices Conference, April 13-16, 2015, Minneapolis, MN, paper no. DMD2015-8649.
  74. Nelson, C. A., Sayago Capielo, M. F.3, McEniry, M.3 (2015)  “Experimental Validation of an Air Retention Device for Colonoscopy,” Design of Medical Devices Conference, April 13-16, 2015, Minneapolis, MN, paper no. DMD2015-8650.
  75. Zhao, B.2, Nelson, C. A. (2015)  “Sensorless Force Estimation for a 3-DOF Motorized Surgical Grasper,” Design of Medical Devices Conference, April 13-16, 2015, Minneapolis, MN, paper no. DMD2015-8654, selected for oral presentation and Emerging Medical Innovation Valuation Competition session.
  76. Shen, T.2, Akbarisamani, S.1, Nelson, C. A., Oleynikov, D. (2015)  “Preliminary Validation Testing of a Multifunctional NOTES Robot,” Design of Medical Devices Conference, April 13-16, 2015, Minneapolis, MN, paper no. DMD2015-8656.
  77. Huang, C.-K., Zahiri, M.2, Nelson, C. A., Booton, R., Siu, K.-C. (2015)  “Outcomes of Muscle Effort Using a Novel Portable Laparoscopic Training System,” Design of Medical Devices Conference, April 13-16, 2015, Minneapolis, MN, paper no. DMD2015-8657.
  78. Baca, J., Woosley, B., Dasgupta, P., Dutta, A., and Nelson, C. (2014)  “Coordination of Modular Robots by means of Topology Discovery and Leader Election: Improvement of the Locomotion Case,” 12th International Symposium on Distributed Autonomous Robotics Systems (DARS 2014).
  79. Baca, J., Woosley, B., Dasgupta, P., Dutta, A., Nelson, C. (2014)  “Coordination of Modular Robots Based on Topology Discovery and Leader Election Strategies,” IROS Workshop on Modular and Swarm Systems, September 2014.
  80. Hossain, S. G. M.2, Nelson, C. A., Dasgupta, P. (2014)  “Locomotion Gaits and Configurations using ModRED and ModRED II Modular Robots,” IROS Workshop on Modular and Swarm Systems, September 2014.
  81. Shen, T.2, Nelson, C. A., Warburton, K.3, Oleynikov, D. (2014)  “Design and Analysis of a Novel Articulated Drive Mechanism for Multifunctional NOTES Robot,” ASME IDETC 2014, Buffalo, NY, Aug. 17-20, 2014, ASME Paper No. DETC2014-34369.
  82. Reher, J.3, Yule, J.3, Fritz, E.3, Wheeler, M.3, Nelson, C. A., Dungan, L. K. (2014)  “Closed-Loop Control and Release Mechanism Development for Microgravity Free Flyer,” ASME IDETC 2014, Buffalo, NY, Aug. 17-20, 2014, ASME Paper No. DETC2014-34286.
  83. Nelson, C. A. (2014)  “A Software Tool for Simulating Motions and Loading in Planar Tensegrity Structures,” ASME IDETC 2014, Buffalo, NY, Aug. 17-20, 2014, ASME Paper No. DETC2014-34314.
  84. Nelson, C. A. (2014)  “Recent Experience in ‘Flipping’ the Kinematics Classroom,” ASME IDETC 2014, Buffalo, NY, Aug. 17-20, 2014, ASME Paper No. DETC2014-34319.
  85. Nelson, C. A. (2014)  “Fuzzy Logic Control for Gaze-Guided Personal Assistance Robots,” INTELLI 2014, The Third International Conference on Intelligent Systems and Applications, Seville, Spain, June 22-26, 2014 – Best Paper Award.
  86. Zhao, B.2, Nelson, C. A. (2014)  “A Cable-driven Grasper with Decoupled Motion and Forces,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3563.
  87. Shen, T.2, Warburton, K.3, Pourghodrat, A.2, Nelson, C. A., Oleynikov, D. (2014)  “A novel articulated drive mechanism for multifunctional NOTES robot,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3562.
  88. Pourghodrat, A.2, Nelson, C. A., Oleynikov, D. (2014)  “Miniature Fluidic Actuators for Surgical Robotics,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3543.
  89. Pourghodrat, A.2, Nelson, C. A., Oleynikov, D. (2014)  “Electro-Hydraulic Robotic Manipulator with Multiple Instruments for Minimally Invasive Surgery,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3542.
  90. Zahiri, M.2, Booton, R., Nelson, C. A., Siu, K.-C. (2014)  “Tool Tracking in a Laparoscopic Virtual Reality Training System,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3612.
  91. Pourghodrat, A.2, Dehghani, H., Nelson, C. A., Oleynikov, D., Dasgupta, P., Terry, B. S. (2014)  “Disposable Fluidic Self-Propelling Robot for Colonoscopy,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3624.
  92. McEniry, M. R.3, Nelson, C. A., Oborny, R. D.3, Glett, L. C.3, Wolfe, J. (2014)  “Air Retention Device for Colonoscopy Procedures,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3564.
  93. Nelson, C. A., Burnfield, J. M., Gu, L., Ems, H.3, Ens, Q.3 (2014)  “Forearm Attachment for Post-Amputation Weight Lifting Exercise,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3566.
  94. Nelson, C. A., Burnfield, J. M., Gu, L. (2014)  “Mobility-Enhancing Fall-Prevention Device for Physical Rehabilitation,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3565.
  95. Zhao, S., Fullerton, M., Nelson, C., Gu, L. (2014)  “Influence of Stretch Ratio on the Measurement of Arterial Stiffness Using Indentation,” Design of Medical Devices Conference, April 7-10, 2014, Minneapolis, MN, paper no. DMD2014-3557.
  96. Huang, C.-K., Head, M.1, Nelson, C. A., Oleynikov, D., Siu, K.-C. (2014)  “Virtual Laparoscopic Surgical Skills Practice Using a Multi-Degree of Freedom Joystick,” Medicine Meets Virtual Reality 21, February 19-22, 2014, Manhattan Beach, CA.
  97. Dutta, A., Dasgupta, P., Baca, J., Nelson, C. A. (2013)  “Towards Autonomously Predicting and Learning a Robot’s Efficiency in Performing Tasks,” WI-IAT Workshop on Sensing, Perceiving, and Understanding Actions, Nov. 17-20, 2013, Atlanta, GA.
  98. Baca, J., Dasgupta, P., Hossain, S.G.M.2, Nelson, C. A. (2013)  “Modular Robot Locomotion Based on a Distributed Fuzzy Controller: The Combination of ModRED's Basic Module Motions,” IEEE IROS 2013, Nov. 6, 2013, Tokyo, Japan.
  99. Dutta, A., Dasgupta, P., Baca, J., Nelson, C. A. (2013)  “A Block Partitioning Algorithm for Modular Robot Reconfiguration under Uncertainty,” IEEE European Conference on Mobile Robots, Sept. 25-27, 2013, Barcelona, Spain.
  100. Essomba, T., Nouaille, L., Laribi, M. A., Nelson, C. A., Zeghloul, S., Poisson, G. (2013)  “Spherical wrist dimensional synthesis adapted for tool-guidance medical robots,” 21ème Congrès Français de Mécanique, Aug. 26-30, 2013, Bordeaux, France.
  101. Drouin, C., Pourghodrat, A.2, Nelson, C. A., Miossec, S., Poisson, G. (2013)  “Dimensional Optimization of a Two-Arm Robot for Single-Site Surgery Operations,” ASME IDETC 2013, Portland, OR, Aug. 4-7, 2013, ASME Paper No. DETC2013-12918.
  102. Hossain, S.G.M.2, Nelson, C. A., Dasgupta, P. (2013)  “RoGenSiD – A Rotary-plate Genderless Single-sided Docking Mechanism for Modular Self-reconfigurable Robots,” ASME IDETC 2013, Portland, OR, Aug. 4-7, 2013, ASME Paper No. DETC2013-12938.
  103. Nelson, C. A., Dessauw, E. 1, Saiter, J.-M., Benzohra, M. (2013)  “Design of a Compliant Underactuated Robotic Finger with Coordinated Stiffness,” ASME IDETC 2013, Portland, OR, Aug. 4-7, 2013, ASME Paper No. DETC2013-13358.
  104. Nelson, C. A. (2013)  “Using Geared Cardanic Motion to Generate Metamorphic Linkages,” ASME IDETC 2013, Portland, OR, Aug. 4-7, 2013, ASME Paper No. DETC2013-13384.
  105. Zhao, B.2, Nelson, C. A. (2013)  “Decoupled Cable-driven Grasper Design Based on Planetary Gear Theory,” ASME DMD 2013, Minneapolis, MN, Apr. 8-11, 2013, ASME Paper No. DMD2013-1759.
  106. Ostdiek, J.3, Nelson, C. A. (2013)  “Compliant Device for Abdominal Wall Lifting in Gasless Laparoscopy,” ASME DMD 2013, Minneapolis, MN, Apr. 8-11, 2013, ASME Paper No. DMD2013-1755.
  107. Zahiri, M.2, Nelson, C. A., Siu, K. C. (2013)  “Portable Laparoscopic Training System using Virtual Reality,” ASME DMD 2013, Minneapolis, MN, Apr. 8-11, 2013, ASME Paper No. DMD2013-1760.
  108. Goyzueta, A. 1, Nelson, C. A., Woodin, B.3, Gu, L. (2013)  “Experimental Analysis of Jaw-Tissue Interaction Forces using a Compliant Surgical Grasper,” ASME DMD 2013, Minneapolis, MN, Apr. 8-11, 2013, ASME Paper No. DMD2013-1758.
  109. Nguyen, N. T.1, Benzohra, M., Nelson, C. A., Saiter, J.-M. (2013)  “Conductivity Testing System for Determining Surface Properties of Biomaterials under Load,” ASME DMD 2013, Minneapolis, MN, Apr. 8-11, 2013, ASME Paper No. DMD2013-1768.
  110. Dasgupta, P., Ufimtsev, V., Nelson, C. A., Hossain, S.G.M.2 (2012)  “Dynamic Reconfiguration in Modular Robots using Graph Partitioning-based Coalitions,” 11th International Conference on Autonomous Agents and Multi-agent Systems (AAMAS 2012), Valencia, Spain, June 4-8, 2012.
  111. Dasgupta, P., Dutta, A., Baca, J., Nelson, C. A. (2012)  “A Fast Coalition Structure Search Algorithm for Modular Robot Reconfiguration Planning under Uncertainty,” Distributed Autonomous Robotic Systems 2012 (DARS 2012), Baltimore, MD.
  112. Nelson, C. A., Burnfield, J. M. (2012)  “Improved Elliptical Trainer Biomechanics Using a Modified Cardan Gear,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-70439.
  113. Nelson, C. A. (2012)  “Self-Adaptive Underactuated Hybrid Rolling/Walking Locomotion,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-71394.
  114. Pourghodrat, A.1, Nelson, C. A. (2012)  “A System for Generating Electricity Using the Passage of Train Wheels for Improving Railroad Track Safety,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-70449.
  115. Pourghodrat, A.2, Nelson, C. A., Midday, J.1 (2012)  “Pneumatic Miniature Robot for Laparoendoscopic Single Incision Surgery,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-70454.
  116. Padilla, C. A.3, Nelson, C. A. (2012)  “Motion Generation Using Combinations of Peaucellier Straight-Line Mechanisms,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-70441.
  117. Zhang, X., Nelson, C. A., Li, S., Ridley, R., Rukstalis, D. (2012)  “A Novel Low Cost Robot for Skill Training in Minimally Invasive Surgery,” ASME IDETC 2012, Chicago, IL, Aug. 12-15, 2012, ASME Paper No. DETC2012-71149.
  118. Hossain, S.G.M.2, Nelson, C. A., Dasgupta, P. (2012)  “Hardware Design and Testing of ModRED: A Modular Self-reconfigurable Robot System,” 2nd ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots (ReMAR), Tianjin, China, July 9-11, 2012.
  119. Reagan, C.3, Nelson, C. A., Gu, L. (2012)  “Kinematic Control of Biaxial Tissue Testing Apparatus,” ASME DMD 2012, Minneapolis, MN, Apr. 10-12, 2012, ASME Paper No. DMD2012-6858.
  120. Goyzueta, A.1, Nelson, C. A. (2012)  “Design of an Atraumatic Compliant Surgical Grasper,” ASME DMD 2012, Minneapolis, MN, Apr. 10-12, 2012, ASME Paper No. DMD2012-6860, selected for “3-in-5” competition for its commercialization potential.
  121. Ostdiek, J.3, Nelson, C. A. (2012)  “Mechanical Abdominal Wall Lifting Device for Laparoscopic Surgery,” ASME DMD 2012, Minneapolis, MN, Apr. 10-12, 2012, ASME Paper No. DMD2012-6861.
  122. Midday, J.1, Nelson, C. A., Oleynikov, D. (2012)  “Material Handling System for Robotic NOTES: Open Loop Control & In Vivo Results,” ASME DMD 2012, Minneapolis, MN, Apr. 10-12, 2012, ASME Paper No. DMD2012-6806.
  123. Head, M.1, Nelson, C. A., Siu, K.C. (2012)  “Modular Joystick Design for VR Surgical Skills Training,” ASME DMD 2012, Minneapolis, MN, Apr. 10-12, 2012, ASME Paper No. DMD2012-6869.
  124. Nelson, C. A., Pourghodrat, A.1, Fateh, M. (2011)  “Energy Harvesting from Vertical Deflection of Railroad Track using a Hydraulic System for Improving Railroad Track Safety,” ASME IMECE 2011, Denver, CO, Nov. 11-17, 2011, ASME Paper No. IMECE2011-63906.
  125. Chin, W. J.1, Nelson, C. A., Seow, C. M.1 (2011)  “Articulated Mechanism Design and Kinematics for Natural Orifice Translumenal Endoscopic Surgery Robot,” ASME IMECE 2011, Denver, CO, Nov. 11-17, 2011, ASME Paper No. IMECE2011-62572.
  126. Nelson, C. A. (2011)  “Concurrent Type and Dimensional Synthesis of Planar Mechanisms using Graph-Theoretic Enumeration, Automatic Loop Closure Equation Generation, and Descent-Based Optimization,” ASME IMECE 2011, Denver, CO, Nov. 11-17, 2011, ASME Paper No. IMECE2011-64055.
  127. Ramaekers, Z., Dasgupta, P., Ufimtsev, V., Hossain, S.G.M.2, Nelson, C. A. (2011)  “Self-Reconfiguration in Modular Robots using Coalition Games with Uncertainty,” AAAI 2011 Workshop on Automated Action Planning for Autonomous Mobile Robots (PAMR), San Francisco, CA, Aug. 7, 2011.
  128. Wood, E.3, Nelson, C. A., Koch, A.3 (2011)  “Improved Robotic Control Using an Adaptive Two-Input Single-Output Coarse/Fine Approach,” ASME IDETC 2011, Washington, DC, Aug. 28-31, 2011, ASME Paper No. DETC2011-47881.
  129. Chu, K.3, Hossain, S.G.M.2, Nelson, C. A. (2011)  “Design of a Four-DOF Modular Self-Reconfigurable Robot with Novel Gaits,” ASME IDETC 2011, Washington, DC, Aug. 28-31, 2011, ASME Paper No. DETC2011-47746.
  130. Seow, C. M.1, Chin, W. J.1, Nelson, C. A. (2011)  “Robot Kinematic Design Studies for Natural Orifice Surgery,” ASME IDETC 2011, Washington, DC, Aug. 28-31, 2011, ASME Paper No. DETC2011-47961.
  131. Pourghodrat, A.1, Nelson, C. A. (2011)  “A Case Study of Designing a Cam-Follower Mechanism with Cycloidal Motion,” IFToMM 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 19-23, 2011, paper A11-518.
  132. Midday, J.1, Goyzueta, A.3, Nelson, C. A., Oleynikov, D. (2011)  “Material Handling System for Robotic Natural Orifice Surgery,” ASME DMD 2011, Minneapolis, MN, Apr. 12-14, 2011, ASME Paper No. DMD2011-5218.
  133. Head, M.3, Nelson, C. A. (2011)  “Improvements to the Design of a Compact Robot for Minimally Invasive Surgery,” ASME DMD 2011, Minneapolis, MN, Apr. 12-14, 2011, ASME Paper No. DMD2011-5249.
  134. Chin, W. J.1, Seow, C. M.1, Nelson, C. A. (2011)  “Multifunctional Articulating Surgical Robot for NOTES,” ASME DMD 2011, Minneapolis, MN, Apr. 12-14, 2011, ASME Paper No. DMD2011-5259.
  135. Phillips, K.1, Nelson, C. A., Pourghodrat, A.1, Fateh, M. (2011)  “Simulation and Control System of a Power Harvesting Device for Railroad Track Health Monitoring,” SPIE Smart Structures/NDE 2011 (Health Monitoring of Structural and Biological Systems V), San Diego, CA, Mar. 6-10, 2011, SPIE Vol. 7984, paper 7984-12.
  136. Pourghodrat, A.1, Nelson, C. A., Phillips, K.1, Fateh, M. (2011)  “Improving an Energy Harvesting Device for Railroad Safety Applications,” SPIE Smart Structures/NDE 2011 (Active and Passive Smart Structures and Integrated Systems V), San Diego, CA, Mar. 6-10, 2011, SPIE Vol. 7977, paper 7977-29.
  137. Zhang, X.4, Chin, W. J.1, Seow, C. M.1, Nakamura, A., Head, M.3, Farritor, S. M., Oleynikov, D., Nelson, C. A. (2011)  “Multifunction Robotic Platform for Natural Orifice Surgery,” Medicine Meets Virtual Reality 18, Newport Beach, CA, Feb. 8-12, 2011, IOS Press, Studies in Health Technology and Informatics, Vol. 163, pp. 740-742.
  138. Nelson, C. A., Zhang, X.2 (2010)  “Equivalent Mechanisms Techniques for Redesign of a Spherical Surgical Tool Manipulator,” ASME IDETC 2010, Montréal, Québec, Canada, Aug. 15-18, 2010, ASME Paper No. DETC2010-28367.
  139. Zhang, X.2, Nelson, C. A. (2010)  “Multiple-Criteria Kinematic Optimization for the Design of Spherical Serial Mechanisms Using Genetic Algorithms” ASME IDETC 2010, Montréal, Québec, Canada, Aug. 15-18, 2010, ASME Paper No. DETC2010-28368.
  140. Zhang, X.2, Nelson, C. A. (2010)  “On the Dynamic Modeling of a Bevel-Geared Surgical Robotic Mechanism,” ASME IDETC 2010, Montréal, Québec, Canada, Aug. 15-18, 2010, ASME Paper No. DETC2010-28371.
  141. Seow, C. M.3, Nelson, C. A. (2010)  “Online Robot Simulation for Collaborative Engineering and Education,” ASME IDETC 2010, Montréal, Québec, Canada, Aug. 15-18, 2010, ASME Paper No. DETC2010-28372.
  142. Chin, W. J.1, Nelson, C. A. (2010)  “Mechanism Designs for Natural Orifice Surgery: A Review,” ASME IDETC 2010, Montréal, Québec, Canada, Aug. 15-18, 2010, ASME Paper No. DETC2010-28908.
  143. Shu, Y., Buster, T. W., Taylor, A., Keenan, S., Nelson, C. A., Burnfield, J. M. (2010)  “Ergonomic Redesign of Elliptical Trainer to Promote Greater Safety, Comfort and Usability,” RESNA 2010, Las Vegas, NV, June 26-30, 2010.
  144. Burnfield, J. M., Buster, T. W., Taylor, A., Keenan, S., Shu, Y., Nelson, C. A. (2010)  “Intelligently Controlled Assistive Rehabilitation Elliptical (ICARE) Training: An Analysis of Lower Extremity Electromyographic (EMG) Demands with Varying Levels of Motor Assistance,” RESNA 2010, Las Vegas, NV, June 26-30, 2010.
  145. Nelson, C. A., Zhang, X.2, Guthrie, A.3 (2010)  “Automatic Laparoscope Tracking in Minimally Invasive Surgery using Compact Robots,” CARS 2010, Geneva, Switzerland, June 23-26, 2010.
  146. Hossain, S. G. M.1, Nelson, C. A., Boulet, T., Arnoult, M., Zhang, L., Holmberg, A., Hein, J., Kleinschmit, N., Sogbesan, E.1 (2010)  “Material Modeling and Development of a Realistic Dummy Head for Testing Blast Induced Traumatic Brain Injury,” ECCM 2010, Paris, France, May 16-21, 2010.
  147. Berg, J.1, Nelson, C. A. (2010)  “Mechanical Testing Device for Viscoelastic Biomaterials,” DMD 2010, Apr. 13-15, 2010, ASME Paper No. DMD2010-3851.
  148. Hansen, S.1, Pourghodrat, A.1, Nelson, C. A., Fateh, M. (2010)  “On-Track Testing of a Power Harvesting Device for Railroad Track Health Monitoring,” SPIE Smart Structures 2010 (Health Monitoring of Structural and Biological Systems IV), San Diego, CA, Mar. 7-11, 2010, SPIE Vol. 7650, paper 7650-32.
  149. Zhang, X.2, Lehman, A., Nelson, C. A., Farritor, S. M., Oleynikov, D. (2009)  “Cooperative Robotic Assistant for Laparoscopic Surgery: CoBRASurge,” IEEE IROS 2009, Saint Louis, MO, Oct. 11-15, 2009.
  150. Nelson, C. A. (2009)  “A Compliant Straight-Line Shock Absorption Mechanism using a Viscoelastic Pseudo-Rigid Body Model,” ASME IDETC'09, San Diego, CA, Aug. 30-Sept. 2, 2009, ASME Paper No. DETC2009-86901.
  151. Siebler, S.1, Nelson, C. A., Hejkal, T. (2009)  “Design and Development of a Free-Standing 4-DOF Infant Surgical Table,” ASME IDETC'09, San Diego, CA, Aug. 30-Sept. 2, 2009, ASME Paper No. DETC2009-86790.
  152. Provorse, A. R.1, Nelson, C. A., Bashford, G. R., Burnfield, J. M., Kulig, K. (2009)  “An Under-Actuated 5-DOF Robotic Manipulator for Ultrasound Transducer Guidance using a Passive Four-Bar Linkage,” ASME IDETC'09, San Diego, CA, Aug. 30-Sept. 2, 2009, ASME Paper No. DETC2009-87479.
  153. Hansen, S.1, Nelson, C. A., Platt, S. R., Fateh, M. (2009)  “Power Harvesting for Railroad Track Safety Enhancement using Vertical Track Displacement,” SPIE Active and Passive Smart Structures and Integrated Systems 2009, San Diego, CA, Mar. 8-12, 2009, SPIE Vol. 7288, paper 728811.
  154. Zhang, X.2, Oleynikov, D., Nelson, C. A. (2009)  “Portable Tool Positioning Robot for Telesurgery,” Medicine Meets Virtual Reality 17, Long Beach, CA, Jan. 19-22, 2009, IOS Press, Studies in Health Technology and Informatics, Vol. 142, pp. 438-443.
  155. Nelson, C. A. (2008)  “Design and Dynamic Simulation of a Novel Piano Action Mechanism,” ASME IDETC'08, Brooklyn, NY, Aug. 3-6, 2008, ASME Paper No. DETC2008-49167.
  156. Zhang, X.2, and Nelson, C. A. (2008)  “Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation,” ASME IDETC'08, Brooklyn, NY, Aug. 3-6, 2008, ASME Paper No. DETC2008-49163.
  157. Nelson, C. A., Platt, S. R., Albrecht, D.1, Kamarajugadda, V.1, Fateh, M. (2008)  “Power Harvesting for Railroad Track Health Monitoring using Piezoelectric and Inductive Devices,” SPIE Active and Passive Smart Structures and Integrated Systems 2008, San Diego, CA, Mar. 9-13, 2008, SPIE Vol. 6928, paper 69280R.
  158. Nelson, C. A., Miller, D. J.2, and Oleynikov, D. (2008)  “Modeling Surgical Tool Selection Patterns as a ‘Traveling Salesman Problem’ for Optimizing a Modular Surgical Tool System,” Medicine Meets Virtual Reality 16, Long Beach, CA, Jan. 29 - Feb. 1, 2008, IOS Press, Studies in Health Technology and Informatics, Vol. 132, pp. 322-326.
  159. Nelson, C. A. (2007)  “Generation of Straight-Line Rigid-Body Displacement using Coordinated Peaucellier Cells,” ASME IDETC’07, Las Vegas, NV, Sept. 4-7, 2007, ASME Paper No. DETC2007-34803.
  160. Ryland, K.1, Nelson, C. A., and Hejkal, T. (2007)  “Design and Development of a Novel Infant Surgical Table for 4-DOF Patient Manipulation,” ASME IDETC’07, Las Vegas, NV, Sept. 4-7, 2007, ASME Paper No. DETC2007-34830.
  161. Szydlowski, W. M., and Nelson, C. A. (2007)  “Synthesis of Adaptive Pliers Mechanism using Genetic Algorithms,” ASME IDETC’07, Las Vegas, NV, Sept. 4-7, 2007, ASME Paper No. DETC2007-35514.
  162. Nelson, C. A., Miller, D. J.2, and Oleynikov, D. (2007)  “Design Methodology for a Novel Multifunction Laparoscopic Tool: Engineering for Surgeons’ Needs,” Proceedings of Medicine Meets Virtual Reality 15, Long Beach, CA, Feb. 6-9, 2007, IOS Press, Studies in Health Technology and Informatics, Vol. 125, pp. 343-348.
  163. Nelson, C. A., Szydlowski, W. M., and Vogel, J. C. (2006)  “Low-Friction Rolling-Element Gear Profile Generation Using Instant Centers and Equivalent Four-Bar Linkage,” ASME IDETC'06, Philadelphia, PA, Sept. 10-13, 2006, ASME Paper No. DETC2006-99555.
  164. Nelson, C. A. (2006)  “Optimal Linkage Design for Bicycle Power Transmission Using Symmetric Four-Bar,” ASME IDETC'06, Philadelphia, PA, Sept. 10-13, 2006, ASME Paper No. DETC2006-99207.
  165. Miller, D. J.2, Nelson, C. A., Oleynikov, D., and Jones, D. (2006)  “A Fuzzy Inference System for the Ordering of Laparoscopic Tools in Minimally Invasive Surgery,” ASME SBC’06, Amelia Island, FL, June 21-25, 2006, ASME Paper No. BIO2006-156583.
  166. Nelson, C. A., and Cipra, R. J. (2005)  “Kinematics and Force Optimization for Efficient Self-Reconfiguration of Chain-Type Modular Robots,” ASME IDETC'05, Long Beach, CA, Sept. 24-28, 2005, ASME Paper No. DETC2005-84612.
  167. Nelson, C. A., and Cipra, R. J. (2004)  “An Algorithm for Efficient Self-Reconfiguration of Chain-Type Unit-Modular Robots,” ASME DETC'04, Salt Lake City, Utah, Sept. 28-Oct. 2, 2004, ASME Paper No. DETC2004-57488.
  168. Nelson, C. A., and Cipra, R. J. (2003)  “Similarity and Equivalence of Nutating Mechanisms to Bevel Epicyclic Gear Trains,” ASME DETC'03, Chicago, Ill., Sept. 2-6, 2003, ASME Paper No. DETC2003/DAC-48843.
  169. Nelson, C. A., and Cipra, R. J. (2002)  “Kinematic Analysis of Bevel Epicyclic Gear Trains Using Graph Notation,” ASME DETC'02, Montreal, Quebec, Canada, Sept. 29-Oct. 2, 2002, ASME Paper No. DETC2002/MECH-34266.
  170. Nelson, C. A., and Cipra, R. J. (2002)  “An Integrated Method of Kinematic, Static Force, Power Flow, and Efficiency Analyses of 3-D Epicyclic Gear Trains,” ASME DETC'02, Montreal, Quebec, Canada, Sept. 29-Oct. 2, 2002, ASME Paper No. DETC2002/MECH-34315.