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
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
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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.
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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.
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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.
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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.
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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.
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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.
- 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.
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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.
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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.
- 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.
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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.
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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.
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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.
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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).
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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.
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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.
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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.
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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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.).
- 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.).
- 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.
- 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.
- 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.
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.).
- 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.
- 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.).
- 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.).
- 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.
- 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.
- 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
- 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.
- 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.
- 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
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
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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).
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Nelson, C. A. (2023) “A Novel Mechanism for Rotational Variable Stiffness,” 16th IFToMM World Congress, November 5-10, 2023, Tokyo, Japan.
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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.
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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.
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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.
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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.
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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).
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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.
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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.
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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.
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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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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
- 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.
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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).
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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.
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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.
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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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
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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.
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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.
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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.
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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.
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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.
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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.
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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.
- 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.
- 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.
- 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.
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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.
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Nelson, C., Bashford, G. (2017) “UNL Summer REU Program in Biomedical Devices,” ASEE Annual Conference, Columbus, OH, June 25-28, 2017.
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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.
- 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
- 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.
- 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).
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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).
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- Berg, J.1, Nelson, C. A. (2010) “Mechanical Testing Device for Viscoelastic Biomaterials,” DMD 2010, Apr. 13-15, 2010, ASME Paper No. DMD2010-3851.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.
- 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.