Design and Modeling of a Two-wheeled Differential Drive Robot

Published in International Journal of Control, Automation and Systems, 2024

This paper provides step-by-step details of the robotic design process including dynamic modeling, kinematic modeling, linearization, autonomous navigation, path planning, and stability control.

Recommended citation: Moritz, J., Musa, M. & Wejinya, U. Design and Modeling of a Two-wheeled Differential Drive Robot. Int. J. Control Autom. Syst. 22, 2273–2282 (2024). https://doi.org/10.1007/s12555-023-0288-8
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Kinematics and stiffness modeling of soft robot with a concentric backbone

Published in Journal of Mechanisms and Robotics, 2023

This study proposes a novel stiffness modulation approach for soft robots by incorporating a slidable Nitinol tube backbone, inspired by concentric tube robots, which allows for on-demand control of the robot stiffness and pose without permanently altering its intrinsic compliance.

Recommended citation: Xiao, Q., Musa, M., Godage, I. S., Su, H., & Chen, Y. (2023). Kinematics and stiffness modeling of soft robot with a concentric backbone. Journal of Mechanisms and Robotics, 15(5), 051011.
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Autonomous respiratory motion compensated robot for CT-guided abdominal radiofrequency ablations

Published in IEEE Transactions on Medical Robotics and Bionics, 2023

This article describes an autonomous robot system that compensates for respiratory motion during CT-guided abdominal radiofrequency ablations, utilizing a Stewart platform, a friction-driven insertion module, and a custom breath-sensing pad to improve needle placement accuracy in minimally-invasive cancer treatments.

Recommended citation: Gunderman, A. L., Musa, M., Gunderman, B. O., Banovac, F., Cleary, K., Yang, X., & Chen, Y. (2023). Autonomous respiratory motion compensated robot for CT-guided abdominal radiofrequency ablations. IEEE Transactions on Medical Robotics and Bionics, 5(2), 206-217.
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Design of a 6-DoF parallel robotic platform for MRI applications

Published in Journal of Medical Robotics Research, 2022

This article presents the design, analysis, and characterization of a 6-degree-of-freedom parallel robotic platform for magnetic resonance imaging (MRI) applications, demonstrating its potential to enable accurate motions in the MRI environment for tasks such as motion modeling and minimally invasive procedures.

Recommended citation: Musa, Mishek, Saikat Sengupta, and Yue Chen. "Design of a 6-DoF parallel robotic platform for MRI applications." Journal of Medical Robotics Research 7.02n03 (2022): 2241005.
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Minimally invasive intracerebral hemorrhage evacuation: a review

Published in Annals of Biomedical Engineering, 2022

This article reviews intracerebral hemorrhage pathology, current treatments, and potential robotic approaches for minimally invasive hematoma evacuation, highlighting the lack of clear benefits from existing surgical interventions and the potential for robotics to improve treatment outcomes.

Recommended citation: Musa, M.J., Carpenter, A.B., Kellner, C. et al. Minimally Invasive Intracerebral Hemorrhage Evacuation: A review. Ann Biomed Eng 50, 365–386 (2022). https://doi.org/10.1007/s10439-022-02934-z
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MRI-compatible soft robotic sensing pad for head motion detection

Published in IEEE Robotics and Automation Letters, 2022

The article presents the design, fabrication, and evaluation of a novel pneumatic-based MRI-compatible soft sensing pad intended for head motion detection

Recommended citation: M. Musa, S. Sengupta and Y. Chen, "MRI-Compatible Soft Robotic Sensing Pad for Head Motion Detection," in IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 3632-3639, April 2022, doi: 10.1109/LRA.2022.3147892.
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Respiratory compensated robot for liver cancer treatment: Design, fabrication, and benchtop characterization

Published in IEEE/ASME Transactions on Mechatronics, 2021

The article describes the design, fabrication, and benchtop testing of a patient-mounted robotic system that compensates for respiratory motion during needle insertion procedures for liver cancer treatment, particularly radiofrequency ablation (RFA) for hepatocellular carcinoma (HCC)

Recommended citation: M. J. Musa, K. Sharma, K. Cleary and Y. Chen, "Respiratory Compensated Robot for Liver Cancer Treatment: Design, Fabrication, and Benchtop Characterization," in IEEE/ASME Transactions on Mechatronics, vol. 27, no. 1, pp. 268-279, Feb. 2022, doi: 10.1109/TMECH.2021.3062984.
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MR-conditional actuations: A review

Published in Annals of Biomedical Engineering, 2020

This comprehensive review examines various MR-conditional actuation methods for robotic devices used in MRI environments, including pneumatic, piezoelectric, hydraulic, and novel actuators, discussing their working principles, advantages, limitations, and applications to guide researchers and engineers in developing MRI-compatible robotic systems.

Recommended citation: Xiao, Q., Monfaredi, R., Musa, M. et al. MR-Conditional Actuations: A Review. Ann Biomed Eng 48, 2707–2733 (2020). https://doi.org/10.1007/s10439-020-02597-8
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Design and Model-Free Reinforcement Learning Based Control of a Modular Self-Balancing Robotic System

Published in IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM), 2024

The paper discusses the design and implementation of a modular self-balancing robotic system controlled using model-free reinforcement learning algorithms, demonstrating that the Deep Q Network (DQN) approach outperforms other methods in maintaining stability despite variations in system parameters.

Recommended citation: Musa, M., & Wejinya, U. (2024, July). Design and Model-Free Reinforcement Learning Based Control of a Modular Self-Balancing Robotic System. In 2024 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)
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Optimized PID Control for a Piezoelectric Bending Microactuator

Published in 2023 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS), 2023

An optimized PID control system using the beetle antennae search (BAS) algorithm is proposed to enhance the displacement control of a piezoelectric bending microactuator, outperforming the standard PID tuning method in simulations.

Recommended citation: Musa, M., & Wejinya, U. (2023, October). Optimized PID Control for a Piezoelectric Bending Microactuator. In 2023 International Conference on Manipulation, Automation and Robotics at Small Scales (MARSS)
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Design of a 6 dof parallel robot for mri-guided interventions

Published in 2021 International Symposium on Medical Robotics (ISMR), 2021

This article presents the design, analysis, and characterization of a 6-degree-of-freedom parallel robot for MRI-guided interventions, featuring pneumatic cylinder actuators and demonstrating accuracy in both benchtop and MRI scanner environments for potential applications in motion modeling and minimally invasive procedures

Recommended citation: M. Musa, S. Sengupta and Y. Chen, "Design of a 6 DoF Parallel Robot for MRI-guided Interventions," 2021 International Symposium on Medical Robotics (ISMR), Atlanta, GA, USA, 2021, pp. 1-7, doi: 10.1109/ISMR48346.2021.9661513.
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Head Motion Detection and Correction in MRI Using a Pressure Sensing Pad

Published in USPTO, 2024

Recommended citation: Sengupta, S., Chen, Y., and Musa, M., "Head Motion Detection and Correction in MRI Using a Pressure Sensing Pad,"
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Image-guided robotic system and method with step-wise needle insertion

Published in WIPO, 2023

Recommended citation: Chen, Y., Musa, M., Yang, X., Kokabi, N., & Gunderman, A., "Image-guided robotic system and method with step-wise needle insertion"
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Respiratory Compensated Robot for Liver Cancer Treatment

Published in USPTO, 2022

Recommended citation: Chen, Y., and Musa, M., "Respiratory Compensated Robot for Liver Cancer Treatment"
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