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Denny Oetomo
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Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Article titled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Investigating the Mechanical Properties of Biological Brain Cells With Atomic Force Microscopy

Tariq Mohana Bahwini, Yongmin Zhong, Chengfan Gu, Zeyad Nasa, Denny Oetomo
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Research-Article
J. Med. Devices. December 2018, 12(4): 041007.
Paper No: MED-18-1044
https://doi.org/10.1115/1.4040995
Published Online: October 8, 2018
View Article titled, Investigating the Mechanical Properties of Biological Brain Cells With Atomic Force Microscopy
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Topics: Atomic force microscopy, Mechanical properties, Young's modulus, Brain, Fittings, Deformation
Journal Articles

Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators

Darwin Lau, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. March 2016, 138(3): 032303.
Paper No: MD-15-1432
https://doi.org/10.1115/1.4032402
Published Online: January 27, 2016
View Article titled, Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators
Open the PDF for Conditions on the Cable-Routing Matrix for Wrench Closure of Multilink Cable-Driven Manipulators in another window
Topics: Cables, Manipulators
Journal Articles

Surgical Robotic Manipulator Based on Local Magnetic Actuation

Christian Di Natali, Alireza Mohammadi, Denny Oetomo, Pietro Valdastri
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2015, 9(3): 030936.
Paper No: MED-15-1092
https://doi.org/10.1115/1.4030567
Published Online: September 1, 2015
View Article titled, Surgical Robotic Manipulator Based on Local Magnetic Actuation
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Topics: Cables, Manipulators, Surgery, Design
Journal Articles

Electromagnetic Actuator Across Abdominal Wall for Minimally Invasive Robotic Surgery

Alireza Mohammadi, Christian Di Natali, Danielius Samsonas, Pietro Valdastri, Ying Tan, Denny Oetomo
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. September 2015, 9(3): 030937.
Paper No: MED-15-1093
https://doi.org/10.1115/1.4030568
Published Online: September 1, 2015
View Article titled, Electromagnetic Actuator Across Abdominal Wall for Minimally Invasive Robotic Surgery
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Topics: Control equipment, Electromagnetic actuators, Permanent magnets, Robotics, Surgery, Torque, Rotors, Stress
Journal Articles

Distributed Operational Space Formulation of Serial Manipulators

Kishor D. Bhalerao, James Critchley, Denny Oetomo, Roy Featherstone, Oussama Khatib
Journal: Journal of Computational and Nonlinear Dynamics
Publisher: ASME
Article Type: Research-Article
J. Comput. Nonlinear Dynam. April 2014, 9(2): 021012.
Paper No: CND-13-1118
https://doi.org/10.1115/1.4025577
Published Online: October 30, 2013
View Article titled, Distributed Operational Space Formulation of Serial Manipulators
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Topics: Algorithms
Journal Articles

Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach

Darwin Lau, Denny Oetomo, Saman K. Halgamuge
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2011, 133(7): 071004.
https://doi.org/10.1115/1.4004222
Published Online: July 8, 2011
View Article titled, Wrench-Closure Workspace Generation for Cable Driven Parallel Manipulators Using a Hybrid Analytical-Numerical Approach
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Topics: Cables, Manipulators
Journal Articles

Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels

Denny Oetomo, Marcelo H. Ang, Jr.
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. May 2008, 130(5): 054501.
https://doi.org/10.1115/1.2885512
Published Online: March 26, 2008
View Article titled, Singularity-Free Joint Actuation in Omnidirectional Mobile Platforms With Powered Offset Caster Wheels
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Topics: Wheels