Publications:  (copyright notice)

Journals / Refereed archival conference publications:

  1. Subramani, G., Gleicher, M., & Zinn, M. (2018). “Recognizing Geometric Constraints in Human Demonstrations using Force and Position Signals” IEEE Robotics and Automation Letters(ICRA), 3(2), 1252-1259.
  2. Dills, P., Fufuengsin, I., Zinn, M., “Design and Analysis of a High Performance Impedance Based Hybrid Haptic Interface”,  IEEE Haptics Symposium; March 25-28, 2018; San Francisco
  3. Chembian Parthiban, Michael Zinn, “Performance and Stability Limitations of Admittance-based Haptic Interfaces”, IEEE Haptics Symposium 2018, San Francisco, CA, March 2018
  4. Subramani, G., Rakita, D., Wang, H., Black, J., Zinn, M., & Gleicher, M. (2017, September). “Recognizing Actions During Tactile Manipulations During Force Sensing” In Intelligent Robots and Systems (IROS), 2017 IEEE/RSJ International Conference on (pp. 4386-4393). 
  5. Franke, Daniel, Morrow, Justin D., Duffie, Neil A., Zinn, Michael, Pfefferkorn, Frank E., “Solid State Infiltration of 6061-T6 Aluminum Alloy into Carbon Fibers via Friction Stir Welding”, ASME Journal of Manufacturing Science and Engineering, 139(11), Sept 2017.
  6. Amber Shrivastava, Michael Zinn, Neil A. Duffie, Nicola J. Ferrier, Christopher B. Smith, Frank E. Pfefferkorn, “Force measurement-based discontinuity detection during friction stir welding”, SME Journal of Manufacturing Processes, 26 (2017) 113–121.
  7. Conrad, B., Zinn, M., “Interleaved Continuum-Rigid Manipulation: An Approach to Increase the Capability of Minimally-Invasive Surgical System”, ASME/IEEE Transactions on Mechatronics, 22(1), February 2016
  8. J. Guenther, D. Farley, H. Ploeg, M. Zinn, “Feedback Control for Patient Specific Limb Lengthening and Limb Deformity Correction”, Journal of Medical Devices, Transaction of the ASME, Vol. 9, September 2015.
  9. Farley, M. Zinn, H. Ploeg, “Evaluation of Extension Mechanism in an Implantable Limb Lengthening Device”, Journal of Medical Devices, Transaction of the ASME, Vol. 9, September 2015.
  10. Shrivastava, A., Dingler, C., Zinn, M., Pfefferkorn, F.*, “Physics-based interpretation of tool-workpiece interface temperature signals for detection of defect formation during friction stir welding”, Manufacturing Letters, Volume 5, August 2015, Pages 7-11
  11. A. Shrivastava, F. Pfefferkorn, N. Duffie, N. Ferrier, C. Smith, K. Malukhin, M. Zinn, “Physics-based process model approach for detecting discontinuity during friction stir welding”, International Journal of Advanced Manufacturing Technology, 79(1), pp 605–614, July 2015.
  12. Conrad, B., Zinn*, M.R., “Closed Loop Task Space Control of an Interleaved Continuum-Rigid Manipulator“, IEEE International Conference of Robotics and Automation, 26-30 May 2015, Seattle, WA, pp 1743 – 1750, (acceptance rate: 35%)
  13. Borgstadt, J.A., Ferrier, N.J., Zinn*, M.R., “Multi-Modal Localization Algorithm for Catheter Interventions“, IEEE International Conference of Robotics and Automation, 26-30 May 2015, Seattle, WA, pp 5350 – 5357, (acceptance rate: 35%).
  14. Subramani, G., Zinn*, M.R., “Tackling Friction – An Analytical Modeling Approach to Understanding Friction in Single Tendon Driven Continuum Manipulators“, IEEE International Conference of Robotics and Automation, 26-30 May 2015, Seattle, WA, pp 610-617, (acceptance rate: 35%).
  15. Penning, R.S., Zinn, M.R., “A Combined Modal-Joint Space Control Approach for Minimally Invasive Surgical Continuum Manipulators“, Advanced Robotics, Vol. 28, Issue 16, pp. 1091-1108, August 2014.
  16. Daniel Farley, Heidi Ploeg, Michael Zinn, “Towards A Novel, Implantable Limb Lengthening Device”, ASME Journal of Medical Devices, Vol. 8, Issue 2, April 2014.
  17. Cole, E.G., Fehrenbacher, A., Duffie, N.A., Zinn, M.R., Pfefferkorn, F.E., Ferrier*, N.J, “Weld Temperature Effects during Friction Stir Welding of Dissimilar Aluminum Alloys 6061-T6 and 7075-T6”, International Journal of Advanced Manufacturing Technology, Vol 71, Issue 1-4, pp. 643-652, March 2014.
  18. J. Jung, Penning, R., M.R. Zinn, 2014, “A Modeling Approach for Continuum Robotic Catheters: Effects of Nonlinear Internal Device Friction,” Advanced Robotics, Vol 28, Issue 8, pp 557-572, 2014.
  19. Fehrenbacher, A., Schmale, J., Zinn, M.R., Pfefferkorn. F.E., “Measurement of Tool-Workpiece Interface Temperature Distribution in Friction Stir Welding”, ASME Journal of Manufacturing Science and Engineering, Vol. 136, Issue 2, Jan 2014.
  20. Conrad, B.L., Zinn, M.R., “Interleaved Continuum-Rigid Manipulation Approach: Development and Functional Evaluation of a Clinical Scale Manipulator“, Intelligent Robots and Systems (IROS 2014), 2014 IEEE/RSJ International Conference on, pp. 4290-4296, Chicago, IL.
  21. Fehrenbacher, A., Duffie, N.A., Ferrier, N.J., Pfefferkorn, F.E., Zinn, M.R., “Effects of Tool-Workpiece Interface Temperature on Weld Quality and Quality Improvements Through Temperature Control in Friction Stir Welding”, International Journal of Advanced Manufacturing Technology, Vol. 71, Issue 1-4, pp. 165-179, March 2014.
  22. Parthiban, C., Zinn, M.R., “A Simplified Approach to Admittance-type Haptic Device Impedance Evaluation”, 2014 IEEE Haptics Symposium, Houston, TX, February 2014
  23. Axel Fehrenbacher, Christopher B. Smith, Neil A. Duffie, Nicola J. Ferrier, Frank E. Pfefferkorn, Michael R. Zinn, “Combined Temperature and Force Control for Robotic Friction Stir Welding,” ASME Journal of Manufacturing Science and Engineering, Vol. 136, Issue 2, Jan 2014
  24. Esser, C, M, Parthiban, C., M.R. Zinn, “Development of a Parallel Actuation Approach for MR-Compatible Robotics,” IEEE/ASME Transactions on Mechatronics, 19(3), 904-915, 2013.
  25. Conrad, B.L., Jung, J., Penning, R.S., Zinn, M.R., “Interleaved Continuum-Rigid Manipulation: An Augmented Approach For Robotic Minimally-Invasive Flexible Catheter-based Procedures“, IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013 (refereed proceedings: acceptance rate 35%)
  26. Shultz, E.F., A. Fehrenbacher, F.E. Pfefferkorn, M.R. Zinn, N.J. Ferrier, “Shared Control of Robotic Friction Stir Welding in the Presence of Imperfect Joint Fit-Up,” Journal of Manufacturing Processes, Volume 15, Issue 1, January 2013, Pages 25–33.
  27. Penning, R., J. Jung, N.J. Ferrier, M.R. Zinn, “An Evaluation of Closed-Loop Control Options for Continuum Manipulators,” IEEE International Conference on Robotics and Automation, St-Paul, Minnesota, May 14-18, 2012, DOI 10.1109/ICRA.2012.6224735, (refereed proceedings: acceptance rate 38%).
  28. Myung-Sin Cho, Hyun-Su Hwang, Min-Hyoung Lee, Byungkyu Kim, and Michael R. Zinn, “A Screw Jack Mechanism-based Separation Device Driven by a Piezo Actuator”, International Journal of Precision Engineering and Manufacturing, Volume 13, Issue 11, pp 2079-2082
  29. Parthiban, Chembian, Esser, C, M, M.R. Zinn, “Evaluation of a Parallel Actuation Approach for MR-Compatible Haptics,” 2012 IEEE Haptics Symposium, March 4-7, 2012, Vancouver, Canada, 10.1109/HAPTIC.2012.6183848.
  30. Edward G Cole, Axel Fehrenbacher, Edward F Shultz, Christopher B Smith, Nicola J Ferrier, Michael R Zinn, Frank E Pfefferkorn, “Stability of the Friction Stir Welding Process in Presence of Workpiece Mating Variations”, International Journal of Advanced Manufacturing Technology, February, 2012
  31. Fehrenbacher, A., Neil A. Duffie, Nicola J. Ferrier, Frank E. Pfefferkorn, Michael R. Zinn, “Toward Automation of Friction Stir Welding Through Temperature Measurement and Closed-Loop Control,” ASME Journal of Manufacturing Science and Engineering, October 2011, Volume 133, Issue 5
  32. J. Jung, Penning, R., N.J. Ferrier, M.R. Zinn, “A Modeling Approach for Continuum Robotic Manipulators: Effects of Nonlinear Internal Device Friction,” IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 25-30, 2011, DOI 10.1109/IROS.2011.6094941, (refereed proceedings: acceptance rate 32%.)
  33. Penning, R., J. Jung, J. Borgstadt, N.J. Ferrier, M.R. Zinn, “Towards Closed Loop Control of a Continuum Robotic Manipulator for Medical Applications,” 2011 IEEE International Conference on Robotics and Automation. Shanghai, China, May 9-13, 2011, DOI 10.1109/ICRA.2011.5980233, (refereed proceedings: acceptance rate 49%).
  34. Esser, C, M, M.R. Zinn, “Development of a Differential Actuator Concept for MR-Compatible Robotic Applications,” 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, Sept 26-29, 2010, Tokyo, Japan, DOI 10.1109/BIOROB.2010.5628003, (refereed proceedings: acceptance rate approximately 50%),
  35. Shultz E.F., E.G. Cole, C.B. Smith, M.R. Zinn, N.J. Ferrier, and F.E. Pfefferkorn, “Effect of Compliance and Travel Angle on Friction Stir Welding with Gaps,” ASME Journal of Manufacturing Science and Engineering, Volume 132, Issue 4, August 2010 DOI:10.1115/1.4001581
  36. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Large Workspace Haptic Devices – A New Actuation Approach”, 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Nevada, March 2008, DOI 10.1109/HAPTICS.2008.4479941 – (Awarded best paper)
  37. Camarillo, D. B.; Milne, C. F.; Carlson, C. R.; Zinn, M. R.; Salisbury, J. K, “Mechanics Modeling of Tendon-Driven Continuum Manipulators”, IEEE Transactions on Robotics, Vol, 24, No. 6, Dec. 2008, pp. 1262-1273
  38. Zinn, M., Roth, B. , Khatib, O., Salisbury, J.K., “New Actuation Approach for Human-Friendly Robot Design”, International Journal of Robotics Research, Vol. 23, No.4-5, April-May 2004, pp. 379-398
  39. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Playing It Safe – A New Actuation Concept for Human Friendly Robot Design”, IEEE Robotics and Automation Magazine, Vol. 11, No. 2 June 2004
  40. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Actuation Methods For Human-Centered Robotics and Associated Control Challenges”, Springer Tracts in Advanced Robotics, Vol. 4 Control Problems in Robotics, Spring-Verlag 2003, 10.1007/3-540-36224-X_7.

Conference Publications:

  1. Conrad, B., Subramani, G., Zinn, M., “Adaptive Control of an Interleaved Continuum Rigid Manipulator”, IEEE International Conference on Intelligent Robots and Systems, Workshop on Continuum Robots in Medicine – Design, Integration, and Applications, Vancouver, BC, CA, Sept. 2017.
  2. Woong Jo Choi, Justin D. Morrow, Frank E. Pfefferkorn, Michael R. Zinn, “The Effects of Welding Parameters and Backing Plate Diffusivity on Energy Consumption in Friction Stir Welding”, 45th SME North American Manufacturing Research Conference, NAMRC 45, Los Angeles, CA, June 2017.
  3. Daniel Franke, Justin Morrow, Michael Zinn, Neil Duffie and Frank Pfefferkorn, “Experimental Determination of the Effective Viscosity of Plasticized Aluminum Alloy 6061-T6 during Friction Stir Forming”, 45th SME North American Manufacturing Research Conference, NAMRC 45, Los Angeles, CA, June 2017.
  4. Guru Subramani, Aubrey Fisher, Moria Fisher Bittmann, Andrea H. Mason, Brittany G. Travers, Michael R. Zinn, “Development of a Robotic Motor Skills Assessment System for Children with Autism”, 2017 Design of Medical Devices Conference, Minneapolis, MN.
  5. Bolun Zhang, Daniel Farley, Heidi-Lynn Ploeg, Michael Zinn, “Validation of Feedback Control Mechanism in an Implantable Limb Lengthening Prototype”, 2017 Design of Medical Devices Conference, Minneapolis, MN.
  6. Franke, D., Morrow, J., Duffie, N., Zinn, M., Pfefferkorn, F., “Towards Improved Hybrid Joining of Aluminum Alloys to Carbon Fiber Composites with Friction Stir Welding”, Manufacturing Science and Engineering Conference (MSEC 2016), Blacksburg, VA, June 27- July 1, 2016 – awarded BEST PAPER
  7. C. Parthiban, R. Ray, D. Rutherford, M. Zinn, C. Pugh, “Development and Analysis of Psychomotor Skills Metrics for Procedural Skills Decay”, NextMed / MMVR22 – The 22nd Medicine Meets Virtual Reality Conference, April 7 – 9, 2016, Los Angeles, California.
  8. J. Guenther, D. Farley, H. Ploeg, M. Zinn, “Feedback Control for Patient Specific Limb Lengthening and Limb Deformity Correction”, Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.
  9. D. Farley, M. Zinn, H. Ploeg, “Evaluation of Extension Mechanism in an Implantable Limb Lengthening Device”, Design of Medical Devices Conference (DMD2015), April 13–16, 2015, Minneapolis, MN, USA.
  10. Farley, D., Zinn, M.R., Ploeg*, H.L., “Towards a Novel, Implantable Limb Lengthening Device”, Limb Lengthening and Reconstruction Society Annual Scientific Meeting, 2014, Montreal, CA., Jun 2014.
  11. Guenther, J., Farley, D., Ploeg, H.L., Zinn*, M.R., “Feedback Control for Patient-Specific Lengthening of an Implantable Limb Lengthening Device”, Limb Lengthening and Reconstruction Society Annual Scientific Meeting, 2014, Montreal, CA., Jun 2014.
  12. Amber Shrivastava, Frank Pfefferkorn, Michael Zinn, “Physics-based Process Model Approach for Defect Detection during Friction Stir Welding”, 2014 10th International Symposium on Friction Stir Welding, Beijing, China, accepted January 2014.
  13. Daniel Farley, Heidi Ploeg, Michael Zinn, “A Novel, Implantable Limb Lengthening Device”, 2014 Design of Medical Devices Conference, Minneapolis, MN, accepted January 2014.
  14. Fehrenbacher, A., Smith, C.B., Duffie, N.A., Ferrier, N.J., Pfefferkorn, F.E., Zinn, M.R., “Combined Temperature and Force control for Robotic Friction Stir Welding”, Proceedings of the ASME 2013 International Manufacturing Science and Engineering Conference, June 10-14, 2013, Madison, Wisconsin, USA,.
  15. Tetrick, D., Farley, D., Arastoopour, G., Zinn, M., Shaffer, D., Chesler, N., “RescuShell: A Biomechanical Design Epistemic Game for First-Year Engineering Education and Potentially Increased Retention of Women”, Proceedings of the ASME 2013 Summer Bioengineering Conference, SBC2013-14069, June 26-29, Sunriver, Oregon, USA.
  16. Sokn, S., Ploeg, H., McCoy, S., Farley, D., Collins, C., Medicherla, A., Zinn, M., McCarthy, J.J., “Novel 3 Degree of Freedom, Minimally Invasive, Implantable Active Bone Correction Device”, 22nd Annual Limb Lengthening and Reconstruction Society Meeting, Cincinnati, OH, July 2012.
  17. Collins, C., Ploeg, H., McCoy, S., Farley, D., Medicherla, A., Zinn, M., McCarthy, J.J., “A Novel Minimally Invasive Implantable Extramedullary Limb Lengthening Device”, 22nd Annual Limb Lengthening and Reconstruction Society Meeting, Cincinnati, OH, July 2012.
  18. A. Fehrenbacher, N. A. Duffie, N. J. Ferrier, M. R. Zinn, and F. E. Pfefferkorn, “Tool-Workpiece Interface Temperature Measurement and Improved Closed-Loop Control in Friction Stir Welding,” in 9th International Friction Stir Welding Symposium, Huntsville, AL, TWI, 2012.
  19. Zinn, M. “Admittance-based Haptic Interface Performance Evaluation and Associated Challenges”, 2012 Haptics Symposium, Vancouver Canada, Panel Workshop: Haptic Hardware Evaluation Practices (invited)
  20. A. Fehrenbacher, E. F. Shultz, F. E. Pfefferkorn, M. R. Zinn, N. J. Ferrier, and N. A. Duffie, “Enhancing Friction Stir Welding Through Temperature Control and Shared Human-Computer Control,” TMS Annual Meeting & Exhibition, San Diego, CA, 2011.
  21. Fehrenbacher, Axel, Schmale, Joshua R., Zinn, Michael R., Pfefferkorn, Frank E., “Tool-Workpiece Interface Temperature Measurement in Friction Stir Welding”, ASME 2012 International Manufacturing Science and Engineering Conference, Notre Dame, Indiana, USA, June 4-8, 2012
  22. N.Vlietstra, W. Feyereisen, H. Ploeg, J. Peterman, M. Zinn, J. McCarthy, 2011, “A Novel Minimally-Invasive Implantable Active Bone Deformity Correction Device,” The Limb Lengthening and Reconstruction Society Twentieth Annual Scientific Meeting. Chicago, July 22-23, 2011.
  23. Fehrenbacher, Axel, Cole, Edward G., Zinn, Michael R., Ferrier, Nicola J., Duffie, Neil A. and Pfefferkorn, Frank E., “ Towards Process Control of Friction Stir Welding for Different Aluminum Alloys”, The Minerals, Metals & Materials Society, pp. 381-388, San Diego, CA, Feb. 27-Mar 3, 2011.
  24. Fehrenbacher, Axel, Duffie, Neil A., Ferrier, Nicola J., Pfefferkorn, Frank E., Zinn, Michael R., “Enhancing Friction Stir Welding Through Temperature Control”, ASME 2011 International Manufacturing Science and Engineering Conference (MSEC2011-5031), Corvallis, Oregon, USA, June 13-17, 2011
  25. Smith, C.B., F.E. Pfefferkorn, L.M. Cerveny, E.G. Cole, A. Fehrenbacher, N.J. Ferrier, J.F. Hinrichs, E.F. Shultz, D. Wolf, and M.R. Zinn, 2010, “Portable Friction Stir Welding for Assembly of Large Structures,” 8th International Friction Stir Welding Symposium, May 18-20, Timmendorfer Strand, Germany.
  26. C. B. Smith, F. Pfefferkorn, E. Cole, A. Fehrenbacher, N. Ferrier, E. Shultz, M. Zinn, L. Cerveny, and J. Hinrichs, “Qualification of a Low Force FSW Process for Portable FSW to be Applied to Assembly of Large Structures,” 8th International Friction Stir Welding Symposium, Timmendorfer Strand, Germany, TWI, 2010.
  27. Fehrenbacher, A., N.A. Duffie, N.J. Ferrier, M.R. Zinn, and F.E. Pfefferkorn, 2010, “Temperature Measurement and Closed-Loop Control of Friction Stir Welding,” 8th International Friction Stir Welding Symposium, May 18-20, Timmendorfer Strand, Germany.
  28. Shultz, E.F., E.G. Cole, C.B. Smith, M.R. Zinn, N.J. Ferrier, and F.E. Pfefferkorn, 2009, “Effect of Compliance and Travel Angle on Friction Stir Welding with Gaps,” ASME Manufacturing Science & Engineering Conference, Oct. 4-7, West Lafayette, IN. [poster MSEC2009-83491]
  29. Shultz, E.F. , F.E. Pfefferkorn, C.B. Smith, M.R. Zinn, and N.J. Ferrier, 2008, “Towards a Man-Machine Interface for Flexible Friction Stir Welding,” 7th International Friction Stir Welding Symposium, Awaji Island, Japan, May 20-22.
  30. Fehrenbacher, A., F.E. Pfefferkorn, M.R. Zinn, N.J. Ferrier, and N.A. Duffie, 2008, “Closed-Loop Control of Temperature in Friction Stir Welding,” 7th International Friction Stir Welding Symposium, Awaji Island, Japan, May 20-22.
  31. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Toward A Human-Centered Intrinsically-Safe Robotic Manipulator” In Proceedings of 2nd IARP/IEEE-RAS Joint Workshop on Technical Challenge for Robots in Human Environments, October, 2002 (invited)
  32. Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “New Actuation Approach for Human-Friendly Robotics”, 8th International Symposium on Experimental Robotics, July 2002.
  33. Zinn, M., “Design and Development of the Gravity Probe-B Mass Trim Mechanism”, 33rd Aerospace Mechanisms Symposium, Jet Propulsion Laboratory, May 19, 1999.
  34. Zinn, M., “Lockup Failure of a Four-Bar Linkage Deployment Mechanism”, 27th Aerospace Mechanisms Symposium, NASA Ames Research Center, May 12, 1993

Patents:

  1. US Patent – Interleaved Manipulator – USP Application 14049511 – Oct 2013
  2. US Patent – Robotic catheter system – US 8394054 B2 – Mar 2013
  3. US Patent – Robotic catheter system – US 7972298 B2 – Jul 2011
  4. US Patent – Robotic catheter system – US 7974681 B2 – Jul 2011
  5. Japan Patent – Robotic catheter system – 4755638 (Japan) – Jul 2010
  6. EU Patent – Systeme de catheter robotique – WO 2005087128 A1 – Sept 2005
  7. US Patent – Instrument driver for robotic catheter system – US 8021326 B2 – Sept 2011
  8. US Patent – Robotic catheter system and methods – US 8052636 B2 – Nov 2011
  9. US Patent – Robotic catheter system and methods – US 8257303 B2 – Nov 2011
  10. US Patent – Methods using a robotic catheter system – US 7850642 – Dec 2010