RML | Publications

Peer-Reviewed Journal Publications

[J80] Liu, Y., Ben-Tzvi, P., "Development and Experiments of a Novel Quadruped Robot with a Versatile Robotic Tail", IEEE Transactions on Robotics, Under review, August 2024.

[J79] Guo, Y., Xu, W., Ben-Tzvi, P., "Vision-Based Human-Machine Interface for a Robotic Exoskeleton Glove Designed for Patients with Brachial Plexus Injuries", Intelligent Service Robotics, Accepted, August 2024.

[J78] Xu, W., Guo, Y., Liu, Y., Ben-Tzvi, P., "Development of A Novel Compact Robotic Exoskeleton Glove with Reinforcement Learning Control", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 16, Issue 8, pp. 081016: 1-12, August 2024.

[J77] Feng, S., Pressgrove, I., Liu, Y., Ben-Tzvi, P., "Autonomous Alignment and Docking Control for a Self-reconfigurable Modular Mobile Robotic System", Robotics Journal, Vol. 13, Issue 5, pp. 1-17, May 2024.

[J76] Liu, Y., Ben-Tzvi, P., "How a Serpentine Tail Assists Agile Motions of Kangaroo Rats: A Dynamics and Control Approach", Nonlinear Dynamics, Vol. 111, pages 14783–14803, July 2023.

[J75] Xu, W., Guo, Y., Bravo, C.J., Ben-Tzvi, P., "Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients with Brachial Plexus Injuries", IEEE Transactions on Robotics, Vol. 39, Issue 2, pp. 1637-1652, April 2023.

[J74] Han, X., Ren, H., Qi, J., Ben-Tzvi, P., "Autonomous Cricothyroid Membrane Detection and Manipulation using Neural Networks and Robot Arm for First-Aid Airway Management", Journal of Medical Devices, Transactions of the ASME, Vol. 17, Issue 1, pp. 014502: 1-9, March 2023.

[J73] Wang, J., Liu, Y., Ben-Tzvi, P., "Robust Adaptive Input-Output Control for a Class of Modular Robotic Systems via Inverse Optimality Theory", International Journal of Control, Vol. 95, Issue 7, pp. 1898-1912, July 2022.

[J72] Guo, Y., Xu, W., Pradhan, S., Bravo, C.J., Ben-Tzvi, P., "Personalized Voice Activated Grasping System for a Robotic Exoskeleton Glove", Mechatronics Journal, Vol. 83, pp. 102745:1-12, May 2022.

[J71] Sohal, S.S., Sebastian, B., Ben-Tzvi, P., "Autonomous Docking of Hybrid-Wheeled Modular Robots With an Integrated Active Genderless Docking Mechanism", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 14, Issue 1, pp. 011010: 1-15, February 2022.

[J70] Njaka, T., Brizzolara, S., Ben-Tzvi, P., "Design and Experimental Validation of a Novel High-Speed Omnidirectional Underwater Propulsion Mechanism", IEEE/ASME Transactions on Mechatronics, Vol. 26, Issue 5, pp. 2339-2349, October 2021.

[J69] Guo, Y., Xu, W., Pradhan, S., Bravo, C.J., Ben-Tzvi, P., "Data Driven Calibration and Control for Compact Lightweight Series Elastic Actuators for Robotic Exoskeleton Gloves", IEEE Sensors Journal, Vol. 21, Issue 19, pp. 21120-21130, October 2021. *Selected as a featured article

[J68] Yang, J., Saab, W., Liu, Y., Ben-Tzvi, P., "Reuleaux Triangle Based Two Degrees of Freedom Bipedal Robot", Robotics Journal, Vol. 10, Issue 4, pp. 1-15, October 2021.

[J67] Liu, Y., Ben-Tzvi, P., "Dynamic Modeling, Analysis, and Design Synthesis of a Reduced Complexity Quadruped with a Serpentine Robotic Tail", Integrative and Comparative Biology, Vol. 61, Issue 2, pp. 464-477, August 2021.

[J66] Liu, Y., Ben-Tzvi, P., "A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 13, Issue 3, pp. 031112: 1-7, June 2021.

[J65] Feng, S., Sebastian, B., Ben-Tzvi, P., "A Collision Avoidance Method Based on Deep Reinforcement Learning", Robotics Journal, Vol. 10, Issue 2, pp. 1-19, May 2021.

[J64] Ren, H., Qi, J., Ben-Tzvi, P., "Learning Flatness-Based Controller Using Neural Networks", ASME Letters in Dynamic Systems and Control, Vol. 1, Issue 2, pp. 021003: 1-6, April 2021.

[J63] Liu, Y., Ben-Tzvi, P., "Dynamic Modeling, Analysis, and Comparative Study of A Quadruped With Bio-Inspired Robotic Tails", Multibody System Dynamics,Vol. 51, Issue 2, pp. 195-219, February 2021.

[J62] Vanteddu, T., Ben-Tzvi, P., "Stable Grasp Control with a Robotic Exoskeleton Glove", Journal of Mechanisms and Robotics, Transactions of the ASME,Vol. 12, Issue 6, pp. 061015: 1-14, December 2020.

[J61] Wang, X., Ren, H., Kumar, A., Ben-Tzvi, P., "Design and Analysis of a Variable Inertia Spatial Robotic Tail for Dynamic Stabilization", Biomimetics,Vol. 5, Issue 4, pp. 1-16, November 2020.

[J60] Liu, Y., Ben-Tzvi, P., "An Articulated Closed Kinematic Chain Planar Robotic Leg for High Speed Locomotion", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 12, Issue 4, pp. 041003: 1-15, August 2020.

[J59] Liu, Y., Ben-Tzvi, P., "Design, Analysis and Integration of a New Two-DOF Articulated Multi-link Robotic Tail Mechanism", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 12, Issue 2, pp. 021101: 1-9, April 2020.

[J58] Ren, H., Ben-Tzvi, P., "Advising Reinforcement Learning Agents Towards Scaling in Continuous Control Environments with Sparse Rewards", Journal to Engineering Applications of Artificial Intelligence, Vol. 90, pp. 103515: 1-12, April 2020.

[J57] Ren, H.,Ben-Tzvi, P., "Learning Inverse Kinematics and Dynamics of a Robotic Manipulator using Generative Adversarial Networks", Robotics and Autonomous Systems, Vol. 124, pp. 103386: 1-12, February 2020.

[J56] Chauhan, R., Sebastian, B.,Ben-Tzvi, P., "Grasp Prediction Towards Naturalistic Exoskeleton Glove Control", IEEE Transaction on Human-Machine Systems, Vol. 50, Issue 1, pp. 22-31, February 2020.

[J55] Refour, E., Sebastian, B., Chauhan, R.J., Ben-Tzvi, P., "A General Purpose Robotic Hand Exoskeleton with Series Elastic Actuators and Force Control", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 11, Issue 6, pp. 060902: 1-9, December 2019.

[J54] Williams, A., Sebastian, B., Ben-Tzvi, P., "Review and Analysis of Search, Extraction, Evacuation, and Medical Treatment Field Robots", Journal of Intelligent and Robotic Systems, Vol. 96, Issue 3, pp. 401-418, December 2019.

[J53] Budolak, D., Ben-Tzvi, P., "Series Elastic Actuation for Improved Transparency in Time Delayed Haptic Teleoperation", Mechatronics Journal, Vol. 63, pp. 102278:1-8, November 2019.

[J52] Sebastian, B., Ben-Tzvi, P., "Support Vector Machine Based Real-time Terrain Estimation for Tracked Robots", Mechatronics Journal, Vol. 62, pp. 102260: 1-10, October 2019.

[J51] Liu, Y., Wang, J., Ben-Tzvi, P., "A Cable Length Invariant Robotic Tail Using a Circular Shape Universal Joint Mechanism", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 11, Issue 5, pp. 051005: 1-14, October 2019.

[J50] Kumar, P.,Ben-Tzvi, P., "Estimation of Wind Conditions Utilizing RC Helicopter Dynamics", IEEE/ASME Transactions on Mechatronics, Vol. 24, Issue 5, pp. 2293-2303, October 2019.

[J49] Saab, W., Ben-Tzvi, P., "A Hybrid Tracked-Wheeled Multi-Directional Mobile Robot", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 11, Issue 4, pp. 041008: 1-10, August 2019.

[J48] Rone, W., Saab, W., Kumar, A., Ben-Tzvi, P., "Controller Design, Analysis and Experimental Validation of a Robotic Serpentine Tail to Maneuver and Stabilize a Quadrupedal Robot", Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 141, Issue 8, pp. 081002: 1-9, August 2019.

[J47] Sebastian, B., Ben-Tzvi, P., "Physics Based Path Planning for Autonomous Tracked Vehicle in Challenging Terrain," Journal of Intelligent and Robotic Systems, Vol. 95, Issue 2, pp. 511-526, August 2019.

[J46] Racioppo, P., Ben-Tzvi, P., "Design and Control of an Articulated Cable-Driven Modular Snake Robot", IEEE/ASME Transactions on Mechatronics, Vol. 24, Issue 3, pp. 893-901, June 2019.

[J45] Ren, H., Kumar, A., Ben-Tzvi, P., "LOSA-X: Expandable 3D Motion Tracking System", IEEE Sensors Journal, Vol. 19, Issue 9, pp. 3288-3295, May 2019.

[J44] Saab, W., Kumar, A., Rone, W., Ben-Tzvi, P., "Design and Integration of a Novel Spatial Articulated Robotic Tail," IEEE/ASME Transactions on Mechatronics, Vol. 24, Issue 2, pp. 434-446, April 2019.

[J43] Sebastian, B., Ben-Tzvi, P., "Active disturbance rejection control for handling slip in tracked vehicle locomotion", Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 11, Issue 2, pp. 021003:1-12, April 2019.

[J42] Williams, A., Sebastian, B., Ben-Tzvi, P., "A Robotic Head Stabilization Mechanism for Medical Transport", Robotics Journal, Vol. 8, Issue 1, pp. 1-16, March 2019.

[J41] Saab, W., Racioppo, P., Kumar, A., Ben-Tzvi, P., "Design of a Miniature Modular Inchworm Robot with an Anisotropic Friction Skin", Robotica Journal, Vol. 37, Issue 3, pp. 521-538, March 2019.

[J40] Saab, W., Racioppo, P., Ben-Tzvi, P., "A Review of Coupling Mechanisms for Modular Reconfigurable Robots", Robotica Journal, Vol. 37, Issue 2, pp. 378-403, February 2019.

[J39] Rone, W., Liu, Y., Ben-Tzvi, P., "Maneuvering and Stabilization Control of a Bipedal Robot with a Universal-Spatial Robotic Tail", Bioinspiration and Biomimetics Journal, Vol. 14, Issue 1, pp. 016014: 1-16, January 2019.

[J38] Liu, Y., Kong, M., Wan, N., Ben-Tzvi, P., "A Geometric Approach to Obtain the Closed-Form Forward Kinematics of H4 Parallel Robot," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 10, Issue 5, pp. 051013: 1-9, October 2018.

[J37] Saab, W., Rone, W., Ben-Tzvi, P., "Robotic Tails: A State of The Art Review," Robotica Journal, Vol. 36, Issue 9, pp. 1263-1277, Sep 2018.

[J36] Lee, J., Williams, A., Ben-Tzvi, P., "Intelligent Object Grasping with Sensor Fusion for Rehabilitation and Assistive Applications," IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol. 26, Issue 8, pp. 1556-1565, August 2018.

[J35] Rone, W., Saab, W., Ben-Tzvi, P., "Design, Modeling and Integration of a Flexible Universal Spatial Robotic Tail," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 10, Issue 4, pp. 041001: 1-14, August 2018.

[J34] Saab, W., Rone, W., Ben-Tzvi, P., "Discrete Modular Serpentine Robotic Tail: Design, Analysis and Experimentation," Robotica Journal, Vol. 36, Issue 7, pp. 994-1018, July 2018.

[J33] Kumar, A., Ben-Tzvi, P., "Novel Wireless Sensing Platform for Experimental Mapping and Validation of Ship Air Wake," Mechatronics Journal, Vol. 52, pp. 58-69, June 2018.

[J32] Refour, E., Sebastian, B., Ben-Tzvi, P., "Two-Digit Robotic Exoskeleton Glove Mechanism: Design and Integration," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 10, Issue 2, pp. 025002: 1-9, April 2018.

[J31] Yanga, Y., Ren, H., Yang, X., Ben-Tzvi, P., He, Z., "Optimal Interval of Periodic Polarity Reversal for Maximizing Hydrogen Production in Microbial Electrolysis Cells," International Journal of Hydrogen Energy, Vol. 42, Issue 31, pp. 20260–20268, Aug. 2017.

[J30] Saab, W., Rone, W., Ben-Tzvi, P., "Robotic Modular Leg: Design, Analysis and Experimentation," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 9, Issue 2, pp. 024501: 1-6, April 2017.

[J29] Saab, W., Ben-Tzvi, P., "A Genderless Coupling Mechanism with 6-DOF Misalignment Capability for Modular Self-Reconfigurable Robots," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 8, Issue 6, pp. 061014: 1-9, December 2016.

[J28] Ma, Z., Ben-Tzvi, P., Danoff, J., "Hand Rehabilitation Learning System with an Exoskeleton Robotic Glove," IEEE Transactions on Neural Systems & Rehabilitation Engineering, Vol. 24, Issue 12, pp.1323–1332, December 2016.

[J27] Zhao, H., Ben-Tzvi, P., "Synchronous Position Control Strategy for Bi-Cylinder Electro-pneumatic Systems," International Journal of Control, Automation and Systems, Vol. 14, Issue 6, pp. 1501-1510, December 2016.

[J26] Kumar, A., Ben-Tzvi, P., "Spatial Object Tracking System Based on Linear Optical Sensor Arrays," IEEE Sensors Journal, Vol. 16, Issue 22, pp. 7933-7940, November 2016.

[J25] Ben-Tzvi, P. Danoff, J., Ma, Z., "The Design Evolution of a Sensing and Force-Feedback Exoskeleton Robotic (SAFER) Glove for Hand Rehabilitation Application," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 8, Issue 5, pp. 051019: 1-9, October 2016.

[J24] Rone, W., Ben-Tzvi, P., "Dynamic Modeling and Simulation of a Yaw-Angle Quadruped Maneuvering with a Robotic Tail," Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME, Vol. 138, Issue 8, pp. 084502: 1-7, August 2016.

[J23] Kumar, A., Ben-Tzvi, P., Saab, W., Snyder, M.R., "Wireless Telemetry System for Real-time Estimation of Ship Air Wake with UAVs," Mechatronics Journal, Vol. 36, pp. 18-26, June 2016.

[J22] Ben-Tzvi, P., Ma, Z., "Sensing and Force-Feedback Exoskeleton (SAFE) Robotic Glove," IEEE Transactions on Neural Systems and Rehabilitation Engineering, Vol. 23, Issue 6, pp. 992-1002, November 2015.

[J21] Ma, Z., Ben-Tzvi, P., "Design and Optimization of a Five-Finger Haptic Glove Mechanism," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 7, Issue 4, pp. 041008: 1–8, November 2015.

[J20] Ma, Z., Ben-Tzvi, P., "RML Glove - An Exoskeleton Glove Mechanism with Haptics Feedback," IEEE/ASME Transactions on Mechatronics, Vol. 20, Issue 2, pp. 641-652, April 2015.

[J19] Rone, W., Ben-Tzvi, P., "Mechanics Modeling of Multi-Segment Rod-Driven Continuum Robots," Journal of Mechanisms and Robotics, Transactions of the ASME, Vol. 6, Issue 4, pp. 041006: 1-12, November 2014.

[J18] Moubarak, P., Ben-Tzvi, P., "A Tristate Rigid Reversible and Non-Back-Drivable Active Docking Mechanism for Modular Robotics," IEEE/ASME Transactions on Mechatronics, Vol. 19, Issue 3, pp. 840-851, June 2014.

[J17] Rone, W., Ben-Tzvi, P., "Continuum Robot Dynamics Utilizing the Principle of Virtual Power," IEEE Transactions on Robotics, Vol. 30, Issue 1, pp. 275-287, February 2014.

[J16] Moubarak, P. Ben-Tzvi, P., "A Globally Converging Algorithm for Adaptive Manipulation and Trajectory Following for Mobile Robots with Serial Redundant Arms," Robotica Journal, Vol. 31, Issue 8, pp. 1299-1312, December 2013.

[J15] Rone, W., Ben-Tzvi, P., "Design and FE Analysis of Integrated Sensing using Gas Compressibility for Microdroplet Generation," Mechatronics Journal, Vol. 23, Issue 4, pp. 397-408, June 2013.

[J14] Moubarak, P., Ben-Tzvi, P., "On the Dual-Rod Slider Rocker Mechanism and its Applications to Tri-State Rigid Active Docking," Transactions of the ASME, Journal of Mechanisms and Robotics, Vol. 5, Issue 1, pp. 011010: 1-10, February 2013.

[J13] Rone, W., Ben-Tzvi, P., "Mapping, Localization and Motion Planning in Mobile Multi-Robotic Systems," Robotica Journal, Vol. 31 Issue 1, pp. 1-24, January 2013.

[J12] Moubarak, P., Ben-Tzvi, P., "Modular and Reconfigurable Mobile Robotics," Journal of Robotics and Autonomous Systems, Vol. 60, Issue 12, pp. 1648-1663, December 2012.

[J11] Moubarak, P., Ben-Tzvi, P., Zaghloul, M., "A Self-Calibrating Mathematical Model for the Direct Piezoelectric Effect of a new MEMS Tilt Sensor," IEEE Sensors Journal, Vol. 12, Issue 5, pp. 1033-1042, May 2012.

[J10] Ben-Tzvi, P., Bai, S., Zhou, Q., Huang, X., "Fuzzy Sliding Mode Control of Rigid-Flexible Multi-Body Systems with Bounded Inputs," Transactions of the ASME, Journal of Dynamic Systems, Measurement and Control,Vol. 133, Issue 6, pp. 061012: 1-8, November 2011.

[J9] Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "Variable Structure Controller Design for Linear Systems with Bounded Inputs," International Journal of Control, Automation and Systems, Vol. 9, Issue 2, pp. 228-236, April 2011.

[J8] Ben-Tzvi, P., Goldenberg, A.A., Zu, J.W., "Articulated Hybrid Mobile Robot Mechanism with Compounded Mobility and Manipulation and On-Board Wireless Sensor/Actuator Control Interfaces," Mechatronics Journal, Vol. 20, Issue 6, pp. 627-639, September 2010.

[J7] Ben-Tzvi, P., "Experimental Validation and Field Performance Metrics of a Hybrid Mobile Robot Mechanism," Journal of Field Robotics , Vol. 27, Issue 3, pp. 250-267, May 2010.

[J6] Ben-Tzvi, P., Rone, W., "Microdroplet Generation in Gaseous and Liquid Environments," Microsystem Technologies , Vol. 16, Issue 3, pp. 333-356, March 2010.

[J5] Ben-Tzvi, P., Ito, S., and Goldenberg, A.A., "A Mobile Robot with Autonomous Climbing and Descending of Stairs," Robotica Journal, Vol. 27, Issue 02, pp. 171-188, Feb. 2009.

[J4] Zhou, Q., Ben-Tzvi, P., Fan, D., "Design and Analysis of a Fast Steering Mirror for Precision Laser Beams Steering," Sensors & Transducers Journal, Vol. 5, Issue 3, pp. 104-118, March 2009.

[J3] Bai, S., Ben-Tzvi, P., Zhou, Q., Huang, X., "A Study on Dynamic Stiffening of a Rotating Beam with a Tip Mass," Sensors & Transducers Journal, Vol. 5, Issue 3, pp. 53-68, March 2009.

[J2] Ben-Tzvi, P., Goldenberg, A.A., Zu, J.W., "Design and Analysis of a Hybrid Mobile Robot Mechanism with Compounded Locomotion and Manipulation Capability," Transactions of the ASME, Journal of Mechanical Design, Vol. 130, Issue 7, pp. 1-13, July 2008.

[J1] Ben-Tzvi, P., Ben Mrad, R., Goldenberg, A.A.,"A conceptual design and FE analysis of a piezoceramic actuated dispensing system for microdrops generation in microarray applications," Mechatronics Journal, Vol. 17, Issue 1, pp. 1-13, February 2007.

Peer-Reviewed Conference Publications (full articles with full review)

[C99] Guo, Y., Xu, W., Bravo, C., Ben-Tzvi, P., "Voice-Controlled Human-Machine Interface for an Assistive Exoskeleton Glove Aiding Patients with Brachial Plexus Injuries", Proc. of the 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN2024), Pasadena, CA, August 26-30, 2024.

[C98] Xu, W., Guo, Y., Ben-Tzvi, P., "Robotic Exoskeleton Glove System Design and Simulation for Patients with Brachial Plexus Injuries", Proceedings of the 2023 ASME IDETC/CIE, 47th Mechanisms & Robotics Conference, Boston, MA, August 20-23, 2023.

[C97] Xu, W., Guo, Y., Bravo, C.J., Ben-Tzvi, P., "Design, Control, and Experimental Evaluation of a Novel Robotic Glove System for Patients with Brachial Plexus Injuries", Proc. of the 2023 IEEE International Conference on Robotics and Automation (ICRA2023), London, UK, May 29-June 2, 2023.

[C96] Xu, W., Guo, Y., Bravo, C., Ben-Tzvi, P., "Development and Experimental Evaluation of a Novel Portable Haptic Robotic Exoskeleton Glove System for Patients with Brachial Plexus Injuries", Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Kyoto, Japan, pp. 11115-11120, October 23-27, 2022.

[C95] Xu, W., Liu, Y., Ben-Tzvi, P., "Development of a Novel Low-profile Robotic Exoskeleton Glove for Patients with Brachial Plexus Injuries", Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2022), Kyoto, Japan, pp. 11115-111120, October 23-27, 2022.

[C94] Xu, W., Liu, Y., Ben-Tzvi, P., "Design, Analysis, and Prototyping of a Novel Single DOF Index Finger Exoskeleton Mechanism", Proceedings of the 2022 ASME IDETC/CIE, 46th Mechanisms & Robotics Conference, St. Louis, Missouri, Aug 14-17, 2022.

[C93] Pressgrove, I., Liu, Y., Ben-Tzvi, P., "Design and Implementation of a Power-Dense, Modular, and Compact Serpentine Articulated Robotic Tail", Proceedings of the 2022 ASME IDETC/CIE, 46th Mechanisms & Robotics Conference, St. Louis, Missouri, Aug 14-17, 2022.

[C92] Liu, Y., Ben-Tzvi, P., "Systematic Development of a Novel, Dynamic, Reduced Complexity Quadruped Robot Platform for Robotic Tail Research", Proc. of the 2022 IEEE International Conference on Robotics and Automation (ICRA2022), Philadelphia, PA, May 23-27, 2022, Submitted.

[C91] Liu, Y., Ben-Tzvi, P., "Feedback Control of the Locomotion of a Tailed Quadruped Robot", Proceedings of the 2021 ASME IDETC/CIE, 45th Mechanisms & Robotics Conference, Virtual, Online, Aug. 17-20, 2021.

[C90] Guo, Y., Xu, W., Pradhan, S., Bravo, C.J., Ben-Tzvi, P., "Integrated and Configurable Voice Activation and Speaker Verification System for a Robotic Exoskeleton Glove", Proceedings of the 2020 ASME IDETC/CIE, 44th Mechanisms & Robotics Conference, St. Louis, MO, Aug. 16-19, 2020.

[C89] Xu, W., Pradhan, S., Guo, Y., Bravo, C.J., Ben-Tzvi, P., "A Novel Design of a Robotic Glove System for Patients with Brachial Plexus Injuries", Proceedings of the 2020 ASME IDETC/CIE, 44th Mechanisms & Robotics Conference, St. Louis, MO, Aug. 16-19, 2020.

[C88] Han, X., Ren, H., Ben-Tzvi, P., "“Autonomous Cricothyroid Membrane Detection Using Neural Networks for First-Aid Surgical Airway Management", Proceedings of the 2020 ASME IDETC/CIE, 44th Mechanisms & Robotics Conference, St. Louis, MO, Aug. 16-19, 2020.

[C87] Liu, Y., Ben-Tzvi, P., "A New Extensible Continuum Manipulator Using Flexible Parallel Mechanism and Rigid Motion Transmission", Proceedings of the 2020 ASME IDETC/CIE, 44th Mechanisms & Robotics Conference, St. Louis, MO, Aug. 16-19, 2020.

[C86] Sohal, S.S., Ben-Tzvi, P., "Sensor Based Target Tracking With Application to Autonomous Docking and Self-Reconfigurability", Proceedings of the 2020 ASME IDETC/CIE, 44th Mechanisms & Robotics Conference, St. Louis, MO, Aug. 16-19, 2020.

[C85] Liu, Y., Ben-Tzvi, P., "Maneuvering and Stabilization of Reduced Complexity Legged Robots Using Bioinspired Robotic Tails", 2019 Do Good Robotics Symposium (DGRS), University of Maryland, College Park, MD, Oct. 3-4, 2019.

[C84] Chauhan, R., Ben-Tzvi, P., "A Series Elastic Actuator Design and Control in a Linkage Based Hand Exoskeleton", Proceedings of the ASME 2019 Dynamic Systems and Control Conf. (DSCC 2019), Park City, Utah, Oct. 8-11, 2019.

[C83] Ren, H., Qi, J., Ben-Tzvi, P., "Learning Flatness-Based Controller Using Neural Networks", Proceedings of the ASME 2019 Dynamic Systems and Control Conf. (DSCC 2019), Park City, Utah, Oct. 8-11, 2019.

[C82] Liu, Y., Ben-Tzvi, P., "A New Approach to Model the Constant Curvature Continuum Robot Dynamics", Proceedings of the ASME 2019 Dynamic Systems and Control Conf. (DSCC 2019), Park City, Utah, Oct. 8-11, 2019.

[C81] Yang, J., Saab, W., Ben-Tzvi, P., "A Two-DOF Bipedal Robot Utilizing the Reuleaux Triangle Drive Mechanism", Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), Macau, China, pp. 4660-4665, Nov. 3–8, 2019.

[C80] Sebastian, B., Ren, H., Ben-Tzvi, P., "Neural Network Based Heterogeneous Sensor Fusion for Robot Motion Planning", Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2019), Macau, China, pp. 2899-2904, Nov. 3–8, 2019.

[C79] Budolak, D., Chauhan, R., Ben-Tzvi, P., "Semi-Autonomous Teleoperation, Guidance, and Obstacle Avoidance with Path Adherence", Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms & Robotics Conference, Anaheim, CA, Aug. 18-21, 2019.

[C78] Sohal, S.S., Ben-Tzvi, P., "Image-Based Motion Analysis for Self-Reconfigurable Mobile Robots with Integrated Docking", Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms & Robotics Conference, Anaheim, CA, Aug. 18-21, 2019.

[C77] Njaka, T., Brizzolara, S., Ben-Tzvi, P., "Design and Simulation of a Novel High-Speed Omnidirectional Fully-Actuated Underwater Propulsion Mechanism", Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms & Robotics Conference, Anaheim, CA, Aug. 18-21, 2019.

[C76] Feng, S., Ren, H., Wang, X., Ben-Tzvi, P., "Mobile Robot Obstacle Avoidance Based on Deep Reinforcement Learning", Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms & Robotics Conference, Anaheim, CA, Aug. 18-21, 2019.

[C75] Liu, Y., Ben-Tzvi, P., "Design, Analysis, and Optimization of a New Two-DOF Articulated Multi-link Robotic Tail", Proceedings of the 2019 ASME IDETC/CIE, 43rd Mechanisms & Robotics Conference, Anaheim, CA, Aug. 18-21, 2019.

[C74] Kamidi, V., Williams, A., Ben-Tzvi, P., "A Framework for Modeling Closed Kinematic Chains with a Focus on Legged Robots", Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), Madrid, Spain, pp. 2733-2738, Oct. 1–5, 2018.

[C73] Saab, W., Yang, J., Ben-Tzvi, P., "Modeling and Control of an Articulated Tail for Maneuvering a Reduced Degree of Freedom Legged Robot", Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2018), Madrid, Spain, pp. 2695-2700, Oct. 1–5, 2018.

[C72] Vanteddu, T., Sebastian, B., Ben-Tzvi, P., "Design Optimization of RML Glove for Improved Grasp Performance", Proceedings of the ASME 2018 Dynamic Systems and Control Conf. (DSCC 2018), Atlanta, GA, Sep. 30 – Oct. 3, 2018.

[C71] Ren, H., Kumar, A., Wang, X., Ben-Tzvi, P., "Parallel Deep Learning Ensembles for Human Pose Estimation", Proceedings of the ASME 2018 Dynamic Systems and Control Conf. (DSCC 2018), Atlanta, GA, Sep. 30 – Oct. 3, 2018.

[C70] Wang, J., Kamidi, V., Ben-Tzvi, P., "A Multibody Toolbox for Hybrid Dynamic System Modeling Based on Nonholonomic Symbolic Formalism", Proceedings of the ASME 2018 Dynamic Systems and Control Conf. (DSCC 2018), Atlanta, GA, Sep. 30 – Oct. 3, 2018.

[C69] Chauhan, R., Ben-Tzvi, P., "Latent Variable Grasp Prediction for Exoskeletal Glove Control", Proceedings of the ASME 2018 Dynamic Systems and Control Conf. (DSCC 2018), Atlanta, GA, Sep. 30 – Oct. 3, 2018.

[C68] Refour, E., Sebastian, B., Ben-Tzvi, P., "Design and Implementation of an Exoskeleton Glove for Infant Medical Rehabilitation", Proceedings of the 2018 ASME IDETC/CIE, 42nd Mechanisms & Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018.

[C67] Sohal, S.S., Saab, W., Ben-Tzvi, P., "Improved Alignment Estimation for Autonomous Docking of Mobile robots", Proceedings of the 2018 ASME IDETC/CIE, 42nd Mechanisms & Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018.

[C66] Liu, Y., Ben-Tzvi, P., "Dynamic Modeling of a Quadruped with a Robotic Tail Using Virtual Work Principle", Proceedings of the 2018 ASME IDETC/CIE, 42nd Mechanisms & Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018.

[C65] Sebastian, B., Williams, A., Ben-Tzvi, P., "Gaussian Kernel Controller for Path Tracking in Mobile Robots", Proceedings of the 2018 ASME IDETC/CIE, 42nd Mechanisms & Robotics Conference, Quebec City, Canada, Aug. 26-29, 2018.

[C64] Lee, J., Ben-Tzvi, P., "Design of a Wearable 3-DOF Forearm Exoskeleton for Rehabilitation and Assistive Purposes", Proceedings of the 2017 ASME International Mechanical Engineering Congress and Exposition (IMECE 2017), Tampa, Florida, Nov. 3–9, 2017.

[C63] Sebastian, B., Williams, A., Ben-Tzvi, P., "Control of a Head Stabilization System for Use in Robotic Disaster Response", Proceedings of the 2017 ASME International Mechanical Engineering Congress and Exposition (IMECE 2017), Tampa, Florida, Nov. 3–9, 2017.

[C62] Rone, W., Ben-Tzvi, P., "Design, Modeling and Optimization of the Universal-Spatial Robotic Tail", Proceedings of the 2017 ASME International Mechanical Engineering Congress and Exposition (IMECE 2017), Tampa, Florida, Nov. 3–9, 2017.

[C61] Kumar, A., Ben-Tzvi, P., "An Inertial Sensor to Measure Wind Turbulence with RC Helicopters", Proceedings of the ASME 2017 Dynamic Systems and Control Conf. (DSCC 2017), Tysons Corner, VA,Oct 11-13, 2017.

[C60] Saab, W., Ben-Tzvi, P., "Maneuverability and Heading Control of a Quadruped Robot Utilizing Tail Dynamics", Proceedings of the ASME 2017 Dynamic Systems and Control Conf. (DSCC 2017), Tysons Corner, VA,Oct 11-13, 2017.

[C59] Kumar, A., Ren, H., Ben-Tzvi, P., "Obstacle Identification for Vision Assisted Control Architecture of a Hybrid Mechanism Mobile Robot", Proceedings of the ASME 2017 Dynamic Systems and Control Conf. (DSCC 2017), Tysons Corner, VA,Oct 11-13, 2017.

[C58] Kamidi, V., Saab, W., Ben-Tzvi, P., "Design And Analysis of a Novel Planar Robotic Leg For High-Speed Locomotion", Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2017), Vancouver, Canada, pp. 6343–6348, Sep. 24–28, 2017.

[C57] Rone, W., Ben-Tzvi, P., "Maneuvering and Stabilizing Control of a Quadrupedal Robot using a Serpentine Tail", 2017 IEEE Conference on Control Technology and Applications, Kohala Coast, Hawai'i, pp. 1763–1768, Aug. 27–30, 2017.

[C56] Racioppo, P., Ben-Tzvi, P., "Modeling and Control of a Reduced Degree of Freedom Modular Snake Robot", 2017 IEEE Conference on Control Technology and Applications, Kohala Coast, Hawai'i, pp. 468–473, Aug. 27–30, 2017.

[C55] Williams, A., Saab, W., Ben-Tzvi, P., "Analysis of Differential Mechanisms for a Robotic Head Stabilization System", Proceedings of the 2017 ASME IDETC/CIE, 41st Mechanisms & Robotics Conference, Cleveland, Ohio, Aug. 6-9, 2017.

[C54] Refour, E., Sebastian, B., Ben-Tzvi, P., "Design and Integration of a Two-Digit Exoskeleton Glove", Proceedings of the 2017 ASME IDETC/CIE, 41st Mechanisms & Robotics Conference, Cleveland, Ohio, Aug. 6-9, 2017.

[C53] Racioppo, P., Saab, W., Ben-Tzvi, P., "Design and Analysis of Reduced Degree-of-Freedom Modular Snake Robot", Proceedings of the 2017 ASME IDETC/CIE, 41st Mechanisms & Robotics Conference, Cleveland, Ohio, Aug. 6-9, 2017.

[C52] Kumar, P., Saab, W., Ben-Tzvi, P., "Design of a Multi-Directional Hybrid-Locomotion Modular Robot with Feedforward Stability Control", Proceedings of the 2017 ASME IDETC/CIE, 41st Mechanisms & Robotics Conference, Cleveland, Ohio, Aug. 6-9, 2017.

[C51] Burns, C., Francom, M., Repisky, P., Kinney, A., Medina, B., Tello, E., Ben-Tzvi, P., "Development of Autonomous Robotic Cataract Surgery Device", Proceedings of the 2016 ASME IDETC/CIE, 40th Mechanisms & Robotics Conference, Charlotte, NC, August 21–24, 2016.

[C50] Saab, W., Ben-Tzvi, P., "Design and Analysis of a Miniature Modular Inchworm Robot", Proceedings of the 2016 ASME IDETC/CIE, 40th Mechanisms & Robotics Conference, Charlotte, NC, August 21–24, 2016.

[C49] Saab, W., Ben-Tzvi, P., "Design and Analysis of a Discrete Modular Robotic Tail for Improved Performance of Mobile Robots", Proceedings of the 2016 ASME IDETC/CIE, 40th Mechanisms & Robotics Conference, Charlotte, NC, August 21–24, 2016.

[C48] Saab, W., Ben-Tzvi, P., "Design and Analysis of a Robotic Modular Leg Mechanism for Legged Robots", Proceedings of the 2016 ASME IDETC/CIE, 40th Mechanisms & Robotics Conference, Charlotte, NC, August 21–24, 2016.

[C47] Kumar, A., Ben-Tzvi, P., "Extraction of Impact of Wind Turbulence on RC Helicopters using Machine Learning", Proceedings of the 2016 ASME IDETC/CIE, 40th Mechanisms & Robotics Conference, Charlotte, NC, August 21–24, 2016.

[C46] Saab, W., Ben-Tzvi, P., "Development of a Novel Coupling Mechanism for Modular Self-Reconfigurable Mobile Robots", PProceedings of the 2015 ASME IDETC/CIE, 39th Mechanisms & Robotics Conference, Boston, MA, Aug. 2–5, 2015.

[C45] Rone, W., Ben-Tzvi, P., "Static Modeling of a Multi-Segment Serpentine Robotic Tail", Proceedings of the 2015 ASME IDETC/CIE, 39th Mechanisms & Robotics Conference, Boston, MA, Aug. 2–5, 2015.

[C44] Ma, Z., Ben-Tzvi, P., Jerome, D., "Hand Rehabilitation Learning System with the Sensing and Force-Feedback Exoskeleton Robotic (SAFER) Glove", Proceedings of the 2015 ASME IDETC/CIE, 39th Mechanisms & Robotics Conference, Boston, MA, Aug. 2–5, 2015.

[C43] Kumar, A., Ben-Tzvi, P., Snyder, M.R., "UAV-based Wireless Telemetry System for the Estimation of Ship Air Wake Patterns", Proc. of the 2015 ASME IDETC/CIE, 2015 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications, Boston, MA, Aug. 2–5, 2015.

[C42] Ma, Z., Ben-Tzvi, P., "Modeling Human Hand and Sensing Hand Motions with the Five-Fingered Haptic Glove Mechanism", Proceedings of the 2014 ASME Int'l Design Engineering Technical Conferences & Computers and Information in Engineering Conf. (IDETC/CIE 2014), 38th Mechanisms & Robotics Conference, Buffalo, NY, Aug. 17-20, 2014.

[C41] Rone, W., Ben-Tzvi, P., "Continuum Robotic Tail Loading Analysis for Mobile Robot Stabilization and Maneuvering", Proceedings of the 2014 ASME Int'l Design Engineering Technical Conferences & Computers and Information in Engineering Conf. (IDETC/CIE 2014), 38th Mechanisms & Robotics Conference, Buffalo, NY, Aug. 17-20, 2014.

[C40] Snyder, M.R., Kumar, A., Ben-Tzvi, P., "Off Ship Measurement of Ship Air Wakes Using Instrumented Unmanned Aerial Vehicles", 32nd AIAA Applied Aerodynamics Conference, AIAA Aviation and Aeronautics Forum and Exposition 2014, Atlanta, GA, 16-20 June 2014.

[C39] Rone, W., Ben-Tzvi, P., "Multi-Segment Continuum Robot Shape Estimation Using Passive Cable Displacements", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013.

[C38] Ma, Z., P. Ben-Tzvi, "Tendon Transmission Efficiency of A Two-finger Haptic Glove", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013.

[C37] Kumar, A., P. Ben-Tzvi, Snyder, M.R., Saab, W., "Instrumentation System for Ship Airwake Measurement", Proceedings of the 2013 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2013), Washington, DC, Oct. 21-23, 2013.

[C36] Moubarak, P., Alvarez, E., P. Ben-Tzvi, "Reconfiguring a Modular Robot into a Humanoid Formation: A Multi-Body Dynamic Perspective on Motion Scheduling for Modules and their Assemblies", Proc. of the 2013 IEEE International Conference on Automation Science and Engineering (CASE2013), Madison, Wisconsin, Aug. 17-21, 2013.

[C35] Moubarak, P., P. Ben-Tzvi, "Globally Converging MIMO Optimal Controller for Adaptive Manipulation of Mobile Robots with Redundant Arms", Proceedings of the 2013 American Control Conference, Washington, DC, pp. 5729-5734, June 17-19, 2013.

[C34] Moubarak, P.,P. Ben-Tzvi, Ma, Z., Alvarez, E., "An Active Coupling Mechanism with Three Modes of Operation for Modular Mobile Robotics", Proceedings of the 2013 IEEE International Conference on Robotics and Automation (ICRA 2013), Karlsruhe, Germany, May 6-10, 2013, pp. 5469-5474.

[C33] Snyder, M.R., Kumar, A., P. Ben-Tzvi, Kang, H.S., "Validation of Computational Ship Air Wakes for a Naval Research Vessel", American Institute of Aeronautics and Astronautics (AIAA) 51stAerospace Sciences Meeting, AIAA Paper 2013-0959, Grapevine, Texas, January 7-10, 2013.

[C32] Rone, W., P. Ben-Tzvi, "Continuum Manipulator Statics Based on the Principle of Virtual Work", Proceedings of the 2012 ASME International Mechanical Engineering Congress and Exposition (IMECE 2012), Houston, TX,November 9-15, 2012.

[C31] Moubarak, P., P. Ben-Tzvi, Ma, Z., Alvarez, E., "Kinematic Synthesis and Dynamic Analysis of the Dual-Rod Slider Crank Mechanism: An Application to Modular Robotics", Proceedings of the 2012 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2012), 36th Mechanisms & Robotics Conference, Chicago, IL, Aug. 12-15, 2012.

[C30] Ma, Z., P. Ben-Tzvi, "An Admittance Glove Mechanism for Controlling a Mobile Robot", Proceedings of the 2012 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2012), 36th Mechanisms & Robotics Conference, Chicago, IL, Aug. 12-15, 2012.

[C29] Moubarak, P., Barsky, D., P. Ben-Tzvi, and Zaghloul, M., "A self-calibrating, bi-axial piezoelectric MEMS tilt sensor", Proceedings of SPIE - Defense, Security, and Sensing, Micro- and Nanotechnology Sensors, Systems, and Applications IV Conference, Vol. 8373, 8373-93, Baltimore, MD, April 23-27, 2012.

[C28] Gilman, C., P. Ben-Tzvi Yessin, G., Danoff, J., "A Robotic Wrist Exoskeleton Device for Augmenting Wrist Movement and Grip Function in Debilitated Patients", Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), Denver, CO, November 11-17, 2011.

[C27] Ma, Z., P. Ben-Tzvi "An Admittance-Type Haptic Device-RML Glove", Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), Denver, CO, November 11-17, 2011.

[C26] Gilani, O., P. Ben-Tzvi, "Bioinspired Jumping Mobility Concepts for Rough Terrain Mobile Robots", Proceedings of the 2011 ASME International Mechanical Engineering Congress and Exposition (IMECE 2011), Denver, CO, November 11-17, 2011.

[C25] Gilani, O.,P. Ben-Tzvi, "The Application of Bipinspired Jumping Locomotion Principles to Mobile Robots: Modeling and Analysis", Proceedings of the 2011 ASME Annual Dynamic Systems and Control Conference (DSCC 2011), Arlington, VA,Oct 31-Nov 2, 2011.

[C24] Rone, W., P. Ben-Tzvi, "TMEMS-Based Microdroplet Generation with Integrated Sensing", COMSOL Conference, Boston, MA, October 13-15, 2011. *** Winner of the Best Paper Award ***

[C23] Moubarak, P.,P. Ben-Tzvi, "Design and Analysis of a New Piezoelectric MEMS Tilt Sensor", Proceedings of the 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011), Montreal, Quebec, Canada, pp. 113-118, September 17-18, 2011.

[C22] Moubarak, P.,P. Ben-Tzvi, "Adaptive Manipulation of a Hybrid Mechanism Mobile Robot", Proceedings of the 2011 IEEE International Symposium on Robotic and Sensors Environments (ROSE 2011), Montreal, Quebec, Canada, pp. 113-118, September 17-18, 2011.

[C21] Rone, W., P. Ben-Tzvi, "Finite Element Modeling of a Microdroplet Generator with Integrated Sensing", Proceedings of the 2011 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2011), 2011 ASME/IEEE International Conference on Mechatronic and Embedded Systems and Applications (MESA2011), Washington, DC, Aug. 28-31, 2011.

[C20] Moubarak, P., P. Ben-Tzvi, Ma, Z., Dumas, M., "A Mobile Robotic Platform for Autonomous Navigation and Dexterous Manipulation in Unstructured environments", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C19] P. Ben-Tzvi, Zhuk, M., "Real-time Dynamic Modeling and Virtual Prototype Simulation of Mechanical systems", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C18] Charifa, S.,P. Ben-Tzvi, "Using Backpropagation Neural Network in Object Recognition for Hybrid Mechanism Mobile Robot", Proceedings of the 2010 ASME International Mechanical Engineering Congress and Exposition (IMECE 2010), Vancouver, British Columbia, Canada,November 12-18, 2010.

[C17] Moubarak, P., P. Ben-Tzvi, Ma, Z., "A Generic Configuration of a Compact Dexterous and Self-Contained End-Effector for Mobile Robotic Platforms", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 140-145, October 15-16, 2010.

[C16] P. Ben-Tzvi, Xu, X., "An Embedded Feature-Based Stereo Vision System for Autonomous Mobile Robots", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 140-145, October 15-16, 2010.

[C15] P. Ben-Tzvi, Charifa, S., and Shick, M., "Extraction of 3D Images Using Pitch-Actuated 2D Laser Range Finder for Robotic Vision", Proceedings of the 2010 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2010), Phoenix, Arizona, pp. 140-145, October 15-16, 2010.

[C14] Zhou, Q.,P. Ben-Tzvi, Iqbal, A., Fan, D., "Design, Analysis and Optimization of Magnetic Microactuators", Proceedings of the 2009 ASME International Mechanical Engineering Congress and Exposition (IMECE 2009), Lake Buena Vista, Florida, November 13-19, 2009.

[C13] Bai, S., P. Ben-Tzvi, Zhou, Q., Huang, X., "Fuzzy Sliding Mode Control of Flexible Spacecraft with Input Saturation", Proceedings of the 2009 ASME International Mechanical Engineering Congress and Exposition (IMECE 2009), Lake Buena Vista, Florida, November 13-19, 2009.

[C12] P. Ben-Tzvi, "Experimental Validation of a Hybrid Mobile Robot Mechanism with Interchangeable Locomotion and Manipulation", Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), St. Louis, Missouri, pp. 420-421, October 11-15, 2009.

[C11] P. Ben-Tzvi, "Wireless Modular Control Hardware Architecture for Hybrid Mechanism Mobile Robot", Proceedings of the 2009 ASME International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009), 33rd Mechanisms & Robotics Conference, San Diego, CA, pp. 675-680, Aug. 30-Sep. 2, 2009.

[C10] Zhao, H.,P. Ben-Tzvi, Tingqi Lin, T., Goldenberg, A.A., "Two-layer Sliding Mode Control of Pneumatic Position Synchro System with Feedback Linearization Based on Friction Compensation", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 41-45, Oct 17-18, 2008.

[C9] Zhou, Q., P. Ben-Tzvi, Fan, D., Goldenberg, A.A., "Design of Fast Steering Mirror Systems for Precision Laser Beams Steering", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 144-149, October 17-18, 2008.

[C8] Bai, S., P. Ben-Tzvi, Zhou, Q., Huang, X., "Dynamic Modeling of a Rotating Beam Having a Tip Mass", Proceedings of the 2008 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2008), Ottawa, Ontario, Canada, pp. 52-57, October 17-18, 2008.

[C7] P. Ben-Tzvi, Goldenberg, A.A., and Zu, J.W., "Design, Simulations and Optimization of a Tracked Mobile Robot Manipulator with Hybrid Locomotion and Manipulation Capabilities", Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA2008), Pasadena, California, pp. 2307-2312, May 19-23, 2008.

[C6] Goldenberg, A.A., P. Ben-Tzvi, "Mobile Robots for Hazardous Environments: New Technology for Mobility", ANS 2nd Int. Joint Topical Meeting on Emergency Preparedness & Response and Robotic & Remote Systems (12th Robotics & Remote Systems for Hazardous Environments),Albuquerque, NM, Mar 9-12, 2008.

[C5] Raoufi, C., P. Ben-Tzvi, Goldenberg, A.A., and Kucharczyk, W., "A MR-Compatible Tele-Robotic System for MRI-Guided Intervention: System Overview and Mechanical Design", Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007), San Diego, California, pp. 1975-1800, October 29 - Nov 2, 2007.

[C4] P. Ben-Tzvi, Goldenberg, A.A., and Zu, J.W., "Implementation of Sensors and Control Paradigm for a Hybrid Mobile Robot Manipulator for Search and Rescue Operations", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2007), Ottawa, Ontario, Canada, pp. 92-97, October 12-13, 2007. ***Winner of the Best Paper Award ***

[C3] P. Ben-Tzvi, Ito, S., and Goldenberg, A.A., "Autonomous Stair Climbing with Reconfigurable Tracked Mobile Robot", Proceedings of the 2007 IEEE International Workshop on Robotic and Sensors Environments (ROSE 2007), Ottawa, Canada, pp. 104-109, Oct. 12-13, 2007.

[C2] P. Ben-Tzvi, Raoufi, C., Goldenberg, A.A., and Zu, J.W., "Virtual Prototype Development and Simulations of a Tracked Hybrid Mobile Robot", Proceedings of MSC. Software 2007 Virtual Product Development Conference, Detroit, Michigan, October 10-12, 2007.

[C1] P. Ben-Tzvi, Goldenberg, A.A., and Zu, J.W., "A Novel Control Architecture and Design of Hybrid Locomotion and Manipulation Tracked Mobile Robot", Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation (ICMA 2007), Harbin, China, pp. 1374-1381, August 5-8, 2007.

Books

[B1] Kurdila, A.J., Ben-Tzvi, P., Dynamics and Control of Robotic Systems. Wiley & Sons, Inc., December 2019, ISBN: 978-1-119-52483-0. (520 pages)

Monographs

[B2] Ben-Tzvi, P., A Dispensing System for Microdrops Generation in Medical Applications. Germany: LAP LAMBERT Academic Publishing AG & Co. KG, 2010. (ISBN-13: 978-3-8383-6000-3)

[B3] Ben-Tzvi, P., Hybrid Mobile Robot Systems: Symbiosis of Locomotion and Manipulation. Germany: LAP LAMBERT Academic Publishing AG & Co. KG, 2010. (ISBN-13: 978-3-8433-6890-2)

Book Chapters

[B4] Ben-Tzvi, P., and Moubarak, P., "A Mechatronic Perspective on Robotic Arms and End-Effectors" in Intelligent Mechatronics. Vienna, Austria: InTech Open Access Publisher, Feb 2011, pp. 3-20. (ISBN-13: 978-953-307-300-2)

Patents

[P20] Ben-Tzvi, P., Liu, Y., Rone, W.S., Saab, W., “Articulated Multi-Link Robotic Tail Systems and Methods”, U.S. Patent No. 12,122,047, Issued October 22, 2024.

[P19] Ben-Tzvi, P., Njaka, T., Brizzolara, S., "High-Speed Omnidirectional Underwater Propulsion Mechanism", U.S. Patent No. 12,065,227, Issued August 20, 2024.

[P18] Ben-Tzvi, P., Refour, E., Sebastian, B., Xu, W., Guo, Y., Pradhan, S., “Robotic Exoskeleton Glove System”, U.S. Patent No. 11,986,033, Issued May 21, 2024.

[P17] Ben-Tzvi, P., Kamidi, V., “Articulated, Closed Kinematic Chain Planar Monopod”, U.S. Patent 11,883,959, Issued January 30, 2024.

[P16] Ben-Tzvi, P., Kamidi, V., "An Articulated Closed Kinematic Chain Planar Monopod", U.S. Patent No. 11,413,745, Issued August 16, 2022.

[P15] Ben-Tzvi, P., Liu, Y., Rone, W.S., Saab, W., "Articulated Multi-Link Robotic Tail Systems and Methods", U.S. Patent 11,305,420, Issued April 19, 2022.

[P14] Ben-Tzvi, P., Liu, Y., “Extensible Continuum Manipulator”, U.S. PCT Patent Application No. PCT/US2021/034564, Filed May 27, 2021.

[P13] Ben-Tzvi, P., Kumar, A., "Linear Optical Sensor Arrays (LOSA) Tracking System for Active Marker Based 3D Motion Tracking”, U.S. Patent 10,295,651, Issued May 21, 2019.

[P12] Ben-Tzvi, P., Moubarak, P., "Active Docking Mechanism for Modular and Reconfigurable Robots”, U.S. Patent 9,616,948, Issued April 11, 2017.

[P11] Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Hybrid Mobile Robot”, Canadian Patent No. CA2631116, Issued, September 2016.

[P10] Ben-Tzvi, P., Moubarak, P., "A mobile Robot with Hybrid Traction and Mobility Mechanism”, U.S. Patent 9,004,200, Issued April 14, 2015.

[P9] Ben-Tzvi, P., "A Mobile Robot with Symbiosis of Locomotion and Manipulation”, U.S. Patent 8,225,892, Issued July 24, 2012.

[P8] Ben-Tzvi, P., Goldenberg, A.A., and Zu, J.W., "Hybrid Mobile Robot”, U.S. Patent 7,874,386, Issued January 25, 2011.

[P7] Ben-Tzvi, P., Yang, J., Saab, W., "Robotic Modular Leg V2 Utilizing the Reuleaux Triangle Drive Mechanism to Build Legged Mobile Robots”, U.S. Provisional Patent Application No. 62/855,968, June 1, 2019. (abandoned)

[P6] Ben-Tzvi, P., Williams, A., Sebastian, B., Kumar, A., Saab, W., "Semi-Autonomous Victim Extraction Robot (SAVER)”, U.S. Provisional Patent Application No. 62/836,915, April 22, 2019. (abandoned)

[P5] Ben-Tzvi, P., Kumar, A., “An Expandable 6D Motion Tracking System Using Linear Optical Sensors Arrays (LOSA-X)”, U.S. Patent Application No. 16/356,568, Filed March 18, 2019. (abandoned)

[P4] Ben-Tzvi, P., Saab, W., "Discrete Modular Serpentine Robotic Tail Mechanism for Mobile Legged Robots”, U.S. Provisional Patent Application No.62/340,140, May 23, 2016. (abandoned)

[P3] Ben-Tzvi, P., Saab, W., "Robotic Modular Leg Mechanism for Legged Mobile Robots”, U.S. Provisional Patent Application No.62/340,136, May 23, 2016. (abandoned)

[P2] Ben-Tzvi, P., "A Hybrid Suspension and Tension Mechanism for Mobile Robots”, U.S. Patent Application No. 13/507,180, June 12, 2012. (abandoned)

[P1] Ben-Tzvi, P., "Mobile Robot with Symbiosis of Locomotion and Manipulation”, U.S. Patent Application No. 12/925,145, October 14, 2010. (abandoned)

Newsletters

[N1] Ben-Tzvi, P., Rone, W., "Tiny Robots, Massive Potential," IEEE Nanotechnology Newsletter, pp. 4-7, March 2011.