Workshop I: Advanced Magneto-Mechatronics Systems: Modeling, Sensing and Control

Location: Room W1

Time: Monday, July 6, 2020, 9:00 AM-12:20 PM


Kun Bai
Huazhong University of Science and Technology

Shaohui Foong
Singapore University of Technology and Design

Chun-Yeon Lin
National Taiwan University

Silu Chen
Chinese Academy of Sciences

Min Li
Minnesota State University


Magnetic fields are widely utilized as media for energy conversion and information storage. Harnessing magnetic fields for sensing and control of mechatronic systems is a reliable and efficient means as magnetic fields are invariant to environmental factors such as temperature, pressure, and light, while permitting non-contact and remote functions across multiple non-ferromagnetic mediums. Inspired by the advancements in new materials, sensor fusion technology and embedded computations, the applications of magneto-mechatronic systems are being pushed forward to a new level, advancing a wide variety of subjects being precisely measured, perceived, and manipulated at unprecedented resolution, scale, and speed. Challenges, however, are presented in modeling, sensing and control of magneto-mechatronic systems to meet the continuously increasing demands and emerging applications. The IEEE/ASME AIM2020 Workshop on Advanced Magneto-Mechatronics Systems aims at bringing mechatronic researchers and practitioners from multiple disciplines to discuss emerging fundamental issues in mechatronics from perspectives over a wide spectrum of applications, such as smart actuators, field reconstruction and perception, medical and surgical devices. This Workshop will discuss recent advances, challenges and opportunities in modeling, sensing and control of magneto-mechatronic systems that move forward new technologies in mechatronic systems with more and more ‘smart functions’. Both hardware innovations and methodology developments will be presented, balancing theoretical analysis and modeling with experimental demonstrations and discussions. The AIM Workshop on magneto-mechatronic systems will help better understand the fundamental concepts and theories in formulating magneto problems and determine the major challenges for future magneto-mechatronic systems, as well as identify key mechatronic technologies for meeting these challenges.

Invited talks
# Title Speaker
1 Magnetic Field Based Sensing and Control of Smart Actuators Kun Bai
2 Passive Magnetic Field-based Sensing and Localization Shaohui Foong
3 Magnetic Field Modeling and Sensors for Non-Ferrous Metallic and Biological Objects Chun-Yeon Lin
4 Extending the Optimal Control to Integrated Mechatronics Design of Electromagnetic Servo Systems: Theory and Case Studies Silu Chen
5 Eddy-Current Field Reconstruction and Control Based on Distributed-Parameter Models for Machine Perception and Stimulation Min Li

Workshop II: Agile Robotics for Industrial Automation Competition

Location: Room W2

Time: Monday, July 6, 2020, 9:00 AM-17:00 PM


Anthony Downs
National Institute of Standards and Technology

William Harrison
National Institute of Standards and Technology

Craig Schlenoff
National Institute of Standards and Technology


The Agile Robotics for Industrial Automation Competition (ARIAC) is designed to test the agility of industrial robot systems, making them more productive and autonomous, while requiring less time from shop floor workers. The goal is to promote automatic failure identification and recovery, automated planning to minimize up-front robot programming time, and ease of swapping out robots of different manufacturers without massive reprogramming. Come learn more about this competition and how to get involved in future iterations. Hear winning approaches from the top finishing teams and help guide the direction of the competition as it moves forward.

Invited talks
# Title Speaker
1 ARIAC Overview Craig Schlenoff
2 ARIAC Environment William Harrison
3 ARIAC Metrics Anthony Downs
4 Team Approach Talk I Attila Vidacs
5 Team Approach Talk II Siwei Feng
6 Team Approach Talk III Steven Gray
7 Industry Representative Talk I Philip Freeman
8 Industry Representative Talk II Matthew Robinson

Workshop III: Challenges and Opportunities of Soft Robotics: Research, Applications, and Education

Location: Room W3

Time: Monday, July 6, 2020, 9:00 AM-12:20 PM


Hao Su, Assistant Professor
City University of New York

Kevin Chen, Assistant Professor
Massachusetts Institute of Technology

Antonio Di Lallo, Postdoc Fellow
City University of New York


During the past few years, advancement in material sciences, additive manufacturing, flexible electronics, sensor/actuators, and intelligent computation/algorithms creates new opportunities for research and development of soft robots. The paradigm shifts from rigid contact towards soft interaction enable not only a safer physical human‐robot interaction but also new forms of robots thanks to passive adaptability and light‐weight design. The full‐day workshop brings experts in the field together to present the state‐of‐the‐art work and discuss the trend of enabling technologies for soft robots that are either biomimetic or for real‐world applications such as advanced tendon actuation, pneumatic artificial muscles, musculoskeletal mechanism, biomimetic locomotion, smart and flexible sensors, compliance control, etc.

Invited talks
# Title Speaker
1 Instability-driven Soft Robots Katia Bertoldi
2 Magnetic Soft Robots Xuanhe Zhao
3 Mathematical Modeling of Soft Robots Gregory S. Chirikjian
4 Untethered High-Performance Soft Robots for Human Augmentation Hao Su
5 Micro-aerial Robots Powered by Soft Artificial Muscles Kevin Chen
6 Research and Education at the Convergence of Frontier Technologies Vikram Kapila
7 Evolving the Physical Structure of Compliant, Soft, and Biological Robots Josh Bongard
8 Programming Shape Shifting and Locomotion through Anisotropy Shu Yang
9 Bio-inspired Vine Robots and A
Promising New Application
Elliot W. Hawkes


Workshop IV: Flexible Mechatronics for Robotics

Location: Room W4

Time: Monday, July 6, 2020, 9:00 AM-12:20 PM


Jiajie Guo
Huazhong University of Science and Technology

Chao-Chieh Lan
National Cheng Kung University

Qining Wang
Peking University
Guimin Chen
Xi’an Jiaotong University


Flexible mechatronics have been critical and necessary to smart robots in unstructured environments under complicated states for they are effective in addressing the needs for adaptability to nonlinear deformations and robustness to harsh conditions. As a combination of compliant structures and stretchable electronics, flexible mechatronics has the advantages of light weights, compact sizes, zero backlashes, quick response and high energy efficiency, thus have wide applications such as human-motion sensing, health inspection, bio-inspired actuation, process state monitoring, high precision positioning/transmission, intelligent fixation and so on. With the emerging applications to robotics, this tutorial provides an opportunity to highlight the role of AIM with a focus on flexible mechatronics in the most active research areas in recent years.

As flexible mechatronics is newly developed with soft robotics and intelligent manufacturing, there exist many challenging but urgent problems unsolved in the field. Topics of interest are categorized in modeling theories, design methods, fabrication techniques, control principles and illustrative applications, which include but not limited to modeling, design and fabrication methods for flexible mechatronic systems, actuation and sensing for soft robotics, smart sensors and actuators, compliant mechanisms in automation and manufacturing, flexible electronics for human-machine interface, human-centered robotics for assistive/rehabilitative equipment, intelligent methods and algorithms for mechatronics, soft materials, analysis and control. In this way, active experts and young scholars in related fields are invited to present their new discoveries and achievements, which will be instructive and informative for students and researchers from various areas.

Besides, flexible mechatronics is an interdisciplinary research area involving researchers with diversified academic backgrounds. For example, theoretical modeling mainly requires knowledges in physics, mechanics and mathematics, while system design and control rely on mechanical, automation and electrical engineering. One the other hand, chemical engineers and material scientists develop fabrication methods and techniques, and immediate applications are usually provided by experts in biomedical and manufacturing engineering. So it is desired to have a communication and discussion platform to exchange ideas and emerging achievements for better collaborations.

Invited talks
# Title Speaker
1 Distributed field sensing for human-centered robotics Jiajie Guo
2 Compliant Motion Control of Stepper Motors Based on Phase Current Feedback Chao-Chieh Lan
3 Modeling large deflections in compliant mechanisms and continuum robots Guimin Chen
4 Human-Centered Wearable Robotics: From Land to Underwater Applications Qining Wang

Workshop V: Supernumerary Robotic Devices

Location: Room W5

Time: Monday, July 6, 2020, 9:00 AM-17:00 PM


Guy Hoffman
Cornell University

Ryder C. Winck
Rose-Hulman Institute of Technology

Vighnesh Vatsal
Cornell University


The field of wearable robotics focuses today mostly on prostheses and exoskeletons. These devices are designed to either replace lost human capabilities or to enhance existing ones. In fact, both prostheses and exoskeletons have reached considerable maturity in terms of research and commercialization efforts over the past decades. Spurred on by recent advances in high-performance actuators and microcontrollers, as well as by increasingly inexpensive computational power, we are witnessing the advent of another class of wearable robots: supernumerary robotic (SR) devices. SR devices aim to add capacities to a human body beyond the naturally occurring and are often modeled as additional upper limbs. While SR device design is largely inspired by prostheses and exoskeletons, research into other facets of this technology beyond design, such as interaction, control systems, biomechanics, and human-robot collaboration, is still in a nascent stage. As a result, the community of SR device researchers is fairly small and insular. This workshop would provide a common forum for existing researchers who are working on aspects of SR devices to communicate their latest advances. It would also assist interested students and researchers working on other areas of robotics in getting involved with SR device research to initiate new projects.

Invited talks
# Title Speaker
1 Handheld Robots: Bridging the gap between fully external and wearable robots Walterio Mayol-Cuevas
2 Playing the piano with 11 fingers – the neurobehavioural constraints of human robot augmentation A. Aldo Faisal
3 Virtual Cyborgs: Freedom from Body Limitations Masahiko Inami
4 The robotic sixth finger
Monica Malvezzi and Domenico Prattichizzo
5 TBD Hiroyasu Iwata
6 Supernumerary robotic manipulation for Laparoscopic surgery, envisioned scenarios and results
Mohamed Bouri