Dongming Gan

Dongming Gan, PhD

Associate Professor

dgan@purdue.edu

765-496-0517

https://sites.google.com/view/c3rl/home

Knoy 190, 401 North Grant Street West Lafayette, IN 47907-2021

Dr. Dongming Gan is an Associate Professor in the School of Engineering Technology at Purdue University, West Lafayette, IN. He has PhD degrees in Robotics and Mechanical Engineering from King’s College London and Beijing University of Posts and Telecommunications. He worked as postdoc fellow in the Advanced Robotics Department at the Italian Institute of Technology (IIT), Genova, Italy and assistant professor in Robotics and Mechanical Engineering at Khalifa University, Abu Dhabi, UAE, prior joining Purdue. His main research interests fall into the area of robotics, theoretical kinematics, mechanism and machine theory with focus on design, modeling, control and development of intelligent reconfigurable robotic systems, compliant robot manipulators, and flexible light-weight wearable devices for assisting humans in manufacturing, health care and domestic human-robot co-existing scenarios with safe physical interactions and collaborations. He has published over 130 international journal and conference papers on those topics with six patents.

Dongming is an Associate Editor of Mechanism and Machine Theory, ASME Journal of Mechanisms and Robotics, IMechE Part C: Journal of Mechanical Engineering Science, and Robotica (Cambridge Press), a Topic Editor of Mechanical Sciences, a Review Editor on the Editorial Board of Bionics and Biomimetics in Frontiers Journal, and a Guest Editor of Frontiers in Neurorobotics, Machines, and Applied Bionics and Biomechanics. He is an AVP on the IEEE RAS CAB board, a committee member of the ASME DED Mechanism and Robotics Committee, and a member of ASME and IEEE. He is the recipient of the 2023 Freudenstein Young Investigator award (ASME). He has served on program committees and symposiums of several international conferences including IEEE ICRA 2021/2023, IROS 2019-2023, Cyber 2019, IEEE/ASME ReMAR 2012-2024, Parallel 2014/2020 and ASME IDETC 2012-2023. In particular, he was the general conference Chair of the ASME IDETC 47th MR 2023 conference in Boston and the 6th IEEE/IFToMM ReMAR 2024 in Chicago.

Recent funding:

NSF FRR: Discrete Variable Stiffness Actuators with Fast Stiffness Switch for Safe Human-Robot Interaction, PI: Dongming Gan, co-PIs: Prof. Richard Voyles, Prof. George Chiu, Amount: $655,908, 09/01/2021 to 08/31/2024 (https://www.nsf.gov/awardsearch/showAward?AWD_ID=2131711&HistoricalAward...)
NSF I-Corp: Compliant Robots for safe human-robot interaction, PI: Dongming Gan, Amount: $50,000, 08/01/2022 to 01/31/2023
DOD-STTR Phase I project: Automated CO2 Blasting of the ID of Pipes, PI: Dongming Gan, co-PI: Prof. Mark French, in collaboration with Polar Clean company, total amount: $50,000, 06/24/2021 to 09/23/2021
The Indiana Corn Marketing Council (ICMC) project: Development of a Decision Support and Early Warning System for Southern Rust of Corn: Integration of novel sensing, novel algorithms, and weather data, PI: Prof. Davide Cammarano, co-PIs: Prof. Christian Cruz, Dongming Gan, total amount: $50,000, 04/2021 to 03/2022
Purdue-Khalifa Universit collaboration project: Flexible & smart textile architectures with integrated tactile sensor arrays and memristive networks for robotic applications, PI: Dongming Gan, in collaboration with Prof. Lianxi Zheng at KU, total amount: $75,000, 07/01/2020 to 06/30/2023

Education:

PhD in Robotics, King's College London, 2018
PhD in Mechatronics Engineering, joint program with King's College London and Beijing University of Posts and Telecommunications, 2009
BSc. in Mechanical Design, Manufacturing and Automation, East China University of Science and Technology, 2004

2023: Freudenstein Young Investigator Award from the ASME Design and Engineering Division Mechanism and Robotics Committee in testimony of the high regard of his colleagues and their recognition of his research contribution to the theory or practice of mechanisms and/or robotics to enhance the public good.
2022:Outstanding Faculty in Discovery, School of Engineering Technology, Purdue University, February 18, 2022
2021: Best paper Award for Design of Reconfigurable Robots in the 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2021) held online based on Toronto, Canada, August 12-14, 2021. Latifah Nurahmi and Dongming Gan, Singularity Crossing of Various Configurations of a 3-(rR)PS Metamorphic Parallel Mechanism Through Dynamics Modelling and Trajectory Planning.
2019: Best presentation award in The 3rd International Conference on Intelligent Manufacturing and Automation Engineering on paper “An Automated Game-Based Variable-Stiffness Exoskeleton for Hand Rehabilitation”, Tokyo, Japan, September 27-30, 2019.
2019: 1st place in the Biomedical and Electrical Engineering Category of the 7th UAE Undergraduate Research Competition with project "A Game-Based Exoskeleton Hand for Rehabilitation" by Wasiq Ahmed, Hiba Tariq, Nida Rashid, Noor Fikree, supervised by Dongming Gan and Shakti Singh, 30 April 2019, Abu Dhabi, UAE.
2018: 1st place in the Mechanical Engineering Category of the 6th UAE Undergraduate Research Competition with project "Robotic Hand for Amputees" by Ayesha Asif, Mouaz Haiek, Mohammed Rashid and Mohammed J. Ali, supervised by Dongming Gan and Prof. Bashar El-Khasawneh, 30 April 2018, Abu Dhabi, UAE.
2013: 1st place in the AIN-KU (Arab Innovation Network – Khalifa University) first Innovation Competition with project on “Design of A Reconfigurable Metamorphic Joint”, by students: Hussam Alhussein, Faisal Aldhaheri, Omran Alhaddad, supervisors: Dongming Gan and Bashar El-Khasawneh, November 7, 2013, Abu Dhabi, UAE.
2012: Best Technical Presentation Award, ASME Old Guard Presentation Competition with project on “Unified Kinematics Analysis of a Metamorphic Parallel Mechanism”, student: Hussam Al Hussein, supervisor: Dongming Gan, May 2012, Lebanon.
2004-2005: Outstanding Postgraduate Student of Automation School of BUPT;
2004: Outstanding Graduate of Shanghai City;
2004: Outstanding Graduation Thesis of ECUST;
2002-2004: Three-timely First-Class Scholarship for Outstanding Students of ECUST;

Journal Papers

Soliman, A., Aramizo Ribeiro, G., Gan, D., & Rastgaar, M. (2022). Feasibility Design and Control of a Lower Leg Gait Emulator utilizing a Mobile 3-RPR Parallel Manipulator. Journal of Mechanisms and Robotics, 1-24.
Huang, Xiaoqian, Mohamad Halwani, Rajkumar Muthusamy, Abdulla Ayyad, Dewald Swart, Lakmal Seneviratne, Dongming Gan, and Yahya Zweiri. "Real-time grasping strategies using event camera." Journal of Intelligent Manufacturing (2022): 1-23.
Armanini, C., Hussain, I., Iqbal, M. Z., Gan, D., Prattichizzo, D., & Renda, F. (2021). Discrete cosserat approach for closed-chain soft robots: Application to the fin-ray finger. IEEE Transactions on Robotics, 37(6), 2083-2098.
Hussain, Irfan, Ahmad Albalasie, Mohammad I. Awad, Khaled Tamizi, Zhenwei Niu, Lakmal Seneviratne, and Dongming Gan. "Design and Control of a Discrete Variable Stiffness Actuator With Instant Stiffness Switch for Safe Human-Robot Interaction." IEEE Access 9 (2021): 118215-118231.
Shah, Umer Hameed, Rajkumar Muthusamy, Dongming Gan, Yahya Zweiri, and Lakmal Seneviratne. "On the Design and Development of Vision-based Tactile Sensors." Journal of Intelligent & Robotic Systems 102, no. 4 (2021): 1-27.
Muthusamy, Rajkumar, Abdulla Ayyad, Mohamad Halwani, Dewald Swart, Dongming Gan, Lakmal Seneviratne, and Yahya Zweiri. "Neuromorphic eye-in-hand visual servoing." IEEE Access 9 (2021): 55853-55870.
I. Hussain, O. Al-Ketan, F. Renda, M. Malvezzi, D. Prattichizzo, L. Seneviratne, R. Al-Rub, D.M. Gan, “Design and Prototyping Soft-Rigid Tendon Driven Modular Grippers Using Interpenetrating Phase Composites (IPCs) Materials”, The International Journal of Robotics Research (IJRR), 2020. (https://doi.org/10.1177/0278364920907697)
Hussain, I., Malvezzi, M., Gan, D., Iqbal, Z., Seneviratne, L., Prattichizzo, D., & Renda, F. (2020). Compliant gripper design, prototyping, and modeling using screw theory formulation. The International Journal of Robotics Research (IJRR), 0278364920947818, (https://doi.org/10.1177/0278364920947818)
R. Muthusamy, X.Q. Huang, Y. Zweiri, L. Seneviratne, D.M. Gan*, “Neuromorphic Event-Based Slip Detection and Suppression in Robotic Grasping and Manipulation”, IEEE Access, vol. 8, pp. 153364-153384, 2020, doi: 10.1109/ACCESS.2020.3017738.
Awad, M. I., Hussain, I., Ghosh, S., Zweiri, Y., & Gan, D. (2020). A double-layered elbow exoskeleton interface with 3-PRR planar parallel mechanism for axis self-alignment. Journal of Mechanisms and Robotics, 13(1).
Chai, Xuheng, Xi Kang, Dongming Gan, Haoyong Yu, and Jian S. Dai. "Six novel 6R metamorphic mechanisms induced from three-series-connected Bennett linkages that vary among classical linkages." Mechanism and Machine Theory 156 (2021): 104133.
Huang, X., Muthusamy, R., Hassan, E., Niu, Z., Seneviratne, L., Gan, D., & Zweiri, Y. (2020). Neuromorphic vision based contact-level classification in robotic grasping applications. Sensors, 20(17), 4724.
Baghaei Naeini, F., Makris, D., Gan, D., & Zweiri, Y. (2020). Dynamic-vision-based force measurements using convolutional recurrent neural networks. Sensors, 20(16), 4469.
S. Y. Fu, Y. F. Fu, X. G. Yu, N. Hu, Y. Q. Li, D. M. Gan, T. Taha, P. Huang, “Flexible Multiple-Loading Recognizable Strain Sensor via Architectural Design of Carbonized Cotton Thread”, Composites Part B, 182, pp.1-6, 2020. (https://doi.org/10.1016/j.compositesb.2019.107631)
Al Khawli, T., Anwar, M., Gan, D., & Islam, S. (2020). Integrating laser profile sensor to an industrial robotic arm for improving quality inspection in manufacturing processes. Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, 0954406220942552.
A. Mohiuddin, Y. Zweiri, R. Almadhoun, T. Taha, L. Seneviratne, D.M. Gan*, “Energy Optimized Multi-UAV Collaborative Transportation through Load Sharing”, Transactions of the ASME: Journal of Mechanisms and Robotics, in press, 2020.
L.D. Meng, R.J. Kang, D.M. Gan, G.M. Chen, L.S. Chen, D.T. Branson, J.S. Dai, “A mechanically intelligent crawling robot driven by shape memory alloy and compliant bistable mechanism”, Transactions of the ASME: Journal of Mechanisms and Robotics, in press, 2020.
L. Nurahmi, D.M. Gan*, “Reconfiguration of a 3-rRPS Metamorphic Parallel Mechanism based on Complete Workspace and Operation Mode Analysis”, Transactions of the ASME: Journal of Mechanisms and Robotics, 12(1), 2020, 011002_1-15.
A. Mohiuddin, T. Taha, Y. Zweiri, D.M. Gan, “A Survey on Multi-UAV Collaborative Manipulation”, Unmanned Systems, 2020. (https://doi.org/10.1142/S2301385020500089)
W. Ahmed, H. Tariq, N. Rashid, N. Fikree, S. Singh, and D.M. Gan*, “An Automated Game-Based Variable-Stiffness Exoskeleton for Hand Rehabilitation”, International Journal of Mechanical Engineering and Robotics Research, in press, 2020
A. Mohiuddin, T. Taha, Y. Zweiri, D.M. Gan, “UAV Payload Transportation using Optimized Velocity Profiles via Real Time Dynamic Programming”, Energies, 12, 3049, 2019, doi:10.3390/en12163049.
I. Hussain, A. Albalasie, M. I. Awad, L. Seneviratne, D.M. Gan*, “Modeling, Identification and Control of a Discrete Variable Stiffness Actuator (DVSA)”, Actuators, 8(50), 2019.
M. K. Al-Sharman, Y. Zweiri, M. A. Jaradat, R. Al-Husari, D. M. Gan, and L. Seneviratne, “Deep Learning-Based Neural Network Training for State Estimation Enhancement: Application to Attitude Estimation", IEEE Transactions on Instrumentation and Measurement, 69(1), 24-34, 2019.
M. Anwar, T. Al Khawli, I. Hussain, D.M. Gan, F. Renda, “Modeling and Prototyping of a Soft Closed-Chain Modular Gripper”, Industrial Robots: An International Journal, 46(1), 135-145, 2019.
M. I. Awad, Irfan Hussain, D.M. Gan*, Ali Az-zu’bi, Cesare Stefanini, Kinda Khalaf, Yahya Zweiri, Tarek Taha, Jorge Dias, Lakmal Seneviratne, “Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization and Testing Towards Passive Haptic Interface”, Transactions of ASME: Journal of Mechanisms and Robotics, 11(1), 2019, 011005_1-14.
M. I. Awad, D.M. Gan*, I. Hussain, Ali Az-zu’bi, C. Stefanini, K. Khalaf, Y. Zweiri, J. Dias, L. Seneviratne, “Novel Passive Binary-Controlled Variable Stiffness Joint (BpVSJ): Modeling, Characterization, and Testing Towards Passive Haptic Interface Application”, IEEE Access, 6, 2018, 63045-63057.
I. Hussain, F. Renda, Z. Iqbal, M. Malvezzi, G. Salvietti, L. Seneviratne, D.M. Gan, D. Prattichizzo, “Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity”, IEEE Robotics and Automation Letter, 3(4), 2018, 2854-2861.
I. Hussain, A. Albalasie, M. I. Awad, L. Seneviratne, D.M. Gan*, “Modeling, Control and Numerical Simulations of a Novel Binary-Controlled Variable Stiffness Actuator (BcVSA)”, Frontiers in Robotics and AI, 2018, doi: 10.3389/frobt.2018.00068.
K. Khalaf, D. M. Gan*, H. Hemami, “Dynamics and Control of Separable Coupled Rigid Body Systems”, Robotics and Biomimetics, 4(14), 2017, 1-11.
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion”, Transactions of the ASME: Journal of Mechanisms and Robotics, 8(5), 2016, 051001_1-9.
D. M. Gan*, Jorge Dias, and L. D. Seneviratne, “Unified Kinematics and Optimal Design of a 3rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint”, Mechanism and Machine Theory, 2016, 96 (part 2), pp. 239-254.
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Joint Force Decomposition and Variation in Unified Inverse Dynamics Analysis of a Metamorphic Parallel Mechanism”, Meccanica, 2016, 51(7), 1583-1593.
D. M. Gan*, J. S. Dai, Jorge Dias, R. Umer, and L. D. Seneviratne, “Singularity-Free Workspace Aimed Optimal Design of a 2T2R Parallel Mechanism for Automated Fiber Placement”, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp. 041022_1-9.
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Forward Kinematics Solution Distribution and Analytic Singularity-Free Workspace of Linear-Actuated Symmetrical Spherical Parallel Manipulators”, Transactions of the ASME: Journal of Mechanisms and Robotics, 7(4), 2015, pp. 041007_1-8.
Y. F. Zhuang, D. M. Gan*, “Unified Singularity Modeling and Reconfiguration of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws”, Advances in Mechanical Engineering, 2015, 7(1): 352797.
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Constraint-Plane-Based Synthesis and Topology Variation of A Class of Metamorphic Parallel Mechanisms”, Journal of Mechanical Science and Technology, 28(10), 2014, pp. 4179-4191.
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Unified Kinematics and Singularity Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion”, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(3), 2013, pp. 041104_1-11.
D. M. Gan*, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, L. D. Seneviratne, “Stiffness Design for a Spatial 3-DOF Compliant Manipulator Based on Impact Configuration Decomposition”, Transactions of the ASME: Journal of Mechanisms and Robotics, 5(1), 2013, pp. 011002(1-10).
D. M. Gan*, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfigurability and Unified Kinematics Modeling of a 3rTPS Metamorphic Parallel Mechanism with Perpendicular Constraint Screws”, Robotics and Computer Integrated Manufacturing, 29(4), 2013, pp. 121-128.
D. M. Gan*, J. S. Dai, “Geometry Constraint and Branch Motion Evolution of 3-PUP Parallel Mechanisms with Bifurcated Motion”, Mechanism and Machine Theory, 61, 2013, 168-183.
D. M. Gan*, J. S. Dai, D. G. Caldwell, “Constraint-Based Limb Synthesis and Mobility-Change Aimed Mechanism Construction”, Transactions of the ASME: Journal of Mechanical Design, 133(5), 2011, pp. 051001_1-9.
D. M. Gan*, J. S. Dai and Q. Z. Liao, “Constraint Analysis on Mobility Change of a Novel Metamorphic Parallel Mechanism”, Mechanism and Machine Theory, 45(12), 2010, 1864-1876. (Ranked the 3rd most cited paper published in MMT between 2010 and 2015 by October 2015 based on Scopus.)
D. M. Gan*, Q. Z. Liao, J. S. Dai and S. M. Wei, “Design and kinematics analysis of a new 3CCC parallel mechanism”, Robotica, 28(7), 2010, 1065-1072.
D. M. Gan*, J. S. Dai and Q. Z. Liao, “Mobility change in two types of metamorphic parallel mechanisms”, Transactions of the ASME: Journal of Mechanisms and Robotics, 2009, 1: 041007-1-9.
D. M. Gan*, Q. Z. Liao, J. S. Dai, S. M. Wei and L. D. Seneviratne, “Forward displacement analysis of the general 6-6 Stewart mechanism using Grobner bases”, Mechanism and Machine Theory, 44(9), 2009, 1640-1647.
D. M. Gan*, Q. Z. Liao, J. S. Dai, S. M. Wei and L. D. Seneviratne, “Forward displacement analysis of a new 1CCC-5SPS parallel mechanism using Grobner theory”, Proc. IMechE, Part C: J. Mechanical Engineering Science, 223(C5), 2009, 1233-1241.
D. M. Gan*, Q. Z. Liao, J. S. Dai, S. M. Wei and S. G. Qiao, “Dual quaternion based inverse kinematics of the general spatial 7R mechanism”, Proc. IMechE, Part C: J. Mechanical Engineering Science, 222(C8), 2008, 1593-1598.
L. Guo, D. M. Gan, Q. Z. Liao and S. M. Wei, “Control of a new 3P-6SS parallel mechanism”, China Mechanical Engineering, 19(9), 2008, 1013-1015.
X. L. Cui, Q. Z. Liao, D. M. Gan* and P. Wang, “New method of inverse kinematic analysis of special-dimension serial robots”, Sciencepaper online, 3(8), 2008, 570-573.
D. M. Gan*, Q. Z. Liao and S. M. Wei, “Forward kinematics analysis of the new 2CCC-4SPS parallel mechanism”, Journal of Beijing University of Posts and Telecommunications, 30(6), 2007, 33-36.
D. M. Gan*, Q. Z. Liao, P. Wang and S. M. Wei, “Forward kinematics analysis and motion simulation of the new 6-CCS parallel mechanism”, China Mechanical Engineering, 18(24), 2007, 2903-2906.
Y. Li, X. G. Zhou, D. M. Gan*, Q. Z. Liao, “Configurable analysis and kinematics simulation of a new 6-CCS parallel mechanism”, New Technology & New Process, 12, 2006, 33-35.

Editorial

L.W. Shi, Y. Yu, N. Xiao, D. M. Gan*, “Biologically Inspired and Rehabilitation Robotics”, Special issue in journal of Applied Bionics and Biomechanics, 2019.

Book Chapters

D. M. Gan, J. S. Dai, D. G. Caldwell, “Constraint-Screw System Based Synthesis of Limb Arrangement of the 3-PUP Parallel Mechanism”, In: Lenarčič J, Stanišić M. M. (eds), Advances in Robot Kinematics, Dordrecht, Springer, 2010, pp. 485-492.

International Conference Papers

A.M. Soliman, I. Hussain, M. Awad, D.M. Gan*, “Design and Modeling of a Variable Stiffness Barrel Mechanism for Ankle Exoskeleton in Lower Limb Walking Assistance”, Proceedings of the ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, St. Louis, US, August 16-19, 2020.
X.H. Chai, L. Nurahmi, J.S. Dai, D.M. Gan*, “Kinematic Calibration of a 3rRPS Metamorphic Parallel Mechanism”, Proceedings of the ASME 2020 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, St. Louis, US, August 16-19, 2020.
L. Nurahmi, M. Husty, D.M. Gan*, “Forward Kinematics and Singularities of a 3-rRPS Metamorphic Parallel Mechanism”, Proceedings of the 2020 USCToMM Symposium on Mechanical Systems and Robotics, Rapid City, SD, US, May 13-16, 2020.
M. Calisti, F. Giorgio-Serchi, C. Stefanini, M. Farman, I. Hussain, C. Armanini, D.M. Gan, L. Seneviratne, F. Renda, “Design, Modeling and Testing of a Flagellum-inspired Soft Underwater Propeller Exploiting Passive Elasticity”, IEEE IROS, Macau, China, Nov. 4- 8, 2019.
R. Muthusamy, J. M. Indave, P. K. Muthusamy, E. F. Hasan, Y. Zweiri, V. Kyrki, D.M. Gan, “Investigation and Design of Robotic Assistance Control System for Cooperative Manipulation”, Proceedings of the IEEE 2019 International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Suzhou, China, July 29 – August 2, 2019.
A. Albalasie, I. Hussain, M. Horoub, S. Khan, S. Ali, D.M. Gan, “Design, Prototype, and Control Design Based on Computed Torque Control of Selective Compliance Assembly Robot Arm”, Proceedings of the IEEE 2019 International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Suzhou, China, July 29 – August 2, 2019.
L. Nurahmi, D.M. Gan, “Dynamic Analysis of the 3-rRPS Metamorphic Parallel Mechanism Based on Instantaneous Screw Axis”, Proceedings of the ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Ahaneim, US, August 18-21, 2019.
L.D. Meng, R.J. Kang, D.M. Gan, G.M. Chen, J.S. Dai, “A Shape Memory Alloy Driven Crawling Robot Utilizing Bistable Mechanism”, Proceedings of the ASME 2019 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Ahaneim, US, August 18-21, 2019.
I. Hussain, M. Anwar, Z. Iqbal, M. Malvezzi, L. Seneviratne, D.M. Gan, F. Renda, D. Prattichizzo, “Design and Prototype of Supernumerary Robotic Finger (SRF) Inspired by Fin Ray Effect for Patients Suffering from Sensorimotor Hand Impairment”, Proceedings of the 2019 2nd IEEE International Conference on Soft Robotics (RoboSoft), April 14-18, 2019, COEX, Seoul, Korea.
I. Hussain, Z. Iqbal, M. Malvezzi, L. Seneviratne, D.M. Gan, D. Prattichizzo, “Modeling and Prototyping of a Soft Prosthetic Hand Exploiting Joint Compliance and Modularity”, IEEE ROBIO, Malaysia, December 12-15, 2018.
R. Almadhoun, D.M. Gan, J. Dias, Y. Zweiri, L. Seneviratne, T. Taha, “Coverage Path Planning with Adaptive Viewpoint Sampling to Construct 3D Models of Complex Structures for the Purpose of Inspection”, IEEE IROS, Madrid, Spain, October 1- 5, 2018.
I. Hussain, F. Renda, Z. Iqbal, M. Malvezzi, G. Salvietti, L. Seneviratne, D.M. Gan, D. Prattichizzo, “Modeling and Prototyping of an Underactuated Gripper Exploiting Joint Compliance and Modularity”, IEEE IROS, Madrid, Spain, October 1- 5, 2018.
L. Nurahmi, D.M. Gan, “Workspace Transition of 3-rRPS Metamorphic Parallel Mechanism in Hyperboloid Configuration”, Proceedings of the ASME 2018 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Quebec City, Canada, August 26-29, 2018.
L. Nurahmi, D.M. Gan, “Operation Mode and Workspace of a 3-rRPS Metamorphic Parallel Mechanism with a Reconfigurable Revolute Joint”, The 4th IEEE/IFToMM International conference on Reconfigurable Mechanisms and Robots (ReMAR), Delft, The Netherlands, June 20-22, 2018.
I. Hussain, M.I. Awad, A.B. Junaid, F. Renda, L. Seneviratne, D.M. Gan, “Dynamic modeling and numerical simulations of a passive robotic walker using Euler-Lagrange method”, The IEEE 11th International Symposium on Mechatronics and its Applications (ISMA), Sharjah, UAE, March 4-6, 2018.
A. Dayem, D.M. Gan, L. Seneviratne, T. Taha, “3D Reconstruction of Complex Structures with Online Profiling and Adaptive Viewpoint Sampling”, The 9th International Micro Air Vehicles Conference, Toulouse, France, September 18-21, 2017.
S. Islam, D.M. Gan, R. Ashour, P. Dario, J. Dias, L. Seneviratne, “Haptics and Virtual Reality Based Bilateral Telemanipulation of Miniature Aerial Vehicle Over Open Communication Network”, The 18th International Conference on Advanced Robotics, Hong Kong, China, July 10-12, 2017.
M. I. Awad, D.M. Gan, Ali Az-zu’bi, Jaideep Thattamparambil, Cesare Stefanini, Jorge Dias, Lakmal Seneviratne, “Novel Passive Discrete Variable Stiffness Joint (pDVSJ): Modeling, Design, and Characterization”, IEEE International Conference on Robotics and Biomimetics (ROBIO 2016), Qingdao, China, December 3-7, 2016.
M. I. Awad, D.M. Gan, Marco Cempini, Mario Cortese, Nicola Vitiello, Jorge Dias, Paolo Dario, Lakmal Seneviratne, “Modeling, Design & Characterization of A Novel Passive Variable Stiffness Joint (pVSJ)”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), Daejeon, Korea, October 9-14, 2016.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Optimal Design of of a Metamorphic Parallel Mechanism with Reconfigurable 1T2R and 3R Motion Based on Unified Motion/Force Transmissibility”, Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Charlotte, North Carolina, USA, August 21-24, 2016.
Shramana Ghosh, D. M. Gan, “Design of Passive 3-PRR Planar Parallel Manipulators for Self-alignment of Exoskeleton Axes”, Proceedings of the ASME 2016 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Charlotte, North Carolina, USA, August 21-24, 2016.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Variable Motion/Force Transmissibility of a Metamorphic Parallel Mechanism with Reconfigurable 3T and 3R Motion”, Proceedings of the ASME 2015 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Boston, USA, August 2-5, 2015.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfiguration and Static Joint Force Variation of a 3rRPS Metamorphic Parallel Mechanism with 3R and 1T2R Motion”, Proceedings of the IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China, July 20-22, 2015.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Unified Kinematics Analysis and Analytic Singularity-Free Workspace of a Metamorphic Parallel Mechanism with Controllable Rotation Center”, Proceedings of the ASME 2014 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Buffalo, USA, August 17-20, 2014.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Joint Force Decomposition and Variation in Unified Inverse Dynamics Analysis of a Metamorphic Parallel Mechanism”, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
Bashar El-Khasawneh, Abdulla AlAli, Anas AlAzzam, D. M. Gan, Mohammad Abu Tayeh, “A Novel 5 Degrees-of-Freedom Hybrid Serial-Parallel Kinematics Manipulator (Two-3PRR): Inverse and Forward Kinematics”, The 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators, Tianjin, China, July 7-8, 2014.
D. M. Gan, G. Cai, J. Dias, L. D. Seneviratne, "Attitude Control of Quad-Rotor UAVs Using an Intuitive Kinematics Model". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December 8-11 2013, Abu Dhabi, UAE.
H. Hussein, T. Caldeira, D. M. Gan, J. Dias, L. D. Seneviratne, "Object Shape Perception in Blind Robot Grasping Using a Wrist Force/Torque Sensor". In proceedings of 2013 IEEE International Conference on Electronics, Circuits, and Systems (ICECS 2013), December 8-11 2013, Abu Dhabi, UAE.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, "Controllable Rotation Workspace of a Metamorphic Parallel Mechanism”, Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, 2013.
D. M. Gan, Jorge Dias, and L. D. Seneviratne, "Unified Inverse Dynamics of Variable Topologies of a Metamorphic Parallel Mechanism Using Screw Theory”, Proceedings of the ASME 2013 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Portland, USA, August 4-7, 2013.
D. M. Gan, J. S. Dai, and L. D. Seneviratne, “Reconfiguration and Unified Kinematics Analysis of A Metamorphic Parallel Mechanism with Bifurcated Motion”, Proceedings of the ASME 2012 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Chicago, USA, August 12-15, 2012.
Hussam AlHussein, D. M. Gan, Jorge Dias and L. D. Seneviratne, “Unified Kinematics Modeling of Variable Topologies of a 3(rT)PS Metamorphic Parallel Mechanism”, Proceedings of the 2012 IEEE International Conference on Mechatronics and Automation, Chendu, China, August 5-8, 2012.
D. M. Gan, J. S. Dai, Jorge Dias, and L. D. Seneviratne, “Reconfiguration and Actuation Scheme of 3rTPS Metamorphic Parallel Mechanisms with Parallel Constraint Screws”, Proceedings of the Second ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China, July 8-11, 2012.
D. M. Gan, L. D. Seneviratne, and Jorge Dias, “Design and Analytical Kinematics of a Robot Wrist Based on a Parallel Mechanism”, Proceedings of the The 14th International Symposium on Robotics and Applications, Puerto Vallarta, Mexico, June 24-28, 2012.
D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, “Joint Stiffness Tuning for Compliant Robots: Protecting the Robot under Accidental Impacts”, 13th World Congress in Mechanism and Machine Science, Guanajuato, Mexico, June 19-25, 2011.
D. M. Gan, N. G. Tsagarakis, J. S. Dai, D. G. Caldwell, “Stiffness Design for compliant manipulators based on dynamic analysis of the impact configuration”, Proceedings of the ASME 2011 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Washington, DC, USA, August 28-31, 2011.
D. M. Gan, J. S. Dai, D. G. Caldwell, “Constraint-Based Limb Synthesis and Mobility-Change Aimed Mechanism Construction”, Proceedings of the ASME 2010 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference, Montreal, Quebec, Canada, August 15-18, 2010.
D. M. Gan, Q. Z. Liao and S. M. Wei, “Forward kinematics analysis of the new 3CCC parallel mechanism”, Proceedings of the 2007 IEEE International Conference on Mechatronics and Automation, 2007, Vol.1, 905-910.

Patents

M. Awad, D.M. Gan, Jorge Dias, L. D. Seneviratne, Binary Passive Variable Stiffness Joint, PCT international patent application, WO/2019/043545, 07 March 2019.
M. Awad, D.M. Gan, Jorge Dias, L. D. Seneviratne, A Binary Controlled Compliant Variable Stiffness Robotics Joint, US provisional patent, EAT113010, September 2017.
D. M. Gan, J. S. Dai, Jorge Dias, R. Umer, L. D. Seneviratne, A 2T2R Parallel Mechanism for Automated Fiber Placement, US patent, US2016/0250749A1, 2016.
D. M. Gan, J. S. Dai, A reconfigurable Hooke joint, China patent, CN102152303A, 2011.

Industry Engagement:

DOD-STTR Phase I project: Automated CO2 Blasting of the ID of Pipes, PI: Dongming Gan, co-PI: Prof. Mark French, in collaboration with Polar Clean company, total amount: $50,000, 06/24/2021 to 09/23/2021

Professional Affiliations:

Editorship:

2017 – date, Associate Editor, Mechanism and Machine Theory
2020 – date, Associate Editor, Robotica
2020 – date, Associate Editor, IMechE Part C: Journal of Mechanical Engineering Science
2020 – date, Topic Editor, Mechanical Sciences
2021 – 2022, Guest Editor, Special issue on Reconfigurable Mechanisms and Robots, in ASME Transactions Journal of Mechanisms and Robotics
2021 – 2022, Guest Editor, Special issue on Wearable Robots and Sensorimotor Interfaces: Augmentation, Rehabilitation, Assistance or substitution of human sensorimotor function, in Frontiers in Neural Robotics
2021 – 2022, Guest Editor, Special issue on Advances in Underwater Robot Technology, in Machines
2017 – 2018, Guest Editor, Special issue on Biologically Inspired and Rehabilitation Robotics, in Applied Bionics and Biomechanics
2015 – date, Review Editor, Editorial Board of Bionics and Biomimetics in Frontiers Journal

Professional Membership:

2018-2028, Member of the ASME DED Mechanisms and Robotics Committee
2010-date, Member of the American Society of Mechanical Engineers (ASME)

Conference organizations:

2024: General Conference Chair of the sixth (2024) IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Chicago, IL, US;
2023: General Conference Chair of ASME 2023 IDETC 47th Mechanisms and Robotics Conference, Boston, MA, US;
2022: Program co-Chair of ASME 2022 IDETC 46th Mechanisms and Robotics Conference, St. Louis, MO, US;
2022: Associate Editor of IEEE IROS 2022, Kyoto, Japan, Oct. 23 - 27, 2022;
2022: Associate Editor of IEEE ICRA 2022, Philadelphia, US, May 23 - 27, 2022;
2021: Program co-Chair of 5th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Toronto, Canada, August 18-20, 2021;
2021: Associate Editor of IEEE ICRA 2021 for Human-Centered Robotics and Automation, Vision and Sensor-Based Control, Xian China, May 30 - June 5, 2021;
2021: Symposium Chair of ASME 2021 IDETC 45th Mechanisms and Robotics Conference, virtual;
2020: Symposium Chair of ASME 2020 IDETC 44th Mechanisms and Robotics Conference, virtual;
2020: Technical program committee member and Associate Editor of the 2020 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (held every six years), Belfast, UK;
2019: Session Chair of a session on Biologically-inspired Robots, IROS 2019, Macau, China;
2019: Symposium Chair of ASME 2019 IDETC 43rd Mechanisms and Robotics Conference, Anaheim, CA, US;
2019: Session Chair of IEEE 2019 International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, Suzhou, China;
2018: Symposium Chair of ASME 2018 IDETC 42nd Mechanisms and Robotics Conference, Quebec City, Canada;
2018: Program Committee member and session chair of the 4th IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots (ReMAR 2018), Delft, The Netherlands;
2018: International Committee member of the 6th International Conference on Robotics, Informatics and Intelligent Control Technology, 2018, Bangkok, Thailand;
2017: Technical Program Committee member of the 12th International Conference on System of Systems Engineering (SoSE 2017), Waikoloa, Hawaii, US;
2016: Symposium co-Chair of ASME 2016 IDETC 40th Mechanisms and Robotics Conference, Charlotte, US;
2016: Session co-Chairs of ASME 2016 IDETC 40th Mechanisms and Robotics Conference, Charlotte, US;
2015: Session Chair of ASME 2015 IDETC 39th Mechanisms and Robotics Conference, Boston, US;
2015: Symposium co-Chair of ASME 2015 IDETC 39th Mechanisms and Robotics Conference, Boston, US;
2015: Track Chair of the 2015 IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China;
2015: Session co-Chair of the 2015 IEEE/IFToMM International Conference on Reconfigurable Mechanisms and Robots, Beijing, China;
2015: Technical Program Committee member of the 10th International Conference on System of Systems Engineering (SoSE 2015), San Antonio, TX, US;
2014: Technical Program Committee member of the 9th International Conference on System of Systems Engineering (SoSE 2014), Adelaide, Australia;
2014: Session co-Chair of ASME 2014 IDETC 38th Mechanisms and Robotics Conference, Buffalo, NY, US;
2014: Symposium co-Chair of ASME 2014 IDETC 38th Mechanisms and Robotics Conference, Buffalo, NY, US;
2014: Technical program committee member of the 2014 Workshop on Fundamental Issues and Future Research Directions for Parallel Mechanisms and Manipulators (held every six years), Tianjin, China;
2013: Session co-Chair of ASME 2013 IDETC 37th Mechanisms and Robotics Conference, Portland, US;
2013: Program committee member of the 8th International Conference on System of Systems Engineering (SoSE 2013), Hawaii, US;
2012: Session Chair and co-Chair of ASME 2012 IDETC 36th Mechanisms and Robotics Conference, Chicago, US;
2012: Symposium co-Chair of ASME 2012 IDETC 36th Mechanisms and Robotics Conference, Chicago, US;
2012: Regional chair, and track co-Chair of the second (2012) ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China;
2012: Scientific committee member of the second (2012) ASME/IEEE International Conference on Reconfigurable Mechanisms and Robots, Tianjin, China;

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Dongming Gan

Dongming Gan, PhD

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