Michael R. Zinn

Associate Professor

2242 Mechanical Engineering Building
1513 University Avenue
Madison, WI 53706

Ph: (608) 263-2893
mzinn@wisc.edu

Primary Affiliation:
Mechanical Engineering

Additional Affiliations:
Biomedical Engineering,


Education

  • Ph.D. Mechanical Engineering (Stanford Robotics Laboratory) - Stanford University
  • M.S. - Massachusetts Institute of Technology
  • B.S. - Massachusetts Institute of Technology

Education

  • Ph.D. Mechanical Engineering (Stanford Robotics Laboratory) - Stanford University
  • M.S. - Massachusetts Institute of Technology
  • B.S. - Massachusetts Institute of Technology

Research Interests

  • Minimally-invasive medical robotics
  • Haptics and haptic devices
  • Robotic actuation technology and controls
  • Human-centered robotics

Publications

Publications:

Journals:

  • Penning, R.S., Zinn, M.R., \"A Combined Modal-Joint Space Control Approach for Minimally Invasive Surgical Continuum Manipulators\", Advanced Robotics, submitted August 2013
  • Conrad, B.L., Jung, J., Penning, R.S., Zinn, M.R., \"A Hybrid Continuum-Rigid Manipulation Approach for Robotic Minimally-Invasive Flexible Catheter Based Procedures\", Robotics and Autonomous Systems, submitted July 2013.
  • Esser, S.M., Vlietstra, N.J., Farley, D.P., Medicherla, A., Sokn, S.A., Collins, C., McCarthy, J.J, Ploeg, H.L., Zinn, M.R., “An Extramedullary Three Degree of Freedom Limb Deformity Correction Device for Pediatric Applications”, ASME Journal of Medical Devices, submitted March, 2013.
  • Cole, E.G., Fehrenbacher, A., Duffie, N.A., Zinn, M.R., Pfefferkorn, F.E., Ferrier, N.J, “Weld Temperature Effects during Friction Stir Welding of Dissimilar Aluminum Alloys”, Science and Technology of Welding and Joining, submitted October, 2012
  • Fehrenbacher, A., Schmale, J., Zinn, M.R., Pfefferkorn, \"Measurement of Tool-Workpiece Interface Temperature Distribution in Friction Stir Welding\", ASME Journal of Manufacturing Science and Engineering, submitted Sept., 2012 (DRAFT-MANU-12-1272-0)
  • J. Jung, Penning, R., N.J. Ferrier, M.R. Zinn, 2011, “A Modeling Approach for Continuum Robotic Catheters:  Effects of Nonlinear Internal Device Friction,” Advanced Robotics, TADR-2013-0191.R1, accepted September, 2013,
  • Fehrenbacher, A., Duffie, N.A., Ferrier, N.J., Pfefferkorn, F.E., Zinn, M.R., \"Effects of Tool-Workpiece Interface Temperature on Weld Quality and Quality Improvements Through Temperature Control in Friction Stir Welding\", International Journal of Advanced Manufacturing Technology, accepted September, 2013 (IJAMT-D-12-10691)
  • Axel Fehrenbacher, Christopher B. Smith, Neil A. Duffie, Nicola J. Ferrier, Frank E. Pfefferkorn,  Michael R. Zinn, “Combined Temperature and Force Control for Robotic Friction Stir Welding,” ASME Journal of Manufacturing Science and Engineering, accepted September, 2013 (DRAFT-MANU-12-1357)
  • Esser, C, M, Parthiban, C., M.R. Zinn, “Development of a Parallel Actuation Approach for MR-Compatible Robotics,” ASME/IEEE Journal of Mechatronics, accepted May 8, 2013, DOI 10.1109/TMECH.2013.2263638
  • Shultz, E.F., A. Fehrenbacher, F.E. Pfefferkorn, M.R. Zinn, N.J. Ferrier, “Shared Control of Robotic Friction Stir Welding in the Presence of Imperfect Joint Fit-Up,” Journal of Manufacturing Processes, Volume 15, Issue 1, January 2013, Pages 25–33. DOI 10.1016/j.jmapro.2012.07.002
  • Myung-Sin Cho, Hyun-Su Hwang, Min-Hyoung Lee, Byungkyu Kim, and Michael R. Zinn, “A Screw Jack Mechanism-based Separation Device Driven by a Piezo Actuator”, International Journal of Precision Engineering and Manufacturing, Volume 13, Issue 11, pp 2079-2082, DOI 10.1007/s12541-012-0274-1
  • Edward G Cole, Axel Fehrenbacher, Edward F Shultz, Christopher B Smith, Nicola J Ferrier, Michael R Zinn, Frank E Pfefferkorn, “Stability of the Friction Stir Welding Process in Presence of Workpiece Mating Variations”, International Journal of Advanced Manufacturing Technology, DOI 10.1007/s00170-012-3946-1, February, 2012
  • Fehrenbacher, A., Neil A. Duffie, Nicola J. Ferrier, Frank E. Pfefferkorn, Michael R. Zinn, “Toward Automation of Friction Stir Welding Through Temperature Measurement and Closed-Loop Control,” ASME Journal of Manufacturing Science and Engineering,  October 2011, Volume 133, Issue 5 DOI:10.1115/1.4005034
  • Shultz E.F., E.G. Cole, C.B. Smith, M.R. Zinn, N.J. Ferrier, and F.E. Pfefferkorn, “Effect of Compliance and Travel Angle on Friction Stir Welding with Gaps,” ASME Journal of Manufacturing Science and Engineering, Volume 132, Issue 4, August 2010 DOI:10.1115/1.4001581
  • Camarillo, D. B.; Milne, C. F.; Carlson, C. R.; Zinn, M. R.; Salisbury, J. K, “Mechanics Modeling of Tendon-Driven Continuum Manipulators”, IEEE Transactions on Robotics,  Vol, 24, No. 6,  Dec. 2008, pp. 1262-1273, DOI 10.1109/TRO.2008.2002311
  • Zinn, M., Roth, B. ,Khatib, O., Salisbury, J.K., “New Actuation Approach for Human-Friendly Robot Design”, International Journal of Robotics Research, Vol. 23, No.4-5, April-May 2004, pp. 379-398,  DOI 10.1177/0278364904042193
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Playing It Safe – A New Actuation Concept for Human Friendly Robot Design”, IEEE Robotics and Automation Magazine, Vol. 11, No. 2 June 2004, DOI 10.1109/MRA.2004.1310938
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Actuation Methods For Human-Centered Robotics and Associated Control Challenges”, Springer Tracts in Advanced Robotics, Vol. 4 Control Problems in Robotics, Spring-Verlag 2003, 10.1007/3-540-36224-X_7.
  • Zinn, M., \"Lockup Failure of a Four-Bar Linkage Deployment Mechanism\", 27th Aerospace Mechanisms Symposium, NASA Ames Research Center, May 12, 1993.
  • Zinn, M., \"Design and Development of the Gravity Probe-B Mass Trim Mechanism\", 33rd Aerospace Mechanisms Symposium, Jet Propulsion Laboratory, May 19, 1999.
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., \"Toward A Human-Centered Intrinsically-Safe Robotic Manipulator\" In Proceedings of 2nd IARP/IEEE-RAS Joint Workshop on Technical Challenge for Robots in Human Environments, October, 2002.
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., \"New Actuation Approach for Human-Friendly Robotics\", 8th International Symposium on Experimental Robotics, July 2002.
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., \"Actuation Methods For Human-Centered Robotics and Associated Control Challenges\", Springer Tracts in Advanced Robotics, Vol. 4 Control Problems in Robotics, Spring-Verlag 2003.
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., \"Toward A Human-Centered Intrinsically-Safe Robotic Manipulator\", IEEE Robotics and Automation Magazine, Special Issue (to be published Autumn 2003).
  • Zinn, M., Roth, B. ,Khatib, O., Salisbury, J.K., \"New Actuation Approach for Human-Friendly Robot Design\", International Journal of Robotics Research, Vol. 23, No.4-5, April-May 2004, pp. 379-398

Conferences:

  • Fehrenbacher, A., Smith, C.B., Duffie, N.A., Ferrier, N.J., Pfefferkorn, F.E., Zinn, M.R., “Combined Temperature and Force control for Robotic Friction Stir Welding”, Proceedings of the ASME 2013 International Manufacturing Science and Engineering Conference, June 10-14, 2013, Madison, Wisconsin, USA,.
  • Tetrick, D., Farley, D., Arastoopour, G., Zinn, M., Shaffer, D., Chesler, N., “RescuShell: A Biomechanical Design Epistemic Game for First-Year Engineering Education and Potentially Increased Retention of Women”, Proceedings of the ASME 2013 Summer Bioengineering Conference, SBC2013-14069, June 26-29, Sunriver, Oregon, USA.
  • Conrad, B.L., Jung, J., Penning, R.S., Zinn, M.R., \"Interleaved Continuum-Rigid Manipulation:  An Augmented Approach For Robotic Minimally-Invasive Flexible Catheter-based Procedures\", IEEE International Conference on Robotics and Automation, Karlsruhe, Germany, May 6-10, 2013 (refereed proceedings: acceptance rate 35%)
  • Sokn, S., Ploeg, H., McCoy, S., Farley, D., Collins, C., Medicherla, A., Zinn, M., McCarthy, J.J., “Novel 3 Degree of Freedom, Minimally Invasive, Implantable Active Bone Correction Device”, 22nd Annual Limb Lengthening and Reconstruction Society Meeting, Cincinnati, OH, July 2012.
  • Collins, C., Ploeg, H., McCoy, S., Farley, D., Medicherla, A., Zinn, M., McCarthy, J.J., “A Novel Minimally Invasive Implantable Extramedullary Limb Lengthening Device”, 22nd Annual Limb Lengthening and Reconstruction Society Meeting, Cincinnati, OH, July 2012.
  • Penning, R., J. Jung, N.J. Ferrier, M.R. Zinn, “An Evaluation of Closed-Loop Control Options for Continuum Manipulators,” IEEE International Conference on Robotics and Automation, St-Paul, Minnesota, May 14-18, 2012, DOI 10.1109/ICRA.2012.6224735, (refereed proceedings: acceptance rate 38%).
  • Fehrenbacher, N. A. Duffie, N. J. Ferrier, M. R. Zinn, and F. E. Pfefferkorn, “Tool-Workpiece Interface Temperature Measurement and Improved Closed-Loop Control in Friction Stir Welding,” in 9th International Friction Stir Welding Symposium, Huntsville, AL, TWI, 2012.
  • Zinn, M. \"Admittance-based Haptic Interface Performance Evaluation and Associated Challenges\", 2012 Haptics Symposium, Vancouver Canada, Panel Workshop: Haptic Hardware Evaluation Practices (invited)
  • Fehrenbacher, E. F. Shultz, F. E. Pfefferkorn, M. R. Zinn, N. J. Ferrier, and N. A. Duffie, “Enhancing Friction Stir Welding Through Temperature Control and Shared Human-Computer Control,” TMS Annual Meeting & Exhibition, San Diego, CA, 2011.
  • Fehrenbacher, Axel,  Schmale, Joshua R., Zinn, Michael R., Pfefferkorn, Frank E., \"Tool-Workpiece Interface Temperature Measurement in Friction Stir Welding\", ASME 2012 International Manufacturing Science and Engineering Conference, Notre Dame, Indiana, USA, June 4-8, 2012
  • Parthiban, Chembian, Esser, C, M, M.R. Zinn, “Evaluation of a Parallel Actuation Approach for MR-Compatible Haptics,” 2012 IEEE Haptics Symposium, March 4-7, 2012, Vancouver, Canada, 10.1109/HAPTIC.2012.6183848.
  • J. Jung, Penning, R., N.J. Ferrier, M.R. Zinn, “A Modeling Approach for Continuum Robotic Manipulators:  Effects of Nonlinear Internal Device Friction,” IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, CA, September 25-30, 2011, DOI 10.1109/IROS.2011.6094941,  (refereed proceedings: acceptance rate 32%.)
  • N.Vlietstra, W. Feyereisen, H. Ploeg, J. Peterman, M. Zinn, J. McCarthy, 2011, “A Novel Minimally-Invasive Implantable Active Bone Deformity Correction Device,” The Limb Lengthening and Reconstruction Society Twentieth Annual Scientific Meeting.  Chicago, July 22-23, 2011. 
  • Penning, R., J. Jung, J. Borgstadt, N.J. Ferrier, M.R. Zinn, “Towards Closed Loop Control of a Continuum Robotic Manipulator for Medical Applications,” 2011 IEEE International Conference on Robotics and Automation.  Shanghai, China, May 9-13, 2011, DOI 10.1109/ICRA.2011.5980233, (refereed proceedings:  acceptance rate 49%). 
  • Fehrenbacher, Axel, Cole, Edward G., Zinn, Michael R., Ferrier, Nicola J., Duffie, Neil A. and Pfefferkorn, Frank E., “ Towards Process Control of Friction Stir Welding for Different Aluminum Alloys”, The Minerals, Metals & Materials Society,  pp. 381-388, San Diego, CA, Feb. 27-Mar 3, 2011, DOI 10.1002/9781118062302.ch44.
  • Fehrenbacher, Axel,  Duffie, Neil A., Ferrier, Nicola J., Pfefferkorn, Frank E., Zinn, Michael R., \"Enhancing Friction Stir Welding Through Temperature Control\", ASME 2011 International Manufacturing Science and Engineering Conference (MSEC2011-5031), Corvallis, Oregon, USA, June 13-17, 2011
  • Esser, C, M, M.R. Zinn, “Development of a Differential Actuator Concept for MR-Compatible Robotic Applications,” 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics – BioRob 2010, Sept 26-29, 2010, Tokyo, Japan, DOI 10.1109/BIOROB.2010.5628003, (refereed proceedings: acceptance rate approximately 50%),
  • Smith, C.B., F.E. Pfefferkorn, L.M. Cerveny, E.G. Cole, A. Fehrenbacher, N.J. Ferrier, J.F. Hinrichs, E.F. Shultz, D. Wolf, and M.R. Zinn, 2010, “Portable Friction Stir Welding for Assembly of Large Structures,” 8th International Friction Stir Welding Symposium, May 18-20, Timmendorfer Strand, Germany. 
  • C. B. Smith, F. Pfefferkorn, E. Cole, A. Fehrenbacher, N. Ferrier, E. Shultz, M. Zinn, L. Cerveny, and J. Hinrichs, “Qualification of a Low Force FSW Process for Portable FSW to be Applied to Assembly of Large Structures,” 8th International Friction Stir Welding Symposium, Timmendorfer Strand, Germany, TWI, 2010.
  • Fehrenbacher, A., N.A. Duffie, N.J. Ferrier, M.R. Zinn, and F.E. Pfefferkorn, 2010, “Temperature Measurement and Closed-Loop Control of Friction Stir Welding,” 8th International Friction Stir Welding Symposium, May 18-20, Timmendorfer Strand, Germany. 
  • Shultz, E.F., E.G. Cole, C.B. Smith, M.R. Zinn, N.J. Ferrier, and F.E. Pfefferkorn, 2009, “Effect of Compliance and Travel Angle on Friction Stir Welding with Gaps,” ASME Manufacturing Science & Engineering Conference, Oct. 4-7, West Lafayette, IN. [poster MSEC2009-83491] 
  • Shultz, E.F. , F.E. Pfefferkorn, C.B. Smith, M.R. Zinn, and N.J. Ferrier, 2008, “Towards a Man-Machine Interface for Flexible Friction Stir Welding,” 7th International Friction Stir Welding Symposium, Awaji Island, Japan, May 20-22. 
  • Fehrenbacher, A., F.E. Pfefferkorn, M.R. Zinn, N.J. Ferrier, and N.A. Duffie, 2008, “Closed-Loop Control of Temperature in Friction Stir Welding,” 7th International Friction Stir Welding Symposium, Awaji Island, Japan, May 20-22. 
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Large Workspace Haptic Devices – A New Actuation Approach”, 16th Symposium on Haptic Interfaces for Virtual Environments and Teleoperator Systems, Reno, Nevada, March 2008, DOI 10.1109/HAPTICS.2008.4479941 – (Awarded best paper)
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “Toward A Human-Centered Intrinsically-Safe Robotic Manipulator” In Proceedings of 2nd IARP/IEEE-RAS Joint Workshop on Technical Challenge for Robots in Human Environments, October, 2002 (invited)
  • Zinn, M., Khatib, O., Roth, B., Salisbury, J.K., “New Actuation Approach for Human-Friendly Robotics”, 8th International Symposium on Experimental Robotics, July 2002.
  • Zinn, M., “Design and Development of the Gravity Probe-B Mass Trim Mechanism”, 33rd Aerospace Mechanisms Symposium, Jet Propulsion Laboratory, May 19, 1999.
  • Zinn, M., \"Lockup Failure of a Four-Bar Linkage Deployment Mechanism\", 27th Aerospace Mechanisms Symposium, NASA Ames Research Center, May 12, 1993

Patents:

  • US Patent - Interleaved Manipulator - USP Application 14049511 - Oct 2013
  • US Patent - Robotic catheter system - US 8394054 B2 - Mar 2013
  • US Patent - Robotic catheter system - US 7972298 B2 - Jul 2011
  • US Patent - Robotic catheter system - US 7974681 B2 - Jul 2011
  • Japan Patent - Robotic catheter system - 4755638 (Japan) - Jul 2010
  • EU Patent - Systeme de catheter robotique - WO 2005087128 A1 - Sept 2005
  • US Patent - Instrument driver for robotic catheter system - US 8021326 B2 - Sept 2011
  • US Patent - Robotic catheter system and methods - US 8052636 B2 - Nov 2011
  • US Patent - Robotic catheter system and methods - US 8257303 B2 - Nov 2011
  • US Patent - Methods using a robotic catheter system - US 7850642 - Dec 2010

Links

Courses

Fall 2014-2015

  • ME 999 - Advanced Independent Study

  • ME 990 - Dissertator Research and Thesis
  • ME 890 - PhD Research and Thesis
  • ME 790 - Master\'s Research and Thesis
  • ME 699 - Advanced Independent Study
  • ME 491 - Mechanical Engineering Projects I
  • ME 240 - Dynamics
  • ME 489 - Honors in Research
  • BME 399 - Independent Study

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