Michael R. Zinn Assistant Professor Address/E-mail Program Affiliations Courses Education Fields of Interest Publications Summary

Contact Information

2242 Mechanical Engineering Building 1513 University Avenue Madison, WI 53706-1572

Tel: 608/263-2893 E-mail: mzinn@wisc.edu

Program Affiliations

• Mechanical Engineering
• Biomedical Engineering

Courses

• ME 240: Dynamics
• ME 340: Introduction to Dynamic Systems

Education

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

Fields of Interest

• Minimally invasive surgical robotics
• Human-centered robotics
• Robotic actuation technology and controls
• Haptics

Publications

Publications

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

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., 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., "New Actuation Approach for Human-Friendly Robotics", 8th International Symposium on Experimental Robotics, July 2002.

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., "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 - Robotic Catheter System (US Utility), filed March 4, 2005.

US Patent - Instrument Driver for Robotic Catheter System (US Utility), filed July 6, 2005.

US Patent - Robotic Catheter System and Methods I (US Utility), filed July 6, 2005.

US Patent - Robotic Catheter System and Methods II (US Utility), filed July 6, 2005

US Patent - Robotic Catheter System and Methods III (US Utility), filed July 6, 2005

Summary

PROFESSIONAL EXPERIENCE:

Director of Systems/Controls Engineering - Hansen Medical Inc (2003-2007)

Senior Research Engineer / Project Manager - Lockheed Martin Missiles and Space (1988-2001)