USA flag logo/image

An Official Website of the United States Government

Parallel Kinematic Actuator with Reduced Size and Improved Performance

Award Information

Department of Defense
Defense Health Program
Award ID:
Program Year/Program:
2011 / SBIR
Agency Tracking Number:
Solicitation Year:
Solicitation Topic Code:
Solicitation Number:
Small Business Information
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No
Phase 2
Fiscal Year: 2011
Title: Parallel Kinematic Actuator with Reduced Size and Improved Performance
Agency / Branch: DOD / DHP
Contract: W81XWH-10-C-0187
Award Amount: $749,998.00


Applications for ultrasound are expanding beyond medical imaging to include new functionality, with the potential to halt internal bleeding or provide an alternative to manual suturing. These types of functions are suited to a surgical robot, offering the potential for tele-operation or even autonomous functionality. However, the requirements for positioning an ultrasound device are different than those for a typical surgical robot. Dynamic Structures and Materials has begun research on an end-effector that will use parallel kinematics and force feedback to make an actuator that is"actively compliant". The current progress is described, along with plans for further development. When completed, the end-effector will be fixed to the end of a conventional articulated robot. Using its high bandwidth in six axes of motion and force feedback, the end-effector will be able to correct for compliance and shifts in the position of the patient. Thus, controlled contact can be maintained between the ultrasound device and the patient, allowing for proper function of the device.

Principal Investigator:

Jeffrey S. Paine
Chief Manager
(615) 595-6665

Business Contact:

Jennifer D. Sturgis
Accounting&Contracts Ma
(615) 595-6665
Small Business Information at Submission:

Dynamic Structures and Materials, LLC
205 Williamson Square Franklin, TN -

EIN/Tax ID: 621736146
Number of Employees:
Woman-Owned: No
Minority-Owned: No
HUBZone-Owned: No