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Journal Articles

Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic

Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031016.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: October 25, 2024
View Article titled, Modeling, Simulation, and Kinematic Validation of Transfemoral Prosthetic Mechanism With Ankle Varus–Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Optimization, Prostheses, Simulation, Knee
Journal Articles

Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems

Seth Donahue, Trevor Kingsbury, Kota Takahashi, Matthew J. Major
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081012.
Paper No: JMR-22-1646
https://doi.org/10.1115/1.4064279
Published Online: January 11, 2024
View Article titled, Data-Driven Modeling of the Nonlinear Dynamics of Passive Lower-Limb Prosthetic Systems
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Topics: Algorithms, Artificial limbs, Displacement, Prostheses, Modeling, Nonlinear dynamics, Dynamics (Mechanics)
Journal Articles

Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint

Kunyang Wang, Harry Williams, Zhihui Qian, Guowu Wei, Haohua Xiu, Wei Chen, Xuewei Lu, Jianqiao Jin, Lei Ren, Wei Liang, Luquan Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041008.
Paper No: JMR-22-1158
https://doi.org/10.1115/1.4062498
Published Online: June 9, 2023
View Article titled, Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint
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Topics: Artificial limbs, Design, Knee, Springs, Prostheses, Anterior cruciate ligament, Relaxation (Physics)
Includes: Supplementary data
Journal Articles

On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm

Jean-Michel Boisclair, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051001.
Paper No: JMR-22-1043
https://doi.org/10.1115/1.4055605
Published Online: November 24, 2022
View Article titled, On the Design of an Adaptable Underactuated Hand Using Rolling Contact Joints and an Articulated Palm
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Topics: Artificial limbs, Deformation, Design, Grasping, Rolling contact, Optimization, Cables, Pinch effect, Friction, Prostheses
Journal Articles

Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework

Victor Prost, Heidi V. Peterson, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041001.
Paper No: JMR-21-1523
https://doi.org/10.1115/1.4055107
Published Online: November 8, 2022
View Article titled, Multi-Keel Passive Prosthetic Foot Design Optimization Using the Lower Leg Trajectory Error Framework
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Topics: Artificial limbs, Design, Keel, Stress, Constitutive equations, Optimization, Engineering standards, Prostheses
Journal Articles

Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot

Alexander G. Steele, Apploinaire Etoundi, Alexander J. Hunt
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014503.
Paper No: JMR-21-1467
https://doi.org/10.1115/1.4054441
Published Online: June 6, 2022
View Article titled, Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot
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Topics: Biomimetics, Design, Kinematics, Knee, Muscle, Robotics, Robots, Stiffness, Testing, Torque
Journal Articles

Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand

Côme Butin, Damien Chablat, Yannick Aoustin, David Gouaillier
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011003.
Paper No: JMR-21-1738
https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
View Article titled, Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011002.
Paper No: JMR-21-1596
https://doi.org/10.1115/1.4054084
Published Online: April 25, 2022
View Article titled, Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
Open the PDF for Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application in another window
Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment
Journal Articles

Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees

V. N. Murthy Arelekatti, Nina T. Petelina, W. Brett Johnson, Matthew J. Major, Amos G. Winter V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031011.
Paper No: JMR-21-1003
https://doi.org/10.1115/1.4052804
Published Online: November 18, 2021
View Article titled, Design of a Four-Bar Latch Mechanism and a Shear-Based Rotary Viscous Damper for Single-Axis Prosthetic Knees
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Topics: Artificial limbs, Dampers, Damping, Design, Knee, Stability
Journal Articles

Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism

Ming Cheng, Shaowei Fan, Dapeng Yang, Li Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2020, 12(6): 065001.
Paper No: JMR-19-1537
https://doi.org/10.1115/1.4047730
Published Online: July 28, 2020
View Article titled, Design of an Underactuated Finger Based on a Novel Nine-Bar Mechanism
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Topics: Design, Stability, Stiffness, Artificial limbs, Springs
Journal Articles

Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification

Huan Liu, Bin Zhao, Zenghui Liu, Kai Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051014.
Paper No: JMR-19-1463
https://doi.org/10.1115/1.4047438
Published Online: July 17, 2020
View Article titled, Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification
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Topics: Actuators, Artificial limbs, Design, Motors, Prostheses, Stress, Grasping, Hardware, Sensors
Journal Articles

Sensorless In-Hand Manipulation by An Underactuated Robot Hand

Diego Ospina, Alejandro Ramirez-Serrano
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051009.
Paper No: JMR-19-1326
https://doi.org/10.1115/1.4046652
Published Online: April 13, 2020
View Article titled, Sensorless In-Hand Manipulation by An Underactuated Robot Hand
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Topics: Actuators, Engineering prototypes, End effectors, Shapes, Geometry, Artificial limbs, Grasping
Journal Articles

Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

Alexander Agboola-Dobson, Guowu Wei, Lei Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041012.
Paper No: JMR-18-1195
https://doi.org/10.1115/1.4043603
Published Online: May 17, 2019
View Article titled, Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis
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Topics: Actuators, Cycles, Design, Prostheses, Springs, Stiffness, Torque, Universal joints, Artificial limbs, Kinematics
Journal Articles

Geometric Design With Multiple Realizable Motion Tasks in the Vicinity of a Planar Mechanism–Environment Contact

Nina Robson, Binyun Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041007.
Paper No: JMR-18-1357
https://doi.org/10.1115/1.4043687
Published Online: May 17, 2019
View Article titled, Geometric Design With Multiple Realizable Motion Tasks in the Vicinity of a Planar Mechanism–Environment Contact
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Topics: Chain, Design, Geometry, Linkages, Wheelchairs, Kinematics, Orthotics, Artificial limbs, Poles (Building), Trajectories (Physics)
Journal Articles

Comparison of Grasping Performance of Tendon and Linkage Transmission Systems in an Electric-Powered Low-Cost Hand Prosthesis

F. Javier Andrés, Antonio Pérez-González, Carlos Rubert, José Fuentes, Bruno Sospedra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011018.
Paper No: JMR-18-1005
https://doi.org/10.1115/1.4040491
Published Online: December 24, 2018
View Article titled, Comparison of Grasping Performance of Tendon and Linkage Transmission Systems in an Electric-Powered Low-Cost Hand Prosthesis
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Topics: Design, Grasping, Linkages, Prostheses, Robotics, Tendons, Motors, Artificial limbs, Manufacturing
Journal Articles

Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India

V. N. Murthy Arelekatti, Amos G. Winter, V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031007.
Paper No: JMR-15-1274
https://doi.org/10.1115/1.4039222
Published Online: April 5, 2018
View Article titled, Design and Preliminary Field Validation of a Fully Passive Prosthetic Knee Mechanism for Users With Transfemoral Amputation in India
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Topics: Artificial limbs, Design, Kinematics, Knee, Prostheses, Engineering prototypes, Biomechanics, Developing nations, Stability
Journal Articles

Design and Testing of a Prosthetic Foot With Interchangeable Custom Springs for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet

Victor Prost, Kathryn M. Olesnavage, W. Brett Johnson, Matthew J. Major, Amos G. Winter, V
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021010.
Paper No: JMR-17-1297
https://doi.org/10.1115/1.4039342
Published Online: March 2, 2018
View Article titled, Design and Testing of a Prosthetic Foot With Interchangeable Custom Springs for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet
Open the PDF for Design and Testing of a Prosthetic Foot With Interchangeable Custom Springs for Evaluating Lower Leg Trajectory Error, an Optimization Metric for Prosthetic Feet in another window
Topics: Artificial limbs, Design, Errors, Optimization, Springs, Stiffness, Testing, Trajectories (Physics), Physiology
Journal Articles

Special Issue: Selected Papers From IDETC 2015

Venkat N. Krovi, Andrew P. Murray, James Schmiedeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. October 2016, 8(5): 050301.
Paper No: JMR-15-1363
https://doi.org/10.1115/1.4032510
Published Online: May 4, 2016
View Article titled, Special Issue: Selected Papers From IDETC 2015
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Topics: Actuators, Artificial limbs, Biomedicine, Cables, Compliant mechanisms, Design, Kinematics, Microelectromechanical systems, Prostheses, Robotics
Journal Articles

Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device

Bryan J. Bergelin, Javier O. Mattos, Joseph G. Wells, Jr., Philip A. Voglewede
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2010, 2(4): 041005.
https://doi.org/10.1115/1.4002205
Published Online: September 3, 2010
View Article titled, Concept Through Preliminary Bench Testing of a Powered Lower Limb Prosthetic Device
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Topics: Artificial limbs, Design, Engineering prototypes, Motors, Optimization, Prostheses, Springs, Testing