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Journal Articles

Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method

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Zhengyu Wang, Shiyang Bao, Xiang Yu, Xuchang Liu, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081005.
Paper No: JMR-24-1563
https://doi.org/10.1115/1.4068165
Published Online: April 3, 2025
View Articletitled, Design, Analysis, and Development of a Novel 6-Degrees-of-Freedom Surgical Robot Using Cable-Driven Composite Continuum Mechanisms With Decoupling Kinematic Method
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Topics: Cables, Calibration, Composite materials, Kinematics, Robots, Surgery, Modeling, Optimization, Trajectories (Physics), Errors
Journal Articles

An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement

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Haiyuan Li, Tian He, Mingda Yang, Minghui Chao, Qinjian Zhang, Hongxing Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2025, 17(6): 065001.
Paper No: JMR-24-1347
https://doi.org/10.1115/1.4067530
Published Online: January 20, 2025
View Articletitled, An Ultrasound-Guided Miniature Hand-Eye Integrated Robot for Percutaneous Needle Placement
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Topics: Calibration, Needles, Robots, Kinematics, Probes, Ultrasound
Journal Articles

Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input

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Junho Hong, Daehie Hong, Chanwoo Kim, Seong Hyeon Won
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051009.
Paper No: JMR-24-1154
https://doi.org/10.1115/1.4067020
Published Online: November 22, 2024
View Articletitled, Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input
Open the PDF for Modeling Backlash-Like Hysteresis and Feedforward Control of Tendon−Sheath Mechanism Pair with Arbitrary Shape: Excluding Distal Sensory Input in another window
Topics: Feedforward control, Modeling, Shapes, Tendons, Calibration, Deformation, Degrees of freedom
Journal Articles

Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion

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Sheng Jian, Hao Xiong, Anjia Wang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031012.
Paper No: JMR-23-1745
https://doi.org/10.1115/1.4066400
Published Online: September 20, 2024
View Articletitled, Fast Kinematic Calibration of a Robotic Manipulator Through a Single Continuous Motion
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Topics: Calibration, Errors, Kinematics, Manipulators, Trajectories (Physics), Coordinate measuring machines
Journal Articles

One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference

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Xiao Wang, Hanwen Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031014.
Paper No: JMR-24-1127
https://doi.org/10.1115/1.4066402
Published Online: September 20, 2024
View Articletitled, One-Step Solving the Robot-World and Hand–Eye Calibration Based on the Principle of Transference
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Topics: Calibration, Equations of motion, Kinematics, Rotation, Robots, Simulation
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

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Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Articletitled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics

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Ryan J. Caverly, Sze Kwan Cheah, Keegan R. Bunker, Samir Patel, Niko Sexton, Vinh L. Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010904.
Paper No: JMR-23-1714
https://doi.org/10.1115/1.4065236
Published Online: June 7, 2024
View Articletitled, Online Self-Calibration of Cable-Driven Parallel Robots Using Covariance-Based Data Quality Assessment Metrics
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Topics: Algorithms, Cables, Calibration, Errors, Kinematics, Simulation, Robots, End effectors
Journal Articles

Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method

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Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101014.
Paper No: JMR-23-1620
https://doi.org/10.1115/1.4064670
Published Online: March 5, 2024
View Articletitled, Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
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Topics: Cables, Calibration, Kinematics, Robots, Design
Journal Articles

An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models

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Weijia Zhang, Zikang Shi, Xinxue Chai, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101011.
Paper No: JMR-23-1707
https://doi.org/10.1115/1.4064637
Published Online: February 28, 2024
View Articletitled, An Efficient Kinematic Calibration Method for Parallel Robots With Compact Multi-Degrees-of-Freedom Joint Models
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Topics: Calibration, Error compensation, Errors, Kinematics, Robots, Modeling, Simulation, End effectors
Journal Articles

One-Step Solving the Hand–Eye Calibration by Dual Kronecker Product

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Xiao Wang, Hanwen Song
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101008.
Paper No: JMR-23-1381
https://doi.org/10.1115/1.4064576
Published Online: February 27, 2024
View Articletitled, One-Step Solving the Hand–Eye Calibration by Dual Kronecker Product
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Topics: Calibration, Screws, Tensors, Rotation, Algebra
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

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Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Articletitled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
Open the PDF for Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot in another window
Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics
Journal Articles

Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization

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Sheng Jian, Hao Xiong, Xiansheng Yang, Yunjiang Lou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051013.
Paper No: JMR-23-1125
https://doi.org/10.1115/1.4062948
Published Online: August 8, 2023
View Articletitled, Enhancing Kinematic Calibration Accuracy for Parallel Manipulators Based on Truncated Total Least-Square Regularization
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Topics: Calibration, Errors, Kinematics
Journal Articles

Visual-Biased Observability Index for Camera-Based Robot Calibration

Open Access
Shouhei Shirafuji, Hiroki Goto, Xiaotian Zhang, Keiji Okuhara, Noritaka Takamura, Naoya Kagawa, Hiroyasu Baba, Jun Ota
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051010.
Paper No: JMR-23-1022
https://doi.org/10.1115/1.4062801
Published Online: July 20, 2023
View Articletitled, Visual-Biased Observability Index for Camera-Based Robot Calibration
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Topics: Calibration, Kinematics, Robots, End effectors, Errors, Manipulators
Journal Articles

Geometric Error Calibration of XYZ -3RPS Hybrid Kinematic Machine via Binocular Vision

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Xiangyu Guo, Rui Wang, Shisheng Zhong, Yuhao Ge, Lingyu Yue
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041006.
Paper No: JMR-22-1503
https://doi.org/10.1115/1.4062465
Published Online: June 5, 2023
View Articletitled, Geometric Error Calibration of XYZ -3RPS Hybrid Kinematic Machine via Binocular Vision
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Topics: Calibration, Errors, Kinematics, Machinery, Error compensation
Journal Articles

Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots

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Yuanfeng Han, Boren Jiang, Gregory S. Chirikjian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031010.
Paper No: JMR-22-1294
https://doi.org/10.1115/1.4062273
Published Online: April 21, 2023
View Articletitled, Design, Calibration, and Control of Compliant Force-Sensing Gripping Pads for Humanoid Robots
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Topics: Calibration, Control equipment, Design, Grippers, Humanoid robots, Pressure, Trajectories (Physics), Stress, Robots, Weight (Mass)
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

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Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Articletitled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

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Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Articletitled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Open the PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches in another window
Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot

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NanYan Shen, HengMing Yuan, Jing Li, ZiRui Wang, Liang Geng, HuiEn Shi, NingHe Lu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051011.
Paper No: JMR-21-1256
https://doi.org/10.1115/1.4053824
Published Online: April 8, 2022
View Articletitled, Efficient Model-Free Calibration of a 5-Degree of Freedom Hybrid Robot
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Topics: Calibration, Errors, Robots, Artificial neural networks
Journal Articles

Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach

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Vinh Nguyen, Jeremy A. Marvel
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051009.
Paper No: JMR-21-1560
https://doi.org/10.1115/1.4053734
Published Online: February 21, 2022
View Articletitled, Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach
Open the PDF for Modeling of Industrial Robot Kinematics Using a Hybrid Analytical and Statistical Approach in another window
Topics: Errors, Kinematics, Modeling, Robot kinematics, Robots, Calibration
Journal Articles

Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot

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Chenhui Huang, Fugui Xie, Xin-Jun Liu, Qizhi Meng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031017.
Paper No: JMR-21-1091
https://doi.org/10.1115/1.4053012
Published Online: December 10, 2021
View Articletitled, Measurement Configuration Optimization and Kinematic Calibration of a Parallel Robot
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Topics: Algorithms, Calibration, Errors, Kinematics, Optimization, Robots