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Journal Articles

Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control

Available to Purchase
Manivannan Sivaperuman Kalairaj, Hritwick Banerjee, Kirthika Senthil Kumar, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081008.
Paper No: JMR-24-1475
https://doi.org/10.1115/1.4068241
Published Online: April 3, 2025
View Articletitled, Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control
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Topics: Actuators, Cycles, Flow control, Fluids, Hydrogels, Manufacturing, Shapes, Valves, Wire, Biomedicine
Journal Articles

Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure

Open Access
Koen Dwarshuis, Jan de Jong, Dannis Brouwer
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061009.
Paper No: JMR-24-1252
https://doi.org/10.1115/1.4067265
Published Online: December 12, 2024
View Articletitled, Design of an Underactuated, Flexure-Based Gripper, Actuated Through a Push–Pull Flexure
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Topics: Bending (Stress), Design, Grippers, Hinges
Includes: Supplementary data
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

Available to Purchase
Yunsong Du, Pengwei Zhang, Tiemin Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061001.
Paper No: JMR-24-1251
https://doi.org/10.1115/1.4067021
Published Online: November 22, 2024
View Articletitled, Topology Optimization of Compliant Grippers Based on Stress Constraints
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Topics: Design, Grippers, Stress, Topology optimization, Finite element analysis, Displacement, Gradient methods, Algorithms
Journal Articles

Performance Analysis of a Gripper for Microsatellite Berthing

Available to Purchase
Alexander Titov, Matteo Russo, Marco Ceccarelli
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091011.
Paper No: JMR-23-1485
https://doi.org/10.1115/1.4064765
Published Online: February 27, 2024
View Articletitled, Performance Analysis of a Gripper for Microsatellite Berthing
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Topics: Grasping, Corners (Structural elements), Grippers
Journal Articles

Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot

Available to Purchase
Charles-Antoine Beaulieu, Tan-Sy Nguyen, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081001.
Paper No: JMR-22-1612
https://doi.org/10.1115/1.4063668
Published Online: December 11, 2023
View Articletitled, Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot
Open the PDF for Kinematic Design and Prototyping of a Gripper With Grasping and Scooping Capabilities Driven by the Redundant Degrees of Freedom of a Parallel Robot in another window
Topics: Design, Grasping, Grippers, Kinematics, Robots, Degrees of freedom
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Available to Purchase
Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Articletitled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
Open the PDF for Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects in another window
Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Available to Purchase
Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Articletitled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
Journal Articles

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

Available to Purchase
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

Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand

Available to Purchase
P. Seguin, C. Preault, P. Vulliez, J. P. Gazeau
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2023, 15(6): 065001.
Paper No: JMR-21-1569
https://doi.org/10.1115/1.4056404
Published Online: January 18, 2023
View Articletitled, Approach for Real In-Hand Dexterity Evaluation: Application to the RoBioSS Hand
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Topics: End effectors, Grasping, Grippers, Robotics, Rotation, Trajectories (Physics), Robots, Design, Errors
Journal Articles

Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips

Available to Purchase
Ho Sang Jung, Ji Yeop Kim, Sang Yul Yang, Kihyeon Kim, Jae Hyeong Park, Young Jin Gong, Seung Jae Moon, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051015.
Paper No: JMR-22-1075
https://doi.org/10.1115/1.4055933
Published Online: December 9, 2022
View Articletitled, Shape-Adaptive Electrostatic Soft Gripper With Transform Mechanism for Multifunctional Grips
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Topics: Grippers, Shapes, Actuators, Control equipment
Includes: Supplementary data
Journal Articles

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Available to Purchase
Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041011.
Paper No: JMR-21-1553
https://doi.org/10.1115/1.4055570
Published Online: November 14, 2022
View Articletitled, A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
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Topics: Actuators, Grippers, Haptics, Manipulators
Journal Articles

Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot

Available to Purchase
Zhongmou Li, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021003.
Paper No: JMR-21-1441
https://doi.org/10.1115/1.4054610
Published Online: June 20, 2022
View Articletitled, Wrench Capability Analysis and Control Allocation of a Collaborative Multi-Drone Grasping Robot
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Topics: Control equipment, Grasping, Grippers, Robots, Unmanned aerial vehicles, Yaw, Torque, Thrust
Journal Articles

Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation

Available to Purchase
Patrick McGowan, Guangbo Hao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2023, 15(1): 015002.
Paper No: JMR-21-1763
https://doi.org/10.1115/1.4054551
Published Online: June 6, 2022
View Articletitled, Design of a Morphing Compliant Mechanism With Separate Gripping and Retraction Modes Using a Single Actuation
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Topics: Compliant mechanisms, Design, Displacement, Grippers, Optimization, Simulation
Journal Articles

Eccentric High-Force Soft Pneumatic Bending Actuator for Finger-Type Soft Grippers

Available to Purchase
Peilin Cheng, Yuze Ye, Bo Yan, Yebo Lu, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060908.
Paper No: JMR-21-1730
https://doi.org/10.1115/1.4054510
Published Online: May 26, 2022
View Articletitled, Eccentric High-Force Soft Pneumatic Bending Actuator for Finger-Type Soft Grippers
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Topics: Actuators, Grippers, Manufacturing, Pressure, Stress, Silicones, Design, Springs, Cylinders, Fibers
Journal Articles

Design, Analysis, and Experiment of a Scissor-Shaped Deployable Metamorphic Hand

Available to Purchase
Hanlin Sun, Wei Sun, Bin Chen, Yu Hou, Jianyi Kong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 060909.
Paper No: JMR-21-1734
https://doi.org/10.1115/1.4054576
Published Online: May 26, 2022
View Articletitled, Design, Analysis, and Experiment of a Scissor-Shaped Deployable Metamorphic Hand
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Topics: Design, Grasping, Kinematics, Grippers
Journal Articles

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

Free
Xianpai Zeng, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
https://doi.org/10.1115/1.4053857
Published Online: April 25, 2022
View Articletitled, A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
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Topics: Design, Grippers, Pressure, Stiffness, Vacuum, Shapes
Journal Articles

Development of Topology Optimized Bending-Twisting Soft Finger

Available to Purchase
Zhili Chen, Hamed Rahimi Nohooji, Chee-Meng Chew
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051003.
Paper No: JMR-21-1284
https://doi.org/10.1115/1.4053159
Published Online: February 18, 2022
View Articletitled, Development of Topology Optimized Bending-Twisting Soft Finger
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Topics: Design, Grippers, Optimization, Topology, Pressure, Manufacturing, Grasping, Robotics, Rotation
Includes: Supplementary data
Journal Articles

A Computational Design Synthesis Method for the Generation of Rigid Origami Crease Patterns

Open Access
Luca Zimmermann, Kristina Shea, Tino Stanković
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031014.
Paper No: JMR-21-1134
https://doi.org/10.1115/1.4052847
Published Online: December 9, 2021
View Articletitled, A Computational Design Synthesis Method for the Generation of Rigid Origami Crease Patterns
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Topics: Design, Grippers, Kinematics, Optimization, Robotics
Includes: Supplementary data
Journal Articles

Modeling of Soft Robotic Grippers Integrated With Fluidic Prestressed Composite Actuators

Free
Yitong Zhou, Leon M. Headings, Marcelo J. Dapino
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031001.
Paper No: JMR-21-1109
https://doi.org/10.1115/1.4052699
Published Online: November 15, 2021
View Articletitled, Modeling of Soft Robotic Grippers Integrated With Fluidic Prestressed Composite Actuators
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Topics: Actuators, Composite materials, Grasping, Grippers, Shapes, Pressure
Journal Articles

Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization

Available to Purchase
I-Ting Chi, Teeranoot Chanthasopeephan, Dung-An Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021008.
Paper No: JMR-21-1153
https://doi.org/10.1115/1.4052335
Published Online: September 21, 2021
View Articletitled, Design of a Parallel Gripper Based on Topology Synthesis and Evolutionary Optimization
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Topics: Design, Displacement, End effectors, Grippers, Optimization, Topology, Compliant mechanisms, Finite element analysis