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Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator

Revanth Konda, David Bombara, Ember Chow, Jun Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041007.
Paper No: JMR-22-1603
https://doi.org/10.1115/1.4062466
Published Online: June 5, 2023
View Article titled, Kinematic Modeling and Open-Loop Control of a Twisted String Actuator-Driven Soft Robotic Manipulator
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Topics: Actuators, Kinematics, Manipulators, Motors, String, Modeling
Journal Articles

Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg

Fuchen Chen, Daniel M. Aukes
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031012.
Paper No: JMR-22-1373
https://doi.org/10.1115/1.4056958
Published Online: March 29, 2023
View Article titled, Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg
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Topics: Design, Robots, Springs, Stiffness, Laminates, Origami-inspired design, Motors
Journal Articles

Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor

Sergey Pisetskiy, Mehrdad R. Kermani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021003.
Paper No: JMR-22-1059
https://doi.org/10.1115/1.4056672
Published Online: March 3, 2023
View Article titled, Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor
Open the PDF for Design and Development of the Transmission for a Fully Actuated 5-Degrees-of-Freedom Compliant Robot Manipulator With a Single Motor in another window
Topics: Belts, Design, Engines, Manipulators, Motors, Robots, Gears
Journal Articles

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061005.
Paper No: JMR-22-1108
https://doi.org/10.1115/1.4056252
Published Online: January 17, 2023
View Article titled, A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
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Topics: Cables, Design, Engineering prototypes, Engines, Hinges, Kinematics, Linkages, Manipulators, Manufacturing, Motors
Journal Articles

Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

Chun-Tse Lee, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041004.
Paper No: JMR-22-1011
https://doi.org/10.1115/1.4055061
Published Online: November 10, 2022
View Article titled, Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
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Topics: Design, Grasping, Motors, Robotics, Stiffness, Tendons, Springs, Engines, Torsion
Journal Articles

Dyno-Kinematic Leg Design for High Energy Robotic Locomotion

Max Austin, Jason Brown, John Nicholson, Jonathan Clark
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics. June 2023, 15(3): 031001.
Paper No: JMR-22-1264
https://doi.org/10.1115/1.4055998
Published Online: November 8, 2022
View Article titled, Dyno-Kinematic Leg Design for High Energy Robotic Locomotion
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Topics: Design, Dynamics (Mechanics), Kinematics, Robots, Motors, Simulation, Linkages, Torque
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws
Journal Articles

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Article titled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
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
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

Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt

Lionel Étienne, Philippe Cardou, Marceau Métillon, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041006.
Paper No: JMR-21-1546
https://doi.org/10.1115/1.4054081
Published Online: April 21, 2022
View Article titled, Design of a Planar Cable-Driven Parallel Crane Without Parasitic Tilt
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Topics: Cables, Robots, Trajectories (Physics), Motors, Design
Journal Articles

Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs

Rafael Balderas Hill, Sébastien Briot, Abdelhamid Chriette, Philippe Martinet
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051004.
Paper No: JMR-21-1235
https://doi.org/10.1115/1.4053158
Published Online: February 18, 2022
View Article titled, Performing Energy-Efficient Pick-and-Place Motions for High-Speed Robots by Using Variable Stiffness Springs
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Topics: Energy efficiency, Robots, Springs, Stiffness, Variable structure systems, Motors, Boundary-value problems
Journal Articles

Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion

Lengxue Li, Sunhong Kim, Junho Park, Youngjin Choi, Qiang Lu, Dongliang Peng
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2022, 14(2): 025001.
Paper No: JMR-21-1197
https://doi.org/10.1115/1.4052124
Published Online: September 23, 2021
View Article titled, Robotic Tensegrity Structure With a Mechanism Mimicking Human Shoulder Motion
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Topics: Cables, Robotics, Tensegrity structures, Tensegrity, Degrees of freedom, Motors, Rotation, Design, String, Trajectories (Physics)
Journal Articles

Direct Position Analysis of a Particular Translational 3-URU Manipulator

Raffaele Di Gregorio
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061007.
Paper No: JMR-20-1563
https://doi.org/10.1115/1.4050764
Published Online: June 3, 2021
View Article titled, Direct Position Analysis of a Particular Translational 3-URU Manipulator
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Topics: Algorithms, Manipulators, Engines, Motors, Algebra, Actuators, Kinematics
Journal Articles

Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle

Tyler Jenkins, Stefan Atay, Gregory Buckner, Matthew Bryant
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050907.
Paper No: JMR-20-1478
https://doi.org/10.1115/1.4050811
Published Online: June 3, 2021
View Article titled, Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle
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Topics: Design, Motors, Propellers, Vehicles, Batteries, Engines, Rotors, Wheels
Journal Articles

Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors

Ketao Zhang, Chen Liu
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040911.
Paper No: JMR-20-1628
https://doi.org/10.1115/1.4050996
Published Online: May 19, 2021
View Article titled, Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors
Open the PDF for Design and Analysis of a Novel Reconfigurable Parallel Manipulator With Kirigami-Inspired Bennett Plano-Spherical Linkages and Angular Pouch Motors in another window
Topics: Kinematics, Linkages, Manipulators, Motors, Engines, Design
Journal Articles

Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots

Luca Carbonari, Andrea Botta, Paride Cavallone, Luigi Tagliavini, Giuseppe Quaglia
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050905.
Paper No: JMR-21-1063
https://doi.org/10.1115/1.4051018
Published Online: May 19, 2021
View Article titled, Data-Driven Analysis of Locomotion for a Class of Articulated Mobile Robots
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Topics: Kinematics, Mobile robots, Robots, Wheels, Dynamics (Mechanics), Motors
Journal Articles

An Optimal Design of a Flexible Piping Inspection Robot

Swaminath Venkateswaran, Damien Chablat, Pol Hamon
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035002.
Paper No: JMR-20-1446
https://doi.org/10.1115/1.4049948
Published Online: March 12, 2021
View Article titled, An Optimal Design of a Flexible Piping Inspection Robot
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Topics: Design, Motors, Optimization, Pipes, Robots, Tensegrity mechanisms, Pipelines, Inspection, Engines
Journal Articles

Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator

Ryan Moore, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031001.
Paper No: JMR-20-1437
https://doi.org/10.1115/1.4050104
Published Online: March 12, 2021
View Article titled, Design of a Quadratic, Antagonistic, Cable-Driven, Variable Stiffness Actuator
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Topics: Actuators, Cables, Deflection, Design, Pulleys, Springs, Stiffness, Testing, Motors
Journal Articles

Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021014.
Paper No: JMR-20-1232
https://doi.org/10.1115/1.4049648
Published Online: February 23, 2021
View Article titled, Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control
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Topics: Control equipment, Pole placement, Robots, Stability, Motors