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Journal Articles

Cooperative Object Transport via Non-contact Prehensile Pushing by Magnetic Forces

Accepted Manuscript
Halil Ibrahim Dokuyucu, Nurhan Gürsel Özmen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1052
https://doi.org/10.1115/1.4066804
Published Online: October 9, 2024
View Article titled, Cooperative Object Transport via Non-contact Prehensile Pushing by Magnetic Forces
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Topics: Magnetic fields, Robots, Transportation systems, Dynamics (Mechanics), Engineering simulation, Errors, Kinematics, Mobile robots, Multi-robot systems, Permanent magnets
Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121011.
Paper No: JMR-23-1648
https://doi.org/10.1115/1.4065370
Published Online: May 21, 2024
View Article titled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
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Topics: Friction, Robots, Tendons, Control equipment, Shapes
Journal Articles

Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms

Keisuke Arikawa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121013.
Paper No: JMR-23-1821
https://doi.org/10.1115/1.4065371
Published Online: May 21, 2024
View Article titled, Analysis of Instantaneous Kinematic Properties Regarding the Shape of Robotic Mechanisms
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Topics: Jacobian matrices, Kinematics, Shapes, Robotics, Kinematic analysis, Equilibrium (Physics)
Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
View Article titled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping
Journal Articles

Ring Origami Spring Capable of Eversion Morphing

Yu Zou, Qianying Chen, Lu Lu, Xiying Li, Hongyuan Li, Li-Hua Shao, Huiling Duan, Pengyu Lv
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081004.
Paper No: JMR-23-1348
https://doi.org/10.1115/1.4063978
Published Online: December 11, 2023
View Article titled, Ring Origami Spring Capable of Eversion Morphing
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Topics: Springs, Water, Shapes
Includes: Supplementary data
Journal Articles

Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal

Zhefeng Huang, Hussain Alkhars, Anthony Gunderman, Dimitri Sigounas, Kevin Cleary, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081005.
Paper No: JMR-23-1356
https://doi.org/10.1115/1.4063979
Published Online: December 11, 2023
View Article titled, Optimal Concentric Tube Robot Design for Safe Intracerebral Hemorrhage Removal
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Topics: Design, Risk, Robots, Fibers, Parametrization, Shapes, Brain, Damage, Geometry, Path planning
Journal Articles

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

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 Article titled, 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

High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning

Bin Zhai, Enzheng Zhang, Bingchen Li, Xiujun Fang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061001.
Paper No: JMR-23-1119
https://doi.org/10.1115/1.4062985
Published Online: August 16, 2023
View Article titled, High Precision Trajectory Learning Method Based Improved Dynamic Movement Primitives for Robot Skill Learning
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Topics: Robots, Trajectories (Physics), Shapes
Journal Articles

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

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 Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation

Jingyu Jiang, Song Lin, Hanchao Wang, Niels Modler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031014.
Paper No: JMR-23-1187
https://doi.org/10.1115/1.4062916
Published Online: August 8, 2023
View Article titled, Modeling Method for Static Large Deflection Problem of Curved Planar Beams in Compliant Mechanisms Based on a Novel Governing Equation
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Topics: Compliant mechanisms, Modeling, Shapes, Stress, Deflection, Boundary-value problems, Geometry
Journal Articles

Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators

Yitong Zhou, Zefeng Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051006.
Paper No: JMR-23-1174
https://doi.org/10.1115/1.4062949
Published Online: July 20, 2023
View Article titled, Mechanically Prestressed Pneumatically Driven Bistable Soft Actuators
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Topics: Actuators, Shapes, Pressure
Journal Articles

A Variable Stiffness Sole for Biped Robot and Its Experimental Verification

Junyeon Namgung, Yun-Ho Han, Baek-Kyu Cho
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054502.
Paper No: JMR-23-1179
https://doi.org/10.1115/1.4062650
Published Online: June 26, 2023
View Article titled, A Variable Stiffness Sole for Biped Robot and Its Experimental Verification
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Topics: Robots, Stiffness, Variable structure systems, Rubber, Humanoid robots, Shapes
Journal Articles

Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator

Ruzhen Pei, Xibin Cao, Cheng Wei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061018.
Paper No: JMR-22-1411
https://doi.org/10.1115/1.4062274
Published Online: May 2, 2023
View Article titled, Design and Validation of Symmetrical Elastic Elements in Series Elastic Actuator
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Topics: Design, Shapes, Stiffness, Actuators, Fittings
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

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

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 Article titled, 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

Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry

Kazuya Saito, Akinobu Fujimoto, Yoji Okabe
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051005.
Paper No: JMR-21-1315
https://doi.org/10.1115/1.4055823
Published Online: November 24, 2022
View Article titled, Constructing Three-Dimensional Honeycomb Structures Based on Origami Geometry
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Topics: Design, Honeycomb structures, Shapes
Journal Articles

Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams

Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041010.
Paper No: JMR-21-1645
https://doi.org/10.1115/1.4055419
Published Online: November 14, 2022
View Article titled, Symmetric Kinetostatic Behavior From Asymmetric Spatially Curved Beams
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Topics: Optimization, Shapes
Journal Articles

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061004.
Paper No: JMR-22-1068
https://doi.org/10.1115/1.4054997
Published Online: September 12, 2022
View Article titled, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
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Topics: Diffraction gratings, Robots, Sensors, Shapes, Tracking control, Trajectories (Physics), Algorithms, Cables, Feedback
Journal Articles

Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain

Gaurav Singh, Ahsan Nawroj, Aaron M. Dollar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
https://doi.org/10.1115/1.4054613
Published Online: June 23, 2022
View Article titled, Mechanical Characterization of Compliant Cellular Robots. Part II: Active Strain
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Topics: Actuators, Deformation, Finite element analysis, Robots, Topology, Design, Stiffness, Shapes
Journal Articles

Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications

Zhuoqi Cheng, Thiusius Rajeeth Savarimuthu, Shaohui Foong, U-Xuan Tan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2023, 15(2): 025001.
Paper No: JMR-21-1431
https://doi.org/10.1115/1.4054638
Published Online: June 21, 2022
View Article titled, Design of Adjustable Constant Force/Torque Mechanisms for Medical Applications
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Topics: Biomedicine, Design, Displacement, Optimization, Springs, Stiffness, Stress, Torque, Shapes