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Journal Articles

Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot

Accepted Manuscript
Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: September 7, 2023
View Article titled, Data-based Shape Self-sensing of a Cable-Driven Notched Continuum Mechanism Using Multi-dimensional Intrinsic Force Information for Surgical Robot
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Topics: Cables, Robots, Shapes, Surgery
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
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
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
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
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
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
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
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
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
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
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
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
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
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
Journal Articles

Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization

Bicheng Chen, Nianfeng Wang, Rixin Wang, Benliang Zhu, Xianmin Zhang, Wenjie Sun, Wei Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021006.
Paper No: JMR-22-1026
https://doi.org/10.1115/1.4054642
Published Online: June 21, 2022
View Article titled, Automatic Design of Dielectric Elastomer-Based Crawling Robots Using Shape and Topology Optimization
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Topics: Deformation, Design, Elastomers, Optimization, Robots, Shapes, Topology, Actuators, Finite element analysis, B-splines
Journal Articles

A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming

Xianpai Zeng, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
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 Article titled, A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
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Topics: Design, Grippers, Pressure, Stiffness, Vacuum, Shapes
Journal Articles

Increasing Reliability of Self-Folding of the Origami Hypar

Addison Liu, Mykell Johnson, Cynthia Sung
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 060904.
Paper No: JMR-21-1721
https://doi.org/10.1115/1.4054310
Published Online: April 25, 2022
View Article titled, Increasing Reliability of Self-Folding of the Origami Hypar
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Topics: Errors, Hinges, Manufacturing, Reliability, Simulation, Laminates, Shapes, Delamination, Simulation results, Springs
Journal Articles

A Review of Bat-Inspired Shape Morphing Robotic Design

Tingting Sui, Ting Zou
Journal: Journal of Mechanisms and Robotics
Article Type: Review Articles
J. Mechanisms Robotics. October 2022, 14(5): 050801.
Paper No: JMR-21-1395
https://doi.org/10.1115/1.4053686
Published Online: April 8, 2022
View Article titled, A Review of Bat-Inspired Shape Morphing Robotic Design
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Topics: Flight, Robots, Wings, Design, Aerodynamics, Shapes
Journal Articles

Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept

Jorge Esteban Salas Gordoniz, Nicolas Reeves, David St-Onge
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041004.
Paper No: JMR-21-1536
https://doi.org/10.1115/1.4053926
Published Online: March 7, 2022
View Article titled, Scutigera: Design, Modeling, and Experiments for an Artistic Multibody Airship Concept
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Topics: Design, Drag (Fluid dynamics), Dynamics (Mechanics), Exoskeleton devices, Yaw, Simulation, Equations of motion, Shapes, Kinematics, Buoyancy
Journal Articles

Shrinkable Self-Similar Structure Design

Yohei Yamamoto, Jun Mitani
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2022, 14(4): 041003.
Paper No: JMR-21-1527
https://doi.org/10.1115/1.4053528
Published Online: February 21, 2022
View Article titled, Shrinkable Self-Similar Structure Design
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Topics: Design, Hinges, Shapes, Shrinkage (Materials), Linkages