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Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
DOI: https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
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Topics: Manipulators, Springs, Torque
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
DOI: https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

“On the Edge” Obstacle Surmounting Method Using Hybrid Locomotion

Alper Yeldan, Abhimanyu Arora, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011002.
Paper No: JMR-22-1436
DOI: https://doi.org/10.1115/1.4056711
Published Online: March 3, 2023
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Topics: Design, Robots, Wheels, Torque, Kinematics
Journal Articles

Kinetostatic Analysis of Pneumatic Bending Soft Actuator Coupling With Revolute Joint

Jiangbei Wang, Yuxuan Wang, Yanqiong Fei, Weidong Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061013.
Paper No: JMR-22-1372
DOI: https://doi.org/10.1115/1.4056503
Published Online: January 23, 2023
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Topics: Actuators, Torque, Pressure
Journal Articles

Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

Zhuo Ma, Jianbin Liu, Guoyu Ma, Jingshuo Gao, Baojun Chen, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051008.
Paper No: JMR-22-1077
DOI: https://doi.org/10.1115/1.4055964
Published Online: November 24, 2022
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Topics: Exoskeleton devices, Fatigue, Stiffness, Torque, Pressure, Muscle, Energy consumption, Knee
Journal Articles

Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots

Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041013.
Paper No: JMR-22-1114
DOI: https://doi.org/10.1115/1.4055739
Published Online: November 15, 2022
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Topics: Design, Gears, Robots, Springs, Torque, Actuators, Stiffness
Journal Articles

A New Whole-Body Motion Generator and Adaptive Altitude Control for a Quadruped-On-Wheel Robot

Wenqian Du, Mohamed Fnadi, Faïz Benamar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041005.
Paper No: JMR-22-1146
DOI: https://doi.org/10.1115/1.4055060
Published Online: November 10, 2022
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Topics: Control equipment, Dynamics (Mechanics), Generators, Robots, Torque, Wheels, Kinematics, Surface roughness, Geometry
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
J. Mechanisms Robotics. June 2023, 15(3): 031001.
Paper No: JMR-22-1264
DOI: https://doi.org/10.1115/1.4055998
Published Online: November 8, 2022
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Topics: Design, Dynamics (Mechanics), Kinematics, Robots, Motors, Simulation, Linkages, Torque
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
DOI: https://doi.org/10.1115/1.4054638
Published Online: June 21, 2022
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Topics: Biomedicine, Design, Displacement, Optimization, Springs, Stiffness, Stress, Torque, Shapes
Journal Articles

Torque Optimization Method of a 3-DOF Redundant Parallel Manipulator Based on Actuator Torque Range

Jun Wu, Jiahao Qiu, Hao Ye
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021005.
Paper No: JMR-21-1729
DOI: https://doi.org/10.1115/1.4054618
Published Online: June 21, 2022
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Topics: Actuators, Manipulators, Optimization, Torque, Redundant manipulators, Dynamic models, Trajectories (Physics)
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
DOI: https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

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

Zhongmou Li, Vincent Bégoc, Abdelhamid Chriette, Isabelle Fantoni
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021003.
Paper No: JMR-21-1441
DOI: https://doi.org/10.1115/1.4054610
Published Online: June 20, 2022
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Topics: Control equipment, Grasping, Grippers, Robots, Unmanned aerial vehicles, Yaw, Torque, Thrust
Journal Articles

Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot

Alexander G. Steele, Apploinaire Etoundi, Alexander J. Hunt
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014503.
Paper No: JMR-21-1467
DOI: https://doi.org/10.1115/1.4054441
Published Online: June 6, 2022
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Topics: Biomimetics, Design, Kinematics, Knee, Muscle, Robotics, Robots, Stiffness, Testing, Torque
Journal Articles

Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation

Liu Biao, Liu Youwei, Xian Xiaoming, Wu Haoyi, Xie Longhan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011005.
Paper No: JMR-21-1407
DOI: https://doi.org/10.1115/1.4054248
Published Online: April 25, 2022
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Topics: Cables, Exoskeleton devices, Torque, Muscle, Robots, Knee
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
DOI: https://doi.org/10.1115/1.4054273
Published Online: April 25, 2022
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Topics: Springs, Stress, Torque, Friction, Grasping, Design, Prostheses, Artificial limbs, Motors
Journal Articles

Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application

A. T. Markus, M. R. Sobczyk, E. A. Perondi
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011002.
Paper No: JMR-21-1596
DOI: https://doi.org/10.1115/1.4054084
Published Online: April 25, 2022
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Topics: Actuators, Artificial limbs, Dynamics (Mechanics), Errors, Muscle, Pressure, Prostheses, Simulation, Valves, Control equipment
Journal Articles

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
DOI: https://doi.org/10.1115/1.4053218
Published Online: February 18, 2022
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Topics: Control equipment, Orthotics, Robotics, Torque
Journal Articles

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031016.
Paper No: JMR-21-1399
DOI: https://doi.org/10.1115/1.4053048
Published Online: December 9, 2021
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Topics: Gravity (Force), Reliability, Robots, Springs, Uncertainty, Design, Torque, Event history analysis, Optimization
Journal Articles

Performance Simulation and Energetic Analysis of TBot High-Speed Cable-Driven Parallel Robot

Jinhao Duan, Zhufeng Shao, Zhaokun Zhang, Fazhong Peng
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024504.
Paper No: JMR-20-1626
DOI: https://doi.org/10.1115/1.4052322
Published Online: September 20, 2021
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Topics: Cables, Energy consumption, Robots, Simulation, Springs, Stiffness, Trajectories (Physics), Torque, Kinematics, Dynamics (Mechanics)
Journal Articles

Design of Torque-Compensated Mechanical Systems With Two Connected Identical Slider-Crank Mechanisms

Vigen Arakelian
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2022, 14(2): 024503.
Paper No: JMR-21-1292
DOI: https://doi.org/10.1115/1.4052320
Published Online: September 20, 2021
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Topics: Torque, Design