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Keywords: compliant mechanisms and robots
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Journal Articles

Design, Analysis and Development of a Novel 6-DOF Surgical Robot Using Cable-driven Composite Continuum Mechanisms with Decoupling Kinematic Method

Accepted Manuscript
Zhengyu Wang, Shiyang Bao, Xiang Yu, Xuchang Liu, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1563
https://doi.org/10.1115/1.4068165
Published Online: March 11, 2025
... devices Cable Driven Compliant Mechanisms and Robots Mechanisms and Robots National Natural Science Foundation of China 10.13039/501100001809 52175221 Journal of Mechanisms and Robotics. Received October 01, 2024; Accepted manuscript posted March 11, 2025. doi:10.1115/1.4068165...
View Article titled, Design, Analysis and Development of a Novel 6-DOF Surgical Robot Using Cable-driven Composite Continuum Mechanisms with Decoupling Kinematic Method
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Topics: Cables, Composite materials, Design, Kinematics, Robots, Surgery
Journal Articles

Design and Dynamic Analysis of a Bio-inspired Rolling Joint Manipulator Based on Pulley-Cable System

Accepted Manuscript
Song Zeng, Yixin Zhang, Shaoping Wang, Giorgio Guglieri, Stefano Primatesta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-24-1583
https://doi.org/10.1115/1.4068166
Published Online: March 11, 2025
... of ASME for publication in the J ournal of M echanisms and R obotics . 11 10 2024 04 03 2025 04 03 2025 11 03 2025 Bio-inspired Cable Driven Compliant Mechanisms and Robots Theoretical and Computational Kinematics China Postdoctoral Science Foundation 10.13039...
View Article titled, Design and Dynamic Analysis of a Bio-inspired Rolling Joint Manipulator Based on Pulley-Cable System
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Topics: Biomimetics, Cables, Design, Dynamic analysis, Kinematics, Manipulators, Pulleys
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075003.
Paper No: JMR-24-1295
https://doi.org/10.1115/1.4068019
Published Online: March 10, 2025
... . 30 05 2024 15 02 2025 18 02 2025 10 03 2025 1 Corresponding author. Email: fyq_sjtu@163.com; fyq@sjtu.edu.cn Email: yuanshaoke@sjtu.edu.cn Email: puzihan2000@sjtu.edu.cn Email: 122020910086@sjtu.edu.cn compliant mechanisms and robots mechanisms and robots...
View Article titled, Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
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Topics: Actuators, Airbags, Design, Kinematics, Muscle, Pneumatic actuators, Pressure, Robots, Rotation, Soft robots
Journal Articles

A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms

Hafez Tari
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071008.
Paper No: JMR-24-1607
https://doi.org/10.1115/1.4067752
Published Online: February 27, 2025
... by the Design Engineering Division of ASME for publication in the J ournal of M echanisms and R obotics . 26 10 2024 16 01 2025 17 01 2025 27 02 2025 compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanism synthesis and analysis parallel...
View Article titled, A Robust Algorithm for Solving Heterogeneous Systems of Equations Arising in Kinetostatics of Compliant Mechanisms
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Topics: Algorithms, Compliant mechanisms, Newton's method, Kinematics, Errors
Journal Articles

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

Yu Wang, Jian Li, Peng Liang, Riwei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071011.
Paper No: JMR-24-1474
https://doi.org/10.1115/1.4067874
Published Online: February 27, 2025
... many advantages, such as lightweight, comfort, and flexibility, and can be used for daily travel of the elderly [ 2 , 3 ]. soft lower limb exoskeleton joint assist assistive tracking kinematics dynamics PD iterative learning cable driven compliant mechanisms and robots kinematics...
View Article titled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
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Topics: Cables, Exoskeleton devices, Knee, Dynamics (Mechanics), Cycles, Stiffness, Displacement
Journal Articles

A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks

Shilei Wu, Mingxiang Ling, Zhujin Jiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2025, 17(7): 074501.
Paper No: JMR-24-1507
https://doi.org/10.1115/1.4067721
Published Online: February 11, 2025
... mechanisms flexure hinges beam structures flexure building blocks transfer matrix method compliant mechanisms and robots References [1] Liu , C. , and Zhang , K.-T. , 2024 , “ A Wearable Finger Tremor-Suppression Orthosis Using the PVC Gel Linear Actuator ,” IEEE Robot...
View Article titled, A Systematic Procedure of Transfer Matrix Method to Analyze Compliant Mechanisms With Irregularly Connected Building Blocks
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Topics: Bending (Stress), Blocks (Building materials), Compliant mechanisms, Modeling, Hinges, Errors, Design
Journal Articles

Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals

Brian D. Jensen, Jared Erickson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061005.
Paper No: JMR-24-1272
https://doi.org/10.1115/1.4067170
Published Online: December 12, 2024
... and R obotics . 22 05 2024 05 11 2024 06 11 2024 12 12 2024 compliant mechanisms and robots large beam deflections The problem of the large deflection of a slender beam was studied by Leonard Euler in the eighteenth century [ 1 ], and a set of equations describing...
View Article titled, Full Forward Solution of Large Deflection, End Loaded Cantilever Beams Using Elliptic Integrals
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Topics: Deflection, Stress, Algorithms, Shapes, Compliant mechanisms, Design
Journal Articles

Topology Optimization of Compliant Grippers Based on Stress Constraints

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
... to develop robotic grippers with adaptive interaction and high output performance. topology optimization compliant gripper stress constraint non-gradient method compliant mechanisms and robots Graphical Abstract Figure 14 05 2024 22 10 2024 22 10 2024 22 11 2024...
View Article titled, 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

Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections

Yuhan Chen, Guimin Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2025, 17(5): 051010.
Paper No: JMR-24-1380
https://doi.org/10.1115/1.4067023
Published Online: November 22, 2024
... large spatial deflection Adomian polynomials quaternion compliant mechanisms and robots mechanisms and robots 17 07 2024 21 10 2024 22 10 2024 22 11 2024 Contributed by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R...
View Article titled, Chained Spatial Beam Adomian Decomposition Model: A Novel Model of Flexible Slender Beams for Large Spatial Deflections
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Topics: Deflection, Stress, Differential equations, Simulation, Displacement, Robots
Journal Articles

Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects

Andreas Müller
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044509.
Paper No: JMR-24-1439
https://doi.org/10.1115/1.4066904
Published Online: November 18, 2024
... equation static deformation Cosserat beams Magnus expansion compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanisms and robots parallel robots theoretical and computational kinematics References [1] Rucker , D. C. , Jones , B...
View Article titled, Fourth-Order Accurate Strain-Parameterized Shape Representation of Beam Elements for Modeling Continuum Robots and Robotic Manipulation of Slender Objects
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Topics: Approximation, Deformation, Displacement, Interpolation, Kinematics, Robots, Shapes, Stress, Robotics, Modeling
Journal Articles

Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays

Nathan Coleman, Jacob Sutton, Ivy Running, Spencer Magleby, Larry L. Howell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044505.
Paper No: JMR-24-1460
https://doi.org/10.1115/1.4066901
Published Online: November 6, 2024
... satellite deployable arrays compliant mechanisms and robots mechanism synthesis and analysis U.S. Air Force 10.13039/100006831 FA9453-22-C-0013 Utah Space Grant Consortium 10.13039/100006310 1 The usage of space-based satellite systems has become increasingly common...
View Article titled, Modeling and Analysis of Inter-Panel Slipping for the Design of Rolled Gossamer Arrays
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Topics: Design, Displacement, Hinges, Modeling, Satellites, Membranes, Compliant mechanisms, Algorithms
Journal Articles

Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study

Greta Vazzoler, Sam Shimohara, Giovanni Berselli, Jonathan B. Hopkins
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044507.
Paper No: JMR-24-1463
https://doi.org/10.1115/1.4066982
Published Online: November 6, 2024
... stiffness negative stiffness stiffness cancelation multi-degrees-of-freedom lockable degrees-of-freedom 3D-printing compliant mechanisms and robots mechanism synthesis and analysis 18 08 2024 11 10 2024 11 10 2024 06 11 2024 Copyright © 2024 by ASME 2024 American...
View Article titled, Designing Multi-axis Compliant Mechanisms With Lockable Decoupled Inputs: A Tip–Tilt Case Study
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Topics: Rotation, Stiffness, Switches, Compliant mechanisms, Design, Bistability
Journal Articles

The Interior Contact-Aided Rolling Element

Daniel Orr, Anna Jensen, Tyler Peterson, Brianna Bischoff, Luke Taylor, Daira Velasco, David Fullwood, Larry L. Howell, Anton E. Bowden
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2025, 17(4): 044501.
Paper No: JMR-24-1452
https://doi.org/10.1115/1.4066851
Published Online: November 1, 2024
... obotics . 14 08 2024 01 10 2024 02 10 2024 01 11 2024 compliant mechanisms contact-aided rolling element cross-axis flexural pivot pseudo-rigid body model compliant mechanisms and robots mechanism synthesis and analysis Compliant mechanisms (CMs) transfer...
View Article titled, The Interior Contact-Aided Rolling Element
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Topics: Bending (Stress), Compliant mechanisms, Compression, Design, Finite element analysis, Rotation, Stiffness, Stress, Testing, Mechanical testing
Journal Articles

Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators

Xi Wang, Luca Raimondi, Dragos Axinte, Xin Dong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031008.
Paper No: JMR-23-1609
https://doi.org/10.1115/1.4066131
Published Online: September 24, 2024
.... Email: xin.dong@nottingham.ac.uk negative-stiffness mechanism dielectric elastomer actuator linear actuator stroke amplification compliant mechanisms and robots soft robots References [1] Gupta , U. , Qin , L. , Wang , Y. , Godaba , H. , and Zhu...
View Article titled, Investigation on a Class of 2D Profile Amplified Stroke Dielectric Elastomer Actuators
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Topics: Dielectric elastomer actuators, Stiffness
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
... Abstract Figure compliant mechanisms and robots wearable robots exoskeletons prosthetics/orthotics For a long time, many researchers have been working on the development of lower limb exoskeletons to assist walking, with the main assistance including support and the application...
View Article titled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
... performance. Studying how to control the GRF direction to make robotic locomotion similar to that of animals is an active area of research for legged systems. bio-inspired compliant mechanisms and robots kinematics dynamics and control of mechanical systems mechanisms and robots multi-body...
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance

Jake A. Steiner, William S. Nagel, Kam K. Leang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2024, 16(10): 104503.
Paper No: JMR-24-1050
https://doi.org/10.1115/1.4066130
Published Online: September 2, 2024
... of M echanisms and R obotics . 23 01 2024 22 07 2024 23 07 2024 02 09 2024 1 Corresponding author. Email: kam.k.leang@utah.edu compliant mechanisms and robots soft robots References [1] Nehme , F. , Goyal , H. , Perisetti...
View Article titled, Magnetically-Actuated Endoluminal Soft Robot With Electroactive Polymer Actuation for Enhanced Gait Performance
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Topics: Conducting polymers, Robots, Simulation, Deformation, Soft robots, Magnets, Polymers
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
... and dynamic modeling computed torque control particle swarm optimization bio-inspired cable-driven compliant mechanisms and robots kinematics dynamics control of mechanical systems mechanisms and robots motion and manipulation planning robot motion planning and control soft robots Robotic...
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot

Shuiqing Yan, Keyao Song, Xiashuang Wang, Jiake Li, Zhe Ma, Xiang Zhou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011002.
Paper No: JMR-24-1047
https://doi.org/10.1115/1.4065462
Published Online: June 18, 2024
... 52373293 soft linear actuator origami structures parametric design mechanics modeling prototype design and manufacture compliant mechanisms and robots folding and origami mobile robots soft robots Graphical Abstract Figure 20 01 2024 26 04 2024 27 04 2024 18...
View Article titled, An Origami-Enabled Soft Linear Actuator and Its Application on a Crawling Robot
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Topics: Actuators, Displacement, Robots, Design, Servomotors, Deformation
Includes: Supplementary data
Journal Articles

Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator

Xuyang Duan, Wei Yan, Tianyi Yan, Genliang Chen, Hao Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011004.
Paper No: JMR-24-1033
https://doi.org/10.1115/1.4065563
Published Online: June 18, 2024
... ournal of M echanisms and R obotics . 15 01 2024 14 05 2024 14 05 2024 18 06 2024 Graphical Abstract Figure compliant mechanisms compliant mechanisms and robots parallel mechanisms and robots parallel robots theoretical and computational kinematics...
View Article titled, Kinetostatics Modeling and Analysis of a Spherical Parallel Continuum Manipulator
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Topics: Deflection, Design, End effectors, Engineering prototypes, Errors, Finite element analysis, Manipulators, Modeling, Servomotors, Trajectories (Physics)