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Journal Articles

Push Recovery of a Biped in Different Stance Scenarios

Accepted Manuscript
Alinjar Dan, Subir Kumar Saha, Rama Krishna K, Amit Sawant, Gurmann Singh Bhullar, Tarannum Perween
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1394
https://doi.org/10.1115/1.4066443
Published Online: September 5, 2024
View Article titled, Push Recovery of a Biped in Different Stance Scenarios
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Topics: Actuators, Center of mass, Control equipment, Dynamics (Mechanics), Geometry, Impulse (Physics), Jacobian matrices, Kinematics, Momentum, Multibody dynamics
Journal Articles

An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability

Prashanth Nagaraja, Sudheer Reddy Joharapuram, Bindusagar Malenahalli Ganesh, Basavaraj Herai Matt, Nikhil Umesh, Kiran Madrahalli Chidanandamurthy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2025, 17(2): 025001.
Paper No: JMR-24-1020
https://doi.org/10.1115/1.4065796
Published Online: August 8, 2024
View Article titled, An Experimental Investigation on Novel Segmented Omni Wheeled Hybrid Mobile Robot to Assess Obstacle Climbing Capability
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Topics: Robots, Wheels, Mobile robots, Actuators
Journal Articles

Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands

Sheng-Guan Lin, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021003.
Paper No: JMR-24-1055
https://doi.org/10.1115/1.4065750
Published Online: July 19, 2024
View Article titled, Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands
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Topics: Actuators, Membranes, Springs, Deformation, Robotics, Stiffness, Modeling
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
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

A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace

Foroogh Behroozi, Ramin Mersi, Antoine Benoist, Ru Ying Yong, Philippe Cardou, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010905.
Paper No: JMR-23-1582
https://doi.org/10.1115/1.4065393
Published Online: June 17, 2024
View Article titled, A Three-Actuator Cable-Driven Parallel Robot With a Rectangular Workspace
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Topics: Actuators, Cables, Robots, Pulleys
Journal Articles

A Cable-Based Haptic Interface With a Reconfigurable Structure

Bastien Poitrimol, Hiroshi Igarashi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010901.
Paper No: JMR-23-1599
https://doi.org/10.1115/1.4065318
Published Online: June 7, 2024
View Article titled, A Cable-Based Haptic Interface With a Reconfigurable Structure
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Topics: Cables, End effectors, Haptics, Kinematics, Motors, Robots, Force feedback, Actuators, Feedback, Computation
Journal Articles

Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot

Shibo Liu, Jiangping Mei, Panfeng Wang, Fan Guo, Jiaxing Li, Shuai Wang, Ruizhi Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124502.
Paper No: JMR-23-1168
https://doi.org/10.1115/1.4065083
Published Online: April 23, 2024
View Article titled, Type Synthesis of a 3DOF Wrist Applying the Coupled-Input Cable-Driven Parallel Robot
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Topics: Cables, Design, Topology, Winding (process), Robots, Actuators
Journal Articles

Design, Modeling, and Control of a Compact and Reconfigurable Variable Stiffness Actuator Using Disc Spring

Chen Ji, Zhongqiang Zhang, Guanggui Cheng, Minxiu Kong, Ruifeng Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091006.
Paper No: JMR-23-1489
https://doi.org/10.1115/1.4064463
Published Online: February 1, 2024
View Article titled, Design, Modeling, and Control of a Compact and Reconfigurable Variable Stiffness Actuator Using Disc Spring
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Topics: Disks, Springs, Stiffness, Rollers, Torque, Actuators, Motors, Design, Compression
Journal Articles

A Compliant Hinge Joint Driven by the PneuNets Bending Actuator

Yi Jin, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081015.
Paper No: JMR-23-1363
https://doi.org/10.1115/1.4064282
Published Online: January 12, 2024
View Article titled, A Compliant Hinge Joint Driven by the PneuNets Bending Actuator
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Topics: Actuators, Design, Hinges, Simulation, Stiffness, Errors, Kinematics, Pressure, Soft robots
Journal Articles

Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control

Wenda Xu, Yunfei Guo, Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081016.
Paper No: JMR-23-1460
https://doi.org/10.1115/1.4064283
Published Online: January 12, 2024
View Article titled, Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control
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Topics: Actuators, Design, Exoskeleton devices, Reinforcement learning, Simulation, Grasping
Journal Articles

Announcing the 2022 Best Paper Award and Honorable Mentions

Venkat Krovi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Editorial
J. Mechanisms Robotics. December 2023, 15(6): 060201.
Paper No: JMR-23-1487
https://doi.org/10.1115/1.4063372
Published Online: October 17, 2023
View Article titled, Announcing the 2022 Best Paper Award and Honorable Mentions
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Topics: Actuators, Composite materials, End effectors, Modeling, Robotics, Robots
Journal Articles

Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves

Mahshid Mansouri, Elizabeth T. Hsiao-Wecksler, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2024, 16(7): 074501.
Paper No: JMR-23-1066
https://doi.org/10.1115/1.4063573
Published Online: October 16, 2023
View Article titled, Toward Design Guidelines for Multidirectional Patient Transfer on a Bed Surface Using Traveling Waves
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Topics: Design, Particulate matter, Transportation systems, Traveling waves, Wavelength, Waves, Stiffness, Actuators
Journal Articles

Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction

Yongfeng Rong, Wusheng Chou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071001.
Paper No: JMR-23-1182
https://doi.org/10.1115/1.4063368
Published Online: October 13, 2023
View Article titled, Design and Control of an Aerial Manipulator With Invariant Center of Gravity for Physical Interaction
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Topics: Design, Dynamics (Mechanics), Manipulators, Control equipment, Unmanned aerial vehicles, Actuators
Journal Articles

Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation

Sajeeva Abeywardena, Eisa Anwar, Stuart Charles Miller, Ildar Farkhatdinov
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061007.
Paper No: JMR-23-1039
https://doi.org/10.1115/1.4063094
Published Online: August 31, 2023
View Article titled, Mechanical Characterization of Supernumerary Robotic Tails for Human Balance Augmentation
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Topics: Kinematics, Robotics, Simulation, Torque, Trajectories (Physics), Inertia (Mechanics), Design, Dynamics (Mechanics), Actuators, Displacement
Includes: Supplementary data
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

Conceptual Design of a Novel Particle-Based Soft Grasping Gripper

Qianyi Chen, Dingena Schott, Jovana Jovanova
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2024, 16(5): 051004.
Paper No: JMR-22-1578
https://doi.org/10.1115/1.4062647
Published Online: June 26, 2023
View Article titled, Conceptual Design of a Novel Particle-Based Soft Grasping Gripper
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Topics: Actuators, Grippers, Membranes, Particulate matter, Shrinkage (Materials), Design, Grasping, Deflection, Conceptual design, Deformation
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
Publisher: ASME
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
Publisher: ASME
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

Design and Performance Analysis of Wavy Nonrotating Pneumatic Soft Actuator

Zhongming Lv, Feiyun Xiao, Baoliang Chen, Ruonan Dong, Zhengshi Liu, Yong Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021011.
Paper No: JMR-22-1229
https://doi.org/10.1115/1.4062213
Published Online: May 9, 2023
View Article titled, Design and Performance Analysis of Wavy Nonrotating Pneumatic Soft Actuator
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Topics: Actuators, Pressure
Journal Articles

Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation

Weixing Chen, Yu Wen, Xiaochuan Tong, Chaoxiong Lin, Jiang Li, Shuyou Wang, Wei Xie, Lifeng Mao, Xianchao Zhao, Weidong Zhang, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041015.
Paper No: JMR-23-1023
https://doi.org/10.1115/1.4062177
Published Online: May 2, 2023
View Article titled, Dynamics Modeling and Modal Space Control Strategy of Ship-Borne Stewart Platform for Wave Compensation
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Topics: Actuators, Control equipment, Inertia (Mechanics), Ships, Waves, Dynamics (Mechanics), Design, Stress, Errors, Dynamic models