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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
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

Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements

Jilong Xu, Yunzhan Niu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031001.
Paper No: JMR-23-1755
https://doi.org/10.1115/1.4066039
Published Online: August 8, 2024
View Article titled, Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements
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Topics: Exoskeleton devices, Motors, Torque, Human-machine systems, Rotation
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101010.
Paper No: JMR-23-1615
https://doi.org/10.1115/1.4064636
Published Online: February 27, 2024
View Article titled, Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery
Open the PDF for Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery in another window
Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
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

A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting

Asif Arefeen, Yujiang Xiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081010.
Paper No: JMR-23-1209
https://doi.org/10.1115/1.4064234
Published Online: December 22, 2023
View Article titled, A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting
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Topics: Biomechanics, Exoskeleton devices, Knee, Torque, Torque control, Optimization
Journal Articles

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks

Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071007.
Paper No: JMR-23-1199
https://doi.org/10.1115/1.4063455
Published Online: October 16, 2023
View Article titled, Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks
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Topics: Exoskeleton devices, Muscle, Design, Stress, Torque, Cables
Journal Articles

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
https://doi.org/10.1115/1.4055936
Published Online: November 24, 2022
View Article titled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
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Topics: Exoskeleton devices, Knee, Cycles, Recycling
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051008.
Paper No: JMR-22-1077
https://doi.org/10.1115/1.4055964
Published Online: November 24, 2022
View Article titled, Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
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Topics: Exoskeleton devices, Fatigue, Stiffness, Torque, Pressure, Muscle, Energy consumption, Knee
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Article titled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Article titled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
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
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011005.
Paper No: JMR-21-1407
https://doi.org/10.1115/1.4054248
Published Online: April 25, 2022
View Article titled, Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation
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Topics: Cables, Exoskeleton devices, Torque, Muscle, Robots, Knee
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
Publisher: ASME
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

Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation

Xiangyang Wang, Sheng Guo, Bojian Qu, Majun Song, Peiyi Wang, Du-Xin Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2022, 14(5): 054504.
Paper No: JMR-21-1430
https://doi.org/10.1115/1.4053735
Published Online: February 21, 2022
View Article titled, Design and Experimental Verification of a Parallel Hip Exoskeleton System for Full-Gait-Cycle Rehabilitation
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Topics: Cycles, Design, Exoskeleton devices, Cables
Journal Articles

Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method

Yuhan Ji, Weihai Chen, Jianbin Zhang, Zhongyi Li, Zaojun Fang, Guilin Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2022, 14(2): 021013.
Paper No: JMR-21-1009
https://doi.org/10.1115/1.4052380
Published Online: October 13, 2021
View Article titled, Self-Identification of Cable-Driven Exoskeleton Based on Asynchronous Iterative Method
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Topics: Cables, Errors, Exoskeleton devices, Kinematics, Uncertainty
Journal Articles

A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment

Mohammad I. Awad, Irfan Hussain, Shramana Ghosh, Yahya Zweiri, Dongming Gan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011016.
Paper No: JMR-20-1075
https://doi.org/10.1115/1.4048428
Published Online: November 13, 2020
View Article titled, A Double-Layered Elbow Exoskeleton Interface With 3-PRR Planar Parallel Mechanism for Axis Self-Alignment
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Topics: Design, Exoskeleton devices, Kinematics, Optimization, Parallel mechanisms
Journal Articles

Stable Grasp Control With a Robotic Exoskeleton Glove

Teja Vanteddu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061015.
Paper No: JMR-19-1472
https://doi.org/10.1115/1.4047724
Published Online: July 28, 2020
View Article titled, Stable Grasp Control With a Robotic Exoskeleton Glove
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Topics: Algorithms, Deformation, Exoskeleton devices, Optimization, Linkages, Actuators, Grasping, Engineering prototypes, Seas
Journal Articles

A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off

Yihua Chang, Weixin Wang, Chenglong Fu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051011.
Paper No: JMR-19-1300
https://doi.org/10.1115/1.4046835
Published Online: May 11, 2020
View Article titled, A Lower Limb Exoskeleton Recycling Energy From Knee and Ankle Joints to Assist Push-Off
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Topics: Exoskeleton devices, Knee, Springs, Recycling, Design, Cycles, Ropes
Journal Articles

Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury

Josep M. Font-Llagunes, Urbano Lugrís, Daniel Clos, F. Javier Alonso, Javier Cuadrado
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031008.
Paper No: JMR-19-1118
https://doi.org/10.1115/1.4045510
Published Online: January 13, 2020
View Article titled, Design, Control, and Pilot Study of a Lightweight and Modular Robotic Exoskeleton for Walking Assistance After Spinal Cord Injury
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Topics: Design, Exoskeleton devices, Knee, Motors, Orthotics, Robotics, Spinal cord, Wounds, Cycles
Journal Articles

A Portable Elbow Exoskeleton for Three Stages of Rehabilitation

Soumya K. Manna, Venketesh N. Dubey
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2019, 11(6): 065002.
Paper No: JMR-18-1257
https://doi.org/10.1115/1.4044535
Published Online: October 8, 2019
View Article titled, A Portable Elbow Exoskeleton for Three Stages of Rehabilitation
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Topics: Exoskeleton devices, Motors, Springs, Stiffness, Torque, Design, Electric motors, Engines