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Journal Articles

Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced

Accepted Manuscript
Zhaopeng Jin, Yanzhi Zhao, Yajun Liu, Yu Shan, Yue Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1538
https://doi.org/10.1115/1.4066744
Published Online: September 30, 2024
View Article titled, Parallel Force Feedback Device Design with Constant Jacobian Matrix and Net Weight Fully Balanced
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Topics: Design, Force feedback, Jacobian matrices, Weight (Mass), Errors, Robots, Transparency, Engineering prototypes, Feedback, Gravity (Force)
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

A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator

Zhengyu Wang, Xiang Yu, Mingxin Hai, Sen Qian, Daoming Wang, Ziqian Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101006.
Paper No: JMR-23-1111
https://doi.org/10.1115/1.4064568
Published Online: February 27, 2024
View Article titled, A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator
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Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper

Omer Faruk Argin, Ozan Kaya, Zeki Yagiz Bayraktaroglu, Seniz Ertugrul
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041011.
Paper No: JMR-21-1553
https://doi.org/10.1115/1.4055570
Published Online: November 14, 2022
View Article titled, A Compliant Teleoperation System by Utilizing Haptic Guidance and Series Elastic Actuator-Based Gripper
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Topics: Actuators, Grippers, Haptics, Manipulators
Journal Articles

Design of a Novel Parallel Mechanism for Haptic Device

Lixing Jin, Xingguang Duan, Changsheng Li, Qingxin Shi, Hao Wen, Jin Wang, Haoyuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2021, 13(4): 045001.
Paper No: JMR-20-1500
https://doi.org/10.1115/1.4050562
Published Online: May 26, 2021
View Article titled, Design of a Novel Parallel Mechanism for Haptic Device
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Topics: Design, Grasping, Haptics, Kinematics, Optimization, Rotation, Chain, Parallel mechanisms, Force feedback, Engineering prototypes
Journal Articles

Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface

Mohammad I. Awad, Irfan Hussain, Dongming Gan, Ali Az-zu'bi, Cesare Stefanini, Kinda Khalaf, Yahya Zweiri, Tarek Taha, Jorge Dias, Lakmal Seneviratne
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011005.
Paper No: JMR-18-1148
https://doi.org/10.1115/1.4041640
Published Online: November 12, 2018
View Article titled, Passive Discrete Variable Stiffness Joint (pDVSJ-II): Modeling, Design, Characterization, and Testing Toward Passive Haptic Interface
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Topics: Stiffness, Haptics, Springs, Design
Journal Articles

On the Development of a New Master Device Used for Medical Tasks

Houssem Saafi, Med Amine Laribi, Said Zeghloul, Marc Arsicault
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044501.
Paper No: JMR-17-1210
https://doi.org/10.1115/1.4039590
Published Online: April 11, 2018
View Article titled, On the Development of a New Master Device Used for Medical Tasks
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Topics: Biomedicine, Haptics, Kinematics, Manipulators, Robots, Scanning probe microscopy, Surgery, Optimization, Design
Journal Articles

Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool

Baoliang Zhao, Carl A. Nelson
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051015.
Paper No: JMR-15-1244
https://doi.org/10.1115/1.4032591
Published Online: May 4, 2016
View Article titled, Estimating Tool–Tissue Forces Using a 3-Degree-of-Freedom Robotic Surgical Tool
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Topics: Biological tissues, Engineering prototypes, Haptics, Robotics, Surgery, Surgical tools, Yaw, Motors, Cables, Force measurement
Journal Articles

The Design Evolution of a Sensing and Force-Feedback Exoskeleton Robotic Glove for Hand Rehabilitation Application

Pinhas Ben-Tzvi, Jerome Danoff, Zhou Ma
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051019.
Paper No: JMR-15-1252
https://doi.org/10.1115/1.4032270
Published Online: May 4, 2016
View Article titled, The Design Evolution of a Sensing and Force-Feedback Exoskeleton Robotic Glove for Hand Rehabilitation Application
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Topics: Design, Exoskeleton devices, Force feedback, Grasping, Haptics, Robotics, Kinematics, Cables
Journal Articles

Design and Optimization of a Five-Finger Haptic Glove Mechanism

Zhou Ma, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2015, 7(4): 041008.
Paper No: JMR-13-1235
https://doi.org/10.1115/1.4029437
Published Online: November 1, 2015
View Article titled, Design and Optimization of a Five-Finger Haptic Glove Mechanism
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Topics: Actuators, Design, Haptics, Optimization, Friction, Simulation, Force feedback, Tendons
Journal Articles

Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface

Nicolò Pedemonte, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2016, 8(1): 011020.
Paper No: JMR-15-1026
https://doi.org/10.1115/1.4031167
Published Online: September 25, 2015
View Article titled, Design, Control, and Experimental Validation of a Handshaking Reactive Robotic Interface
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Topics: Design, Grasping, Haptics, Robotics, Robots, Stress, Control equipment
Journal Articles

Haptic Hand Exoskeleton for Precision Grasp Simulation

Marco Fontana, Salsedo Fabio, Simone Marcheschi, Massimo Bergamasco
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041014.
Paper No: JMR-11-1080
https://doi.org/10.1115/1.4024981
Published Online: October 7, 2013
View Article titled, Haptic Hand Exoskeleton for Precision Grasp Simulation
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Topics: Cables, Design, Electronics, Engines, Exoskeleton devices, Force sensors, Haptics, Kinematics, Motors, Resolution (Optics)
Journal Articles

Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging

Farshid Najafi, Nariman Sepehri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021002.
https://doi.org/10.1115/1.4003446
Published Online: March 10, 2011
View Article titled, Design and Prototyping of a Force-Reflecting Hand-Controller for Ultrasound Imaging
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Topics: Control equipment, Design, Robotics, Ultrasonic imaging, Ultrasound, Springs, Actuators, Engineering prototypes, Tension, Haptics