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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

Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic

Accepted Manuscript
Majun Song, Zhongyi Li, Hao Zheng, Weihai Chen, Sheng Guo, Lianzheng Niu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-23-1788
https://doi.org/10.1115/1.4066552
Published Online: September 13, 2024
View Article titled, Modeling, Simulation and Kinematic Validation of Transfemoral Prosthetic Mechanism with Ankle Varus-Valgus Characteristic
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Topics: Artificial limbs, Kinematics, Modeling, Robots, Simulation, Prostheses, Errors, Optimization, Biomechanics, Bionics
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

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

Alizée Koszulinski, Juan Sandoval, Marc Arsicault, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021007.
Paper No: JMR-24-1137
https://doi.org/10.1115/1.4065917
Published Online: July 19, 2024
View Article titled, Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery
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Topics: Cervical spine, Design, Drilling, Kinematics, Parallel mechanisms, Surgery, Robotics, Optimization, Force feedback, Motors
Journal Articles

Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators

Sam O’Connor, Mark Plecnik, Aravind Baskar, James Joo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111010.
Paper No: JMR-23-1690
https://doi.org/10.1115/1.4064835
Published Online: May 23, 2024
View Article titled, Complete Solutions for the Approximate Synthesis of Spherical Four-Bar Function Generators
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Topics: Design, Generators, Optimization, Polynomials, Wings, Kinematics, Dimensions
Journal Articles

New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer

Miguel De La Melena, Shawn Duan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091012.
Paper No: JMR-23-1689
https://doi.org/10.1115/1.4065082
Published Online: May 10, 2024
View Article titled, New Design and Prototype of Two Degrees-of-Freedom Planar Parallel Manipulator for Use in Creating an Infinite 3D Printer
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Topics: Design, End effectors, Engineering prototypes, Equations of motion, Finite element analysis, Kinematics, Manipulators, Optimization, Testing, Degrees of freedom
Journal Articles

Analytic Center-Based Tension Distribution for Cable-Driven Platforms

Vincenzo Di Paola, Alexandre Goldsztejn, Matteo Zoppi, Stéphane Caro
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081018.
Paper No: JMR-23-1452
https://doi.org/10.1115/1.4065244
Published Online: April 24, 2024
View Article titled, Analytic Center-Based Tension Distribution for Cable-Driven Platforms
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Topics: Cables, Tension, Optimization, End effectors, Simulation, Robots
Journal Articles

Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement

Ming-Chang Hsu, Hsuan-Yu Chen, Christina Soong, T.-J. Yeh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2024, 16(11): 111005.
Paper No: JMR-23-1586
https://doi.org/10.1115/1.4065075
Published Online: March 29, 2024
View Article titled, Design and Optimization of a Wearable Underactuated Mechanism for Spinal Posture Measurement
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Topics: Design, Optimization, Engines, Motors, Wearable devices
Journal Articles

Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms

Yuting Du, Qiang Ruan, Yan-an Yao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081017.
Paper No: JMR-23-1764
https://doi.org/10.1115/1.4064741
Published Online: March 20, 2024
View Article titled, Integrated Wheel–Foot–Arm Design of a Mobile Platform With Linkage Mechanisms
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Topics: Design, Engineering prototypes, Rotation, Wheels, Linkages, Optimization, Kinematics
Journal Articles

Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators

Xiaofei Liu, Bo Wan, Yu Liu, Yu Wang, Yongsheng Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101007.
Paper No: JMR-23-1614
https://doi.org/10.1115/1.4064574
Published Online: February 27, 2024
View Article titled, Singularity Analysis of Actuation Coordination and New Indices for Optimal Design of Redundantly Actuated Parallel Manipulators
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Topics: Manipulators, Optimization, Design, Dimensions
Journal Articles

Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach

André Gallant, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091008.
Paper No: JMR-23-1455
https://doi.org/10.1115/1.4064570
Published Online: February 27, 2024
View Article titled, Maximizing the Throwing Distance of Robotic Manipulators: An Optimization Approach
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Topics: Design, Kinematics, Manipulators, Optimization, Trajectories (Physics)
Journal Articles

Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism

Ming Han, Bin Xiong, Jinyue Liu, Dong Yang, Tiejun Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2024, 16(9): 091002.
Paper No: JMR-23-1492
https://doi.org/10.1115/1.4064237
Published Online: February 1, 2024
View Article titled, Drive Layout Configuration Strategy and Scale Optimization Design of Multi-Drive Mode Parallel Mechanism
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Topics: Design, Optimization, Parallel mechanisms, Kinematics
Journal Articles

A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces

Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2024, 16(8): 084501.
Paper No: JMR-23-1288
https://doi.org/10.1115/1.4064236
Published Online: January 11, 2024
View Article titled, A Multi-Objective Optimal Design Method for Gravity Compensators With Consideration of Minimizing Joint Reaction Forces
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Topics: Design, Gravity (Force), Optimization, Springs, Torque, Design methodology, Engines, Motors
Journal Articles

A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification

Emir Mobedi, Mehmet İsmet Can Dede
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081013.
Paper No: JMR-23-1152
https://doi.org/10.1115/1.4064280
Published Online: January 11, 2024
View Article titled, A Continuously Variable Transmission-Based Variable Stiffness Actuator for pHRI: Design Optimization and Performance Verification
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Topics: Design, Optimization, Torque, Stiffness, Motors, Engineering prototypes
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 of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model

Thanh-Vu Phan, Van Men Truong, Huy-Tuan Pham, Van-Khien Nguyen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081006.
Paper No: JMR-23-1441
https://doi.org/10.1115/1.4063980
Published Online: December 11, 2023
View Article titled, Design of a Novel Large-Stroke Compliant Constant-Torque Mechanism Based on Chained Beam-Constraint Model
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Topics: Design, Finite element analysis, Optimization, Torque, Stress
Journal Articles

Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction

Tingting Su, Quan Yuan, Xu Liang, Yuchen Yan, Haojian Zhang, Xianjie Jian, Guangping He, Quanliang Zhao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081007.
Paper No: JMR-23-1450
https://doi.org/10.1115/1.4063981
Published Online: December 11, 2023
View Article titled, Design and Analysis of a Novel Redundant Parallel Mechanism for Long Bone Fracture Reduction
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Topics: Bone fractures, Design, Fracture (Materials), Fracture (Process), Kinematics, Parallel mechanisms, Robots, Scanning probe microscopy, Torsion, Statics
Journal Articles

Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control

Yiqun Li, Jiahui Gao, Kai Chen, Wei Chen, Zhouping Yin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2024, 16(6): 061014.
Paper No: JMR-23-1243
https://doi.org/10.1115/1.4063871
Published Online: November 14, 2023
View Article titled, Safe Trajectory Generation for Wheel-Leg Hybrid Mechanism Using Discrete Mechanics and Optimal Control
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Topics: Collisions (Physics), Optimization, Robots, Trajectories (Physics), Wheels, Stairs, D'Alembert's principle
Journal Articles

Origami-Inspired Design of a Single-Degree-of-Freedom Reconfigurable Wing With Lockable Mechanisms

Xiong Zhang, Xi Kang, Bing Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071008.
Paper No: JMR-23-1272
https://doi.org/10.1115/1.4063456
Published Online: October 17, 2023
View Article titled, Origami-Inspired Design of a Single-Degree-of-Freedom Reconfigurable Wing With Lockable Mechanisms
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Topics: Design, Optimization, Wings, Kinematics, Origami-inspired design, Aircraft