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Journal Articles

Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace

Nicolas J. S. Testard, Christine Chevallereau, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 010907.
Paper No: JMR-23-1581
https://doi.org/10.1115/1.4065633
Published Online: June 17, 2024
View Article titled, Comparison Analysis of Bio-Inspired Tendon-Driven Manipulators Based on Their Tension-Feasible Workspace
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Topics: Manipulators, Tendons, Tension
Journal Articles

Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots

Jer Luen Chien, Clarissa Leong, Jingmin Liu, Shaohui Foong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121011.
Paper No: JMR-23-1648
https://doi.org/10.1115/1.4065370
Published Online: May 21, 2024
View Article titled, Wrench Estimation and Friction Compensation Using Multiple Shooting Method for Tether Units Augmented to Remote Tendon-Driven Continuum Robots
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Topics: Friction, Robots, Tendons, Control equipment, Shapes
Journal Articles

Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment

Amir Jalali, Farrokh Janabi-Sharifi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2024, 16(12): 121001.
Paper No: JMR-23-1757
https://doi.org/10.1115/1.4064815
Published Online: March 29, 2024
View Article titled, Dynamic Manipulation and Stiffness Modulation of Cooperative Continuum Robots: Theory and Experiment
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Topics: Robots, Stiffness, Tendons, Tension, Stress, Dynamic response
Journal Articles

Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators

Md Modassir Firdaus, Omkar Dilip Paranjape, Madhu Vadali
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101013.
Paper No: JMR-23-1401
https://doi.org/10.1115/1.4064669
Published Online: March 5, 2024
View Article titled, Finite Element Method-Based Dynamic Modeling Framework for Flexible Continuum Manipulators
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Topics: Displacement, Manipulators, Shapes, Tendons, Tension, Steady state, Dynamic models, Damping
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
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Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
Journal Articles

A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments

Samson A. Adejokun, Panos S. Shiakolas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021012.
Paper No: JMR-22-1550
https://doi.org/10.1115/1.4062762
Published Online: July 25, 2023
View Article titled, A Compliant Manipulator for Confined Space Tissue Diagnostics: Kinematic and Force Analyses and Initial Characterization Experiments
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Topics: Kinematics, Manipulators, Robots, Tension, Biological tissues, Tendons, Modeling, Design, Robotics
Journal Articles

Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section

Christian DeBuys, Florin C. Ghesu, Jagadeesan Jayender, Reza Langari, Young-Ho Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061019.
Paper No: JMR-22-1604
https://doi.org/10.1115/1.4062354
Published Online: May 2, 2023
View Article titled, Separable Tendon-Driven Robotic Manipulator With a Long, Flexible, Passive Proximal Section
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Topics: Errors, Kinematics, Manipulators, Tendons, Tension, Robots, Design
Journal Articles

Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator

Cole Woods, Vishesh Vikas
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031006.
Paper No: JMR-22-1273
https://doi.org/10.1115/1.4056959
Published Online: March 28, 2023
View Article titled, Design and Modeling Framework for DexTeR: Dexterous Continuum Tensegrity Manipulator
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Topics: Design, Manipulators, Manufacturing, Modeling, String, Tensegrity, Screws, Tension, Tendons
Journal Articles

Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator

Yudong Zhang, Leiying He, Bo Yan, Jianneng Chen, Chuanyu Wu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061014.
Paper No: JMR-22-1409
https://doi.org/10.1115/1.4056577
Published Online: January 23, 2023
View Article titled, Hierarchical Sliding Mode Control for the Trajectory Tracking of a Tendon-Driven Manipulator
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Topics: Actuators, Control equipment, Dynamics (Mechanics), Errors, Manifolds, Manipulators, Simulation, Sliding mode control, Tendons, Tracking control
Journal Articles

Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone

Qingyu Xiao, Mishek Musa, Isuru S. Godage, Hao Su, Yue Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051011.
Paper No: JMR-22-1084
https://doi.org/10.1115/1.4055860
Published Online: November 25, 2022
View Article titled, Kinematics and Stiffness Modeling of Soft Robot With a Concentric Backbone
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Topics: Modeling, Nickel titanium alloys, Robots, Stiffness, Tendons
Journal Articles

Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger

Chun-Tse Lee, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041004.
Paper No: JMR-22-1011
https://doi.org/10.1115/1.4055061
Published Online: November 10, 2022
View Article titled, Design of Hybrid Fully Actuated and Self-Adaptive Mechanism for Anthropomorphic Robotic Finger
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Topics: Design, Grasping, Motors, Robotics, Stiffness, Tendons, Springs, Engines, Torsion
Journal Articles

Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions

Kefei Wen, Jessica Burgner-Kahrs
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041003.
Paper No: JMR-21-1579
https://doi.org/10.1115/1.4055062
Published Online: November 10, 2022
View Article titled, Modeling and Analysis of Tendon-Driven Parallel Continuum Robots Under Constant Curvature and Pseudo-Rigid-Body Assumptions
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Topics: Kinematics, Modeling, Robots, Tendons
Journal Articles

Position-Access Workspace of Slender Soft Manipulators

Walid Amehri, Gang Zheng, Alexandre Kruszewski
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061001.
Paper No: JMR-21-1347
https://doi.org/10.1115/1.4054840
Published Online: September 12, 2022
View Article titled, Position-Access Workspace of Slender Soft Manipulators
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Topics: Manipulators, Tendons, End effectors
Journal Articles

Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach

Amehri Walid, Gang Zheng, Alexandre Kruszewski, Federico Renda
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011012.
Paper No: JMR-20-1574
https://doi.org/10.1115/1.4051609
Published Online: August 11, 2021
View Article titled, Discrete Cosserat Method for Soft Manipulators Workspace Estimation: An Optimization-Based Approach
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Topics: Manipulators, Optimization, Tendons
Journal Articles

An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II

Haosen Yang, Guowu Wei, Lei Ren, Zhihui Qian, Kunyang Wang, Haohua Xiu, Wei Liang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. April 2021, 13(2): 024502.
Paper No: JMR-20-1120
https://doi.org/10.1115/1.4049744
Published Online: February 23, 2021
View Article titled, An Affordable Linkage-and-Tendon Hybrid-Driven Anthropomorphic Robotic Hand—MCR-Hand II
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Topics: End effectors, Engineering prototypes, Grasping, Kinematics, Linkages, Tendons, Design engineering, Design, Robotics
Journal Articles

Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis

Sven Lilge, Kathrin Nuelle, Georg Boettcher, Svenja Spindeldreier, Jessica Burgner-Kahrs
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011025.
Paper No: JMR-20-1163
https://doi.org/10.1115/1.4049058
Published Online: December 10, 2020
View Article titled, Tendon Actuated Continuous Structures in Planar Parallel Robots: A Kinematic Analysis
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Topics: Design, Kinematics, Robots, Chain, Tendons
Journal Articles

A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force

Jianhua Li, Yuanyuan Zhou, Chongyang Wang, Zhidong Wang, Hao Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041013.
Paper No: JMR-19-1142
https://doi.org/10.1115/1.4046035
Published Online: March 9, 2020
View Article titled, A Model-Based Method for Predicting the Shapes of Planar Single-Segment Continuum Manipulators With Consideration of Friction and External Force
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Topics: Displacement, Friction, Manipulators, Shapes, Tendons
Journal Articles

Modeling Backlash-Like Hysteresis of Tendon Sheath Mechanism-Pair

Junho Hong, Dahie Hong, Byung Gon Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2020, 12(4): 041012.
Paper No: JMR-19-1127
https://doi.org/10.1115/1.4046034
Published Online: March 9, 2020
View Article titled, Modeling Backlash-Like Hysteresis of Tendon Sheath Mechanism-Pair
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Topics: Tendons, Deformation, Modeling
Journal Articles

A Bird-Inspired Perching Landing Gear System

Paul M. Nadan, Tatiana M. Anthony, Duncan M. Michael, Jeffrey B. Pflueger, Manik S. Sethi, Kelli N. Shimazu, Mindy Tieu, Christopher L. Lee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 061002.
Paper No: JMR-19-1067
https://doi.org/10.1115/1.4044416
Published Online: September 30, 2019
View Article titled, A Bird-Inspired Perching Landing Gear System
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Topics: Cross section (Physics), Design, Engineering prototypes, Gears, Grasping, Linkages, Simulation, Tendons, Tension, Unmanned aerial vehicles
Includes: Multimedia, Supplementary data
Journal Articles

Comparison of Grasping Performance of Tendon and Linkage Transmission Systems in an Electric-Powered Low-Cost Hand Prosthesis

F. Javier Andrés, Antonio Pérez-González, Carlos Rubert, José Fuentes, Bruno Sospedra
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011018.
Paper No: JMR-18-1005
https://doi.org/10.1115/1.4040491
Published Online: December 24, 2018
View Article titled, Comparison of Grasping Performance of Tendon and Linkage Transmission Systems in an Electric-Powered Low-Cost Hand Prosthesis
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Topics: Design, Grasping, Linkages, Prostheses, Robotics, Tendons, Motors, Artificial limbs, Manufacturing