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Journal Articles

Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method

Zhengyu Wang, Xuchang Liu, Zirui Jia, Xiang Yu, Zongkun Pei, Jun Yang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101014.
Paper No: JMR-23-1620
https://doi.org/10.1115/1.4064670
Published Online: March 5, 2024
View Article titled, Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method
Open the PDF for Development of a New Cable-Driven Planar Parallel Continuum Robot Using Compound Kinematic Calibration Method in another window
Topics: Cables, Calibration, Kinematics, Robots, Design
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

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
Open the PDF for A Hybrid Method Combining Data-Driven and Model-Based Algorithms for External Force-Sensing and Haptics Control of Cable-Pulley-Driven Surgical Robotic Manipulator in another window
Topics: Cables, Haptics, Manipulators, Pulleys, Surgery, Algorithms, Errors
Journal Articles

An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss

Zhengyu Wang, Zirui Jia, Sen Qian, Daoming Wang, Xiang Yu, Xuchang Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071006.
Paper No: JMR-23-1116
https://doi.org/10.1115/1.4063454
Published Online: October 16, 2023
View Article titled, An Improved Static Model for Bidirectional Notched Continuum Robot Considering the Cable Tension Loss
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Topics: Cables, Cantilever beams, Deflection, Robots, Tension
Journal Articles

Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot

Zhengyu Wang, Xun Wei, Xiang Yu, Zirui Jia, Sen Qian, Daoming Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071002.
Paper No: JMR-23-1220
https://doi.org/10.1115/1.4063369
Published Online: October 13, 2023
View Article titled, Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot
Open the PDF for Data-Based Shape Self-Sensing of a Cable-Driven Notched Continuum Mechanism Using Multidimensional Intrinsic Force Information for Surgical Robot in another window
Topics: Cables, Robots, Shapes, Surgery, Artificial neural networks, Calibration, Modeling, Stress, Errors, Kinematics
Journal Articles

Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms

Zhengyu Wang, Shiyang Bao, Bin Zi, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031011.
Paper No: JMR-22-1584
https://doi.org/10.1115/1.4057075
Published Online: March 28, 2023
View Article titled, Development of a Novel 4-DOF Flexible Endoscopic Robot Using Cable-Driven Multisegment Continuum Mechanisms
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Topics: Cables, Endoscopic devices, Kinematics, Robots, Design, Surgery, Lenses (Optics), Calibration
Journal Articles

Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches

Zhengyu Wang, Shiyang Bao, Daoming Wang, Sen Qian, Jianxi Zhang, Mingxin Hai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2023, 15(6): 064502.
Paper No: JMR-22-1356
https://doi.org/10.1115/1.4056502
Published Online: January 23, 2023
View Article titled, Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches
Open the PDF for Design of a Novel Flexible Robotic Laparoscope Using a Two Degrees-of-Freedom Cable-Driven Continuum Mechanism With Major Arc Notches in another window
Topics: Cables, Calibration, Degrees of freedom, Design, Laparoscopic devices, Robotics, Robots, Surgery, Motion control, Finite element analysis
Journal Articles

Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery

Zhengyu Wang, Wenjun Song, Sen Qian, Daoming Wang, Zirui Jia, Xiang Yu
Journal: Journal of Medical Devices
Publisher: ASME
Article Type: Technical Briefs
J. Med. Devices. March 2023, 17(1): 014501.
Paper No: MED-22-1077
https://doi.org/10.1115/1.4056319
Published Online: December 14, 2022
View Article titled, Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery
Open the PDF for Design of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton for Assisting Surgeon Performing Microlaryngoscopic Surgery in another window
Topics: Design, Exoskeleton devices, Surgery, Tendons, Rotation, Muscle, Kinematics, Wire, Ropes, Cables
Journal Articles

Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy

Bing Chen, Bin Zi, Bin Zhou, Zhengyu Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051001.
Paper No: JMR-21-1294
https://doi.org/10.1115/1.4053218
Published Online: February 18, 2022
View Article titled, Implementation of Robotic Ankle–Foot Orthosis With an Impedance-Based Assist-as-Needed Control Strategy
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Topics: Control equipment, Orthotics, Robotics, Torque
Journal Articles

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011002.
Paper No: JMR-20-1141
https://doi.org/10.1115/1.4047987
Published Online: August 17, 2020
View Article titled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake
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Topics: Brakes, Orthotics, Robotics, Torque, Rheology, Engines, Motors, Actuators, Braking, Seas