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Journal Articles

Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability

Accepted Manuscript
Xiaojuan Mo, Wenjie Ge, Yifei Ren, Donglai Zhao, Dunwen Wei, Donato Romano
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
Publisher: ASME
J. Mechanisms Robotics.
Paper No: JMR-22-1560
https://doi.org/10.1115/1.4063406
Published Online: September 12, 2023
View Article titled, Locust-inspired Jumping Mechanism Design and Improvement Based on Takeoff Stability
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Topics: Design, Robots, Stability, Dynamic stability, Kinematics, Springs, Dynamic modeling, Dynamic models, Mobile robots, Momentum
Journal Articles

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Article titled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces

Guillaume Jeanneau, Vincent Bégoc, Sébastien Briot
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041012.
Paper No: JMR-22-1535
https://doi.org/10.1115/1.4062946
Published Online: August 8, 2023
View Article titled, A Reduced Mass-Spring-Mass-Model of Compliant Robots Dedicated to the Evaluation of Impact Forces
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Topics: Robots, Springs, Stiffness
Journal Articles

Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint

Kunyang Wang, Harry Williams, Zhihui Qian, Guowu Wei, Haohua Xiu, Wei Chen, Xuewei Lu, Jianqiao Jin, Lei Ren, Wei Liang, Luquan Ren
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041008.
Paper No: JMR-22-1158
https://doi.org/10.1115/1.4062498
Published Online: June 9, 2023
View Article titled, Design and Evaluation of a Smooth-Locking-Based Customizable Prosthetic Knee Joint
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Topics: Artificial limbs, Design, Knee, Springs, Prostheses, Anterior cruciate ligament, Relaxation (Physics)
Includes: Supplementary data
Journal Articles

Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction

Bowen Zheng, Pengpeng Xu, Zhaoqi Guo, Longhan Xie
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041009.
Paper No: JMR-22-1596
https://doi.org/10.1115/1.4062499
Published Online: June 9, 2023
View Article titled, Origami-Inspired Variable Stiffness Actuator for Safe Human–Robot Interaction
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Topics: Deflection, Stiffness, Torque, Motors, Springs, Actuators, Torsion, Origami-inspired design
Journal Articles

Emerging Gaits for a Quadrupedal Template Model With Segmented Legs

Lorenzo Boffa, Anna Sesselmann, Máximo A. Roa
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031011.
Paper No: JMR-22-1272
https://doi.org/10.1115/1.4062388
Published Online: May 2, 2023
View Article titled, Emerging Gaits for a Quadrupedal Template Model With Segmented Legs
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Topics: Dynamics (Mechanics), Knee, Limit cycles, Robots, Springs, Stability, Stiffness, Equations of motion, Eigenvalues, Elasticity
Journal Articles

Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck

Vimalesh Muralidharan, Nicolas Testard, Christine Chevallereau, Anick Abourachid, Philippe Wenger
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2023, 15(3): 035002.
Paper No: JMR-22-1185
https://doi.org/10.1115/1.4062302
Published Online: April 27, 2023
View Article titled, Variable Stiffness and Antagonist Actuation for Cable-Driven Manipulators Inspired by the Bird Neck
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Topics: Cables, Manipulators, Stiffness, Equilibrium (Physics), Springs
Journal Articles

Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation

Justin Quan, Dennis Hong
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031009.
Paper No: JMR-22-1267
https://doi.org/10.1115/1.4062150
Published Online: April 18, 2023
View Article titled, Flexible Long-Reach Robotic Limbs Using Tape Springs for Mobility and Manipulation
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Topics: End effectors, Kinematics, Mechanical admittance, Springs, Stress, Design, Shapes, Weight (Mass), Mobile robots, Engineering prototypes
Journal Articles

Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop

Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2023, 15(3): 031008.
Paper No: JMR-22-1128
https://doi.org/10.1115/1.4062212
Published Online: April 10, 2023
View Article titled, Control of Pneumatic Artificial Muscle Actuated Two Degrees-of-Freedom Robot Using PD-Based Pulse Width Modulation Strategy With Feed-Forward Outer Control Loop
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Topics: Control equipment, Degrees of freedom, Design, Dynamics (Mechanics), Feedforward control, Manipulators, Muscle, Pressure, Robots, Valves
Journal Articles

Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg

Fuchen Chen, Daniel M. Aukes
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031012.
Paper No: JMR-22-1373
https://doi.org/10.1115/1.4056958
Published Online: March 29, 2023
View Article titled, Direct Encoding of Tunable Stiffness Into an Origami-Inspired Jumping Robot Leg
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Topics: Design, Robots, Springs, Stiffness, Laminates, Origami-inspired design, Motors
Journal Articles

Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles

Chi-Shiun Jhuang, Chia-Wei Juang, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031006.
Paper No: JMR-22-1390
https://doi.org/10.1115/1.4056960
Published Online: March 8, 2023
View Article titled, Force Analysis of Statically Balanced Serially Connected Manipulators Using Springs Based on Torque Compatibilities Associated With Accumulative Joint Angles
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Topics: Manipulators, Springs, Torque
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Garrison L. H. Johnston, Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021001.
Paper No: JMR-22-1290
https://doi.org/10.1115/1.4056600
Published Online: March 3, 2023
View Article titled, Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms
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Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

A Curved Compliant Differential Mechanism With Neutral Stability

Robin Mak, Ali Amoozandeh Nobaveh, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. January 2024, 16(1): 011003.
Paper No: JMR-22-1430
https://doi.org/10.1115/1.4056867
Published Online: March 3, 2023
View Article titled, A Curved Compliant Differential Mechanism With Neutral Stability
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Topics: Potential energy, Springs, Stability, Stiffness, Symmetry (Physics), Deformation, Simulation
Journal Articles

A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom

Jihui Li, Zhenyuan Yu, Zhiwei Zhu, Zichen Deng
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2023, 15(6): 061005.
Paper No: JMR-22-1108
https://doi.org/10.1115/1.4056252
Published Online: January 17, 2023
View Article titled, A Zigzag-Based Thickness-Accommodating Foldable Prismatic Structure With a Single-Degree-of-Freedom
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Topics: Cables, Design, Engineering prototypes, Engines, Hinges, Kinematics, Linkages, Manipulators, Manufacturing, Motors
Journal Articles

Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum

Sunil Gora, Shakti S. Gupta, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. October 2023, 15(5): 054502.
Paper No: JMR-22-1110
https://doi.org/10.1115/1.4055999
Published Online: November 25, 2022
View Article titled, Energy-Based Footstep Planning of Biped on Uneven Deformable Terrain Using Nonlinear Inverted Pendulum
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Topics: Deformation, Dynamics (Mechanics), Inertia (Mechanics), Pendulums, Stiffness, Potential energy, Rotation, Springs, Damping, Dampers
Journal Articles

Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion

Haotian Ju, Liang Gao, Hongwu Li, Dongbao Sui, Qinghua Zhang, Yanhe Zhu, Jie Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051006.
Paper No: JMR-22-1139
https://doi.org/10.1115/1.4055935
Published Online: November 24, 2022
View Article titled, Development of a Constant Force Suspended Backpack for Variable Load and Variable Speed Locomotion
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Topics: Stress, Design, Springs, Stiffness, Pulleys
Journal Articles

Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots

Vu Linh Nguyen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2023, 15(4): 041013.
Paper No: JMR-22-1114
https://doi.org/10.1115/1.4055739
Published Online: November 15, 2022
View Article titled, Realization of a Gear-Spring Balancer With Variable Payloads and Its Application to Serial Robots
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Topics: Design, Gears, Robots, Springs, Torque, Actuators, Stiffness
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
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

A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp

Xizhe Zang, Chao Wang, Pu Zhang, Gangfeng Liu, Xuehe Zhang, Jie Zhao
Journal: Journal of Mechanisms and Robotics
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2023, 15(4): 045001.
Paper No: JMR-21-1454
https://doi.org/10.1115/1.4055252
Published Online: November 10, 2022
View Article titled, A Novel Design of a Multi-Fingered Bionic Hand With Variable Stiffness for Robotic Grasp
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Topics: Design, Grasping, Robotics, Stiffness, Springs, Bionics, Robots
Journal Articles

Design and Control of SLPM-Based Extensible Continuum Arm

Zheming Zhuang, Ze Zhang, Yuntao Guan, Wei Wei, Mi Li, Zhao Tang, Rongjie Kang, Zhibin Song, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061003.
Paper No: JMR-21-1741
https://doi.org/10.1115/1.4054996
Published Online: September 12, 2022
View Article titled, Design and Control of SLPM-Based Extensible Continuum Arm
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Topics: Control systems, Design, Engineering prototypes, Parallel mechanisms, Robots, Simulation, Springs, Cables, Stiffness, Screws