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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

Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger

Runming Zhang, Xuechao Chen, Yu Zhang, Zhangguo Yu, Qiang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124501.
Paper No: JMR-23-1321
https://doi.org/10.1115/1.4065024
Published Online: March 29, 2024
View Article titled, Impact Disturbance Rejection for a Humanoid Robot With Optimal Footstep Regulation Trigger
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Topics: Algorithms, Control equipment, Cycles, Feedback, Humanoid robots, Modeling, Robots, Center of mass, Robot motion
Journal Articles

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061004.
Paper No: JMR-22-1068
https://doi.org/10.1115/1.4054997
Published Online: September 12, 2022
View Article titled, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
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Topics: Diffraction gratings, Robots, Sensors, Shapes, Tracking control, Trajectories (Physics), Algorithms, Cables, Feedback
Journal Articles

Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Closures
J. Mechanisms Robotics. October 2022, 14(5): 056001.
Paper No: JMR-21-1433
https://doi.org/10.1115/1.4054926
Published Online: August 9, 2022
View Article titled, Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Closure to “Discussion: Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Humanoid robots, Stability, Theorems (Mathematics), Control equipment, Robots, Feedback
Journal Articles

Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)

Gustavo A. Medrano-Cerda
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Discussions
J. Mechanisms Robotics. October 2022, 14(5): 055501.
Paper No: JMR-20-1032
https://doi.org/10.1115/1.4049005
Published Online: August 9, 2022
View Article titled, Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009)
Open the PDF for Discussion: “Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot” (Spyrakos-Papastavridis, E., Dai, J. S., Childs, P. R. N., and Tsagarakis, N. G., 2018, ASME J. Mech. Rob., 10(3), p. 031009) in another window
Topics: Feedback, Humanoid robots, Robots, Stability, Theorems (Mathematics), Control equipment, Dynamics (Mechanics), Errors, Compliant mechanisms
Journal Articles

Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots

Young Hun Lee, Hyunyong Lee, Hansol Kang, Jun Hyuk Lee, Ji Man Park, Chunghyuk Kang, Yoon Haeng Lee, Yong Bum Kim, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050910.
Paper No: JMR-21-1013
https://doi.org/10.1115/1.4051356
Published Online: July 6, 2021
View Article titled, Balance Recovery Based on Whole-Body Control Using Joint Torque Feedback for Quadrupedal Robots
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Topics: Center of mass, Control equipment, Feedforward control, Robots, Torque, Dynamics (Mechanics), Feedback, Trajectories (Physics)
Journal Articles

Velocity Decomposition-Enhanced Control for Point and Curved-Foot Planar Bipeds Experiencing Velocity Disturbances

Martin Fevre, Bill Goodwine, James P. Schmiedeler
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 020901.
Paper No: JMR-18-1277
https://doi.org/10.1115/1.4042485
Published Online: February 22, 2019
View Article titled, Velocity Decomposition-Enhanced Control for Point and Curved-Foot Planar Bipeds Experiencing Velocity Disturbances
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Topics: Control equipment, Cycles, Dynamics (Mechanics), Errors, Feedback, Robots, Steady state, Simulation, Simulation results
Journal Articles

Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback

Mengze Li, Zhaofan Yuan, Tadayoshi Aoyama, Yasuhisa Hasegawa
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2018, 10(4): 044505.
Paper No: JMR-17-1286
https://doi.org/10.1115/1.4040354
Published Online: June 18, 2018
View Article titled, Precise Foot Positioning of Walking Robot for Paraplegic Patient Wearing Exoskeleton by Using Electrical Stimulation Feedback
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Topics: Exoskeleton devices, Feedback, Robots, Relaxation (Physics)
Journal Articles

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031009.
Paper No: JMR-17-1137
https://doi.org/10.1115/1.4039394
Published Online: April 5, 2018
View Article titled, Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
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Topics: Control equipment, Stability, Feedback, Gravity (Force), Robots, Trajectories (Physics)
Journal Articles

A High Performance Voice Coil Actuator for Optomechatronic Applications

Dion Hicks, Taufiq Rahman, Nicholas Krouglicof
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041014.
Paper No: JMR-16-1211
https://doi.org/10.1115/1.4035879
Published Online: May 23, 2017
View Article titled, A High Performance Voice Coil Actuator for Optomechatronic Applications
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Topics: Actuators, Design, Electronics, Feedback
Journal Articles

A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints

Pei Jiang, Shuihua Huang, Ji Xiang, Michael Z. Q. Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041009.
Paper No: JMR-16-1170
https://doi.org/10.1115/1.4036569
Published Online: May 15, 2017
View Article titled, A Unified Approach for Second-Order Control of the Manipulator With Joint Physical Constraints
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Topics: End effectors, Kinematics, Manipulators, Feedback, Redundant manipulators
Journal Articles

Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors

Yu She, Chang Li, Jonathon Cleary, Hai-Jun Su
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2015, 7(2): 021007.
Paper No: JMR-14-1224
https://doi.org/10.1115/1.4029497
Published Online: May 1, 2015
View Article titled, Design and Fabrication of a Soft Robotic Hand With Embedded Actuators and Sensors
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Topics: Actuators, Bending (Stress), Design, End effectors, Manufacturing, Sensors, Shapes, Strips, Wire, Grasping
Journal Articles

Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems

Satyajit Ambike, James P. Schmiedeler, Michael M. Stanišić
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. May 2011, 3(2): 021008.
https://doi.org/10.1115/1.4003272
Published Online: April 7, 2011
View Article titled, Trajectory Tracking via Independent Solutions to the Geometric and Temporal Tracking Subproblems
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Topics: Feedback, Manipulators, Robots, Trajectories (Physics), Kinematics, Jacobian matrices, Geometry