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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 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

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031016.
Paper No: JMR-21-1399
https://doi.org/10.1115/1.4053048
Published Online: December 9, 2021
View Article titled, Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
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Topics: Gravity (Force), Reliability, Robots, Springs, Uncertainty, Design, Torque, Event history analysis, Optimization
Journal Articles

Design of the Wearable Spatial Gravity Balance Mechanism

Yijia Peng, Wanghui Bu, Jing Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031006.
Paper No: JMR-21-1196
https://doi.org/10.1115/1.4052446
Published Online: November 18, 2021
View Article titled, Design of the Wearable Spatial Gravity Balance Mechanism
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Topics: Gravity (Force), Rotation, Design
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
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Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
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Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Modeling and Analysis of a Planar Soft Panel Continuum Mechanism

Wenbin Wang, Fengfeng Xi, Yingzhong Tian, Yinjun Zhao, Yuwen Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2020, 12(4): 044503.
Paper No: JMR-19-1075
https://doi.org/10.1115/1.4046029
Published Online: March 9, 2020
View Article titled, Modeling and Analysis of a Planar Soft Panel Continuum Mechanism
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Topics: Deformation, Gravity (Force), Kinematics, Modeling, Optimization, Shapes, Statics, Euler-Bernoulli beam theory
Journal Articles

Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules

Vu Linh Nguyen, Chyi-Yeu Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031014.
Paper No: JMR-19-1279
https://doi.org/10.1115/1.4045650
Published Online: February 6, 2020
View Article titled, Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
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Topics: Design, Gears, Gravity (Force), Robots, Springs, Stiffness, Engines, Motors, Torque
Journal Articles

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms

Hossein Habibi, Chenghao Yang, Isuru S. Godage, Rongjie Kang, Ian D. Walker, David T. Branson, III
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011014.
Paper No: JMR-19-1021
https://doi.org/10.1115/1.4045037
Published Online: October 22, 2019
View Article titled, A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms
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Topics: Actuators, Deformation, Developing nations, Displacement, Modeling, Robotics, Springs, Errors, Gravity (Force), Shear (Mechanics)
Journal Articles

An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism

Vigen Arakelian, Yang Zhang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 034501.
Paper No: JMR-18-1353
https://doi.org/10.1115/1.4043049
Published Online: April 9, 2019
View Article titled, An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism
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Topics: Gravity (Force), Springs, Design
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

Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

Bob G. Bijlsma, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061003.
Paper No: JMR-16-1260
https://doi.org/10.1115/1.4037616
Published Online: September 18, 2017
View Article titled, Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion
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Topics: Design, Gears, Pendulums, Gravity (Force)
Journal Articles

A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

Tzu-Yu Tseng, Yi-Jia Lin, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041002.
Paper No: JMR-16-1039
https://doi.org/10.1115/1.4036218
Published Online: April 27, 2017
View Article titled, A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise
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Topics: Gravity (Force), Knee, Potential energy, Springs, Design, Muscle, Electromyography, Simulation
Journal Articles

A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload

Yu-Lin Chu, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021006.
Paper No: JMR-16-1321
https://doi.org/10.1115/1.4035561
Published Online: March 9, 2017
View Article titled, A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload
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Topics: Gravity (Force), Springs, Design
Journal Articles

Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Bongsu Kim, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041009.
Paper No: JMR-13-1136
https://doi.org/10.1115/1.4027513
Published Online: June 12, 2014
View Article titled, Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism
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Topics: Design, Pulleys, Springs, Torque, Gravity (Force), Shapes, Stiffness
Journal Articles

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

Nick Eckenstein, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041013.
Paper No: JMR-11-1076
https://doi.org/10.1115/1.4025218
Published Online: October 4, 2013
View Article titled, Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems
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Topics: Gravity (Force), Kinematics, Springs, Engineering prototypes, Robotics
Journal Articles

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

Tianjiang Zheng, David T. Branson, Emanuele Guglielmino, Rongjie Kang, Gustavo A. Medrano Cerda, Matteo Cianchetti, Maurizio Follador, Isuru S. Godage, Darwin G. Caldwell
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021004.
Paper No: JMR-12-1047
https://doi.org/10.1115/1.4023636
Published Online: March 26, 2013
View Article titled, Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
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Topics: Actuators, Cables, Dynamic models, Engineering prototypes, Gravity (Force), Kinematics, Model validation, Muscle, Robotics, Stiffness
Journal Articles

Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators

Tetsuyou Watanabe
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041007.
https://doi.org/10.1115/1.4004895
Published Online: September 27, 2011
View Article titled, Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators
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Topics: Manipulators, Torque, Gravity (Force)
Journal Articles

Static Joint Torque Determination of a Human Model for Standing and Seating Tasks Considering Balance

Jingzhou (James) Yang, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031005.
https://doi.org/10.1115/1.4001782
Published Online: July 14, 2010
View Article titled, Static Joint Torque Determination of a Human Model for Standing and Seating Tasks Considering Balance
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Topics: Gravity (Force), Stability, Stress, Torque, Wounds, Dynamics (Mechanics), Equations of state
Journal Articles

Design of a Gravity-Balanced General Spatial Serial-Type Manipulator

Po-Yang Lin, Win-Bin Shieh, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031003.
https://doi.org/10.1115/1.4001816
Published Online: June 21, 2010
View Article titled, Design of a Gravity-Balanced General Spatial Serial-Type Manipulator
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Topics: Gravity (Force), Manipulators, Springs, Design, Potential energy