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Proceedings Papers

A Continuously Variable Stiffness Mechanism for Tendon-Driven Robots Using Decoupled Stiffening Cables and Hertzian Contact Mechanics

Parsa Molaei, Terrilyn A. Legier, Hunter B. Gilbert
Proc. ASME. IDETC-CIE2024, Volume 7: 48th Mechanisms and Robotics Conference (MR), V007T07A048, August 25–28, 2024
Publisher: American Society of Mechanical Engineers
Paper No: DETC2024-143916
https://doi.org/10.1115/DETC2024-143916
View Paper titled, A Continuously Variable Stiffness Mechanism for Tendon-Driven Robots Using Decoupled Stiffening Cables and Hertzian Contact Mechanics
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Topics: Cables, Contact mechanics, Robots, Stiffness, Tendons, Displacement, Robotics, Screws, Tension
Proceedings Papers

Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger

Shangling Qiao, Yichen Wang, Hongwei Guo, Hong Xiao, Zongquan Deng
Proc. ASME. IDETC-CIE2021, Volume 8B: 45th Mechanisms and Robotics Conference (MR), V08BT08A001, August 17–19, 2021
Publisher: American Society of Mechanical Engineers
Paper No: DETC2021-67340
https://doi.org/10.1115/DETC2021-67340
View Paper titled, Pre-Bending Motion Strategy Analysis of a 3-DOF UACT Robotic Finger
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Topics: Cables, Robotics, Engines, Motors, Pulleys, Tendons, Design, Equilibrium (Physics), Linkages, Simulation experiments
Proceedings Papers

An Experimental Study of Tendon Vibration Control System for Flexible Space Structures

Yoshisada Murotsu, Hiroshi Okubo, Kei Senda
Proc. ASME. DETC91, 13th Biennial Conference on Mechanical Vibration and Noise: Structural Vibration and Acoustics, 107-118, September 22–25, 1991
Publisher: American Society of Mechanical Engineers
Paper No: DETC1991-0190
https://doi.org/10.1115/DETC1991-0190
View Paper titled, An Experimental Study of Tendon Vibration Control System for Flexible Space Structures
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Topics: Space frame structures, Tendons, Vibration control equipment, Control equipment, Actuators, Design, Finite element methods, Computer simulation, Control systems, Errors
Proceedings Papers

Torque Resolver Design for Tendon-Driven Manipulators

Jyh-Jone Lee, Lung-Wen Tsai
Proc. ASME. DETC92, 22nd Biennial Mechanisms Conference: Mechanism Design and Synthesis, 203-210, September 13–16, 1992
Publisher: American Society of Mechanical Engineers
Paper No: DETC1992-0298
https://doi.org/10.1115/DETC1992-0298
View Paper titled, Torque Resolver Design for Tendon-Driven Manipulators
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Topics: Design, Manipulators, Tendons, Torque, Analog circuits, Circuits, Computers, Engines, Motors, Simulation
Proceedings Papers

Kinematic Synthesis of Tendon-Driven Manipulators With Isotropic Transmission Characteristics

Yeong-Jeong Ou, Lung-Wen Tsai
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 2 — Design Optimization; Geometric Modeling and Tolerance Analysis; Mechanism Synthesis and Analysis; Decomposition and Design Optimization, 467-476, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0421
https://doi.org/10.1115/DETC1993-0421
View Paper titled, Kinematic Synthesis of Tendon-Driven Manipulators With Isotropic Transmission Characteristics
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Topics: Kinematics, Manipulators, Tendons, Actuators, Design, End effectors, Jacobian matrices
Proceedings Papers

Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms

Sun Lai Chang
Proc. ASME. DETC93, 19th Design Automation Conference: Volume 1 — Mechanical System Dynamics; Concurrent and Robust Design; Design for Assembly and Manufacture; Genetic Algorithms in Design and Structural Optimization, 229-233, September 19–22, 1993
Publisher: American Society of Mechanical Engineers
Paper No: DETC1993-0310
https://doi.org/10.1115/DETC1993-0310
View Paper titled, Compliance and Dynamic Analysis of Tendon-Driven Robotic Mechanisms
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Topics: Dynamic analysis, Robotics, Tendons, Equations of motion, Mode shapes, Stiffness
Proceedings Papers

Theory of Isotropic Transmission for Tendon-Driven Manipulators

Yeong-Jeong Ou, Lung-Wen Tsai
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 53-61, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0306
https://doi.org/10.1115/DETC1994-0306
View Paper titled, Theory of Isotropic Transmission for Tendon-Driven Manipulators
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Topics: Manipulators, Tendons, Actuators, Degrees of freedom, End effectors, Mechanical drives, Pulleys
Proceedings Papers

Design and Construction of a Compact, Multiple Degree of Freedom Manipulating Device

David A. Tucker, Raymond J. Cipra
Proc. ASME. DETC94, 23rd Biennial Mechanisms Conference: Robotics — Kinematics, Dynamics and Controls, 19-28, September 11–14, 1994
Publisher: American Society of Mechanical Engineers
Paper No: DETC1994-0302
https://doi.org/10.1115/DETC1994-0302
View Paper titled, Design and Construction of a Compact, Multiple Degree of Freedom Manipulating Device
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Topics: Construction, Degrees of freedom, Design, Manipulators, Actuators, Robots, Brakes, End effectors, Cables, Computers
Proceedings Papers

The Trajectory Tracking Control of 2-Link Flexible Arm Using Tendon Mechanism

Hui Cao, Kazuo Yoshida
Proc. ASME. DETC95, Volume 3C: 15th Biennial Conference on Mechanical Vibration and Noise — Vibration Control, Analysis, and Identification, 511-517, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0611
https://doi.org/10.1115/DETC1995-0611
View Paper titled, The Trajectory Tracking Control of 2-Link Flexible Arm Using Tendon Mechanism
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Topics: Tendons, Tracking control, Trajectories (Physics), Control equipment, Control modeling, Deflection, Equations of motion, Kinematics, Real-time control, Simulation results
Proceedings Papers

Kinematic Analysis of Tendon Driven Mechanisms Using Signal Flow Graphs

M. Chew, J. Escobedo-Torres, R. Huerta-Ochoa
Proc. ASME. DETC95, Volume 1: 21st Design Automation Conference, 585-591, September 17–20, 1995
Publisher: American Society of Mechanical Engineers
Paper No: DETC1995-0077
https://doi.org/10.1115/DETC1995-0077
View Paper titled, Kinematic Analysis of Tendon Driven Mechanisms Using Signal Flow Graphs
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Topics: Flow (Dynamics), Kinematic analysis, Signals, Tendons, Construction, Control systems, Dynamic analysis, Kinematics
Proceedings Papers

Spherical Four-Bar Linkage Mechanism for Continuous Passive Movement Rehabilitation Treatment of the Ankle

Kealy R. Ham, Arthur G. Erdman, Boyang Hong
Proc. ASME. DETC-CIE96, Volume 2B: 24th Biennial Mechanisms Conference, V02BT02A054, August 18–22, 1996
Publisher: American Society of Mechanical Engineers
Paper No: 96-DETC/MECH-1223
https://doi.org/10.1115/96-DETC/MECH-1223
View Paper titled, Spherical Four-Bar Linkage Mechanism for Continuous Passive Movement Rehabilitation Treatment of the Ankle
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Topics: Linkages, Patient rehabilitation, Knee, Biological tissues, Blood flow, Cartilage, Computer software, Modeling, Musculoskeletal system, Tendons
Proceedings Papers

Kinematics, Dynamics, and Control of Tendon-Driven Mechanisms Using Signal Flow Graphs

Meng-Sang Chew, Theeraphong Wongratanaphisan
Proc. ASME. DETC98, Volume 1A: 25th Biennial Mechanisms Conference, V01AT01A030, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5970
https://doi.org/10.1115/DETC98/MECH-5970
View Paper titled, Kinematics, Dynamics, and Control of Tendon-Driven Mechanisms Using Signal Flow Graphs
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Topics: Dynamics (Mechanics), Flow (Dynamics), Kinematics, Signals, Tendons, Transfer functions, Actuators, Control equipment, Control systems, Robots
Proceedings Papers

The Design and Development of an Animatronic Eye

John K. Sanders, Steven B. Shooter
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A014, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5991
https://doi.org/10.1115/DETC98/MECH-5991
View Paper titled, The Design and Development of an Animatronic Eye
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Topics: Design, Biomechanics, Human eye, Biological tissues, Computer software, Control systems, Muscle, Servomotors, Software engineering, Tendons
Proceedings Papers

A Motion Analysis for one D.O.F. Anthropomorphic Finger Mechanism

Giorgio Figliolini, Marco Ceccarelli
Proc. ASME. DETC98, Volume 1B: 25th Biennial Mechanisms Conference, V01BT01A058, September 13–16, 1998
Publisher: American Society of Mechanical Engineers
Paper No: DETC98/MECH-5985
https://doi.org/10.1115/DETC98/MECH-5985
View Paper titled, A Motion Analysis for one D.O.F. Anthropomorphic Finger Mechanism
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Topics: Motion analysis, Kinematics, Tendons, Algorithms, Computer simulation, Design, Kinematic chains
Proceedings Papers

Experiments of Active Tendon Control of Space Trusses

Frédéric Bossens, André Preumont
Proc. ASME. DETC99, Volume 6: International Symposium on Motion and Vibration Control, 235-240, September 12–16, 1999
Publisher: American Society of Mechanical Engineers
Paper No: DETC99/MOVIC-8437
https://doi.org/10.1115/DETC99/MOVIC-8437
View Paper titled, Experiments of Active Tendon Control of Space Trusses
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Topics: Tendons, Cables, Poles (Building), Trusses (Building), Cable structures, Damping, Geometry, Interferometers
Proceedings Papers

Hybrid Soft-Rigid Deployable Structure Inspired by Thick-Panel Origami

Chenying Liu, Perla Maiolino, Yunfang Yang, Zhong You
Proc. ASME. IDETC-CIE2020, Volume 10: 44th Mechanisms and Robotics Conference (MR), V010T10A080, August 17–19, 2020
Publisher: American Society of Mechanical Engineers
Paper No: DETC2020-22246
https://doi.org/10.1115/DETC2020-22246
View Paper titled, Hybrid Soft-Rigid Deployable Structure Inspired by Thick-Panel Origami
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Topics: Additive manufacturing, Engineering systems and industry applications, Grippers, Hinges, Manufacturing, Metamaterials, Packaging, Plates (structures), Poisson ratio, Robotics
Proceedings Papers

Measurement of Multidirectional Arm Strength for People in a Seated Position

George Stilwell, Digby Symons, Shayne Gooch, Jennifer Dunn
Proc. ASME. IDETC-CIE2019, Volume 6: 15th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A013, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98097
https://doi.org/10.1115/DETC2019-98097
View Paper titled, Measurement of Multidirectional Arm Strength for People in a Seated Position
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Topics: Biomedicine, Design, Fatigue, Rotation, Space, Spinal cord, Stress, Surgery, Tendons, Testing
Proceedings Papers

Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm

Georgia S. Patterson, Tyler D. Zell, David E. Parker, John Grieve, Samuel C. Watson, Vishesh Vikas
Proc. ASME. IDETC-CIE2019, Volume 5A: 43rd Mechanisms and Robotics Conference, V05AT07A042, August 18–21, 2019
Publisher: American Society of Mechanical Engineers
Paper No: DETC2019-98467
https://doi.org/10.1115/DETC2019-98467
View Paper titled, Flexion and Extension Capable Motor Tendon Actuated Exosuit Glove With Open Palm
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Topics: Engines, Motors, Robotics, Tendons
Proceedings Papers

Free Vibration and Modal Analysis of a Tensegrity-Membrane System

Shu Yang, Cornel Sultan
Proc. ASME. IDETC-CIE2016, Volume 6: 12th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, V006T09A023, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-59292
https://doi.org/10.1115/DETC2016-59292
View Paper titled, Free Vibration and Modal Analysis of a Tensegrity-Membrane System
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Topics: Free vibrations, Membranes, Modal analysis, Tensegrity, Design, Finite element model, Modeling, Integrated systems, Mode shapes, Shapes
Proceedings Papers

Analysis of an Energy Saving Ratchet-Based Ankle Exoskeleton

Davide Piovesan, Phanindra Alladi
Proc. ASME. IDETC-CIE2016, Volume 3: 18th International Conference on Advanced Vehicle Technologies; 13th International Conference on Design Education; 9th Frontiers in Biomedical Devices, V003T11A012, August 21–24, 2016
Publisher: American Society of Mechanical Engineers
Paper No: DETC2016-60137
https://doi.org/10.1115/DETC2016-60137
View Paper titled, Analysis of an Energy Saving Ratchet-Based Ankle Exoskeleton
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Topics: Energy consumption, Exoskeleton devices, Muscle, Springs, Stress, Tendons, Tension