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Journal Articles

A Disassembly Scoring Framework for Human–Robot Collaboration Based on Robotic Capabilities

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Hao-Yu Liao, Terrin Pulikottil, Jef R. Peeters, Sara Behdad
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2025, 147(6): 062002.
Paper No: MD-24-1652
https://doi.org/10.1115/1.4068476
Published Online: April 30, 2025
View Articletitled, A Disassembly Scoring Framework for Human–Robot Collaboration Based on Robotic Capabilities
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Topics: Robotics, Robots, X-ray photoelectron spectroscopy, Shapes, Weight (Mass), Human-robot collaboration, Design, Grasping
Journal Articles

A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles

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Xiulu Liu, Lekang Lin, Zirui Song, Jiale Li, Liqiang Xu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2025, 147(8): 083305.
Paper No: MD-24-1702
https://doi.org/10.1115/1.4067868
Published Online: February 26, 2025
View Articletitled, A Variable Stiffness Soft Robotic Hand Featuring Ball-Jointed Skeleton Coupled With Particles
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Topics: Particulate matter, Stiffness, End effectors, Grasping, Design
Journal Articles

Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger

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Mengfei Ren, Jinbao Chen, Chen Wang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. July 2025, 147(7): 073303.
Paper No: MD-24-1476
https://doi.org/10.1115/1.4067454
Published Online: January 30, 2025
View Articletitled, Design and Evaluation of Three-Phalange Underactuated Adaptive LSDH Finger
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Topics: Design, Grasping, Linkages, Motors, Splines, Kinematics, Rotation
Journal Articles

Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand

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Alon Laron, Eran Sne, Yaron Perets, Avishai Sintov
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. January 2025, 147(1): 013301.
Paper No: MD-23-1869
https://doi.org/10.1115/1.4065889
Published Online: July 19, 2024
View Articletitled, Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand
Open the PDF for Print-N-Grip: A Disposable, Compliant, Scalable, and One-Shot 3D-Printed Multifingered Robotic Hand in another window
Topics: Additive manufacturing, Design, Grasping, Manufacturing, Stress, Tendons, Robotics, End effectors, Actuators
Journal Articles

Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation

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Xiaowei Shan, Lionel Birglen
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. April 2024, 146(4): 045001.
Paper No: MD-23-1495
https://doi.org/10.1115/1.4063763
Published Online: November 7, 2023
View Articletitled, Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation
Open the PDF for Bistable Stopper Design and Force Prediction for Precision and Power Grasps of Soft Robotic Fingers for Industrial Manipulation in another window
Topics: Artificial neural networks, Design, Finite element analysis, Grasping, Grippers, Robotics, Errors, Kinematics
Journal Articles

Design and Analysis of a Multi-Knuckle Coupled Grasper With Equal Angles at Each Knuckle During Motion

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Rugui Wang, Runhao Xu, Haibo Huang
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. June 2023, 145(6): 063303.
Paper No: MD-22-1645
https://doi.org/10.1115/1.4057028
Published Online: March 16, 2023
View Articletitled, Design and Analysis of a Multi-Knuckle Coupled Grasper With Equal Angles at Each Knuckle During Motion
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Topics: Design, Grasping, Manipulators, Optimization, Cylinders, Kinematic analysis
Journal Articles

Design and Analysis of a Three-Fingered Deployable Metamorphic Robotic Grasper

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Changqing Gao, Hailin Huang, Yao Li, Bing Li
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. August 2022, 144(8): 083302.
Paper No: MD-21-1202
https://doi.org/10.1115/1.4054115
Published Online: April 8, 2022
View Articletitled, Design and Analysis of a Three-Fingered Deployable Metamorphic Robotic Grasper
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Topics: Design, Grasping, Robotics, Kinematic analysis, Trajectories (Physics)
Journal Articles

Design, Analysis, and Test of a Novel Cylinder-Driven Mode Applied to Microgripper

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Xiaodong Chen, Zhimin Xie, Huifeng Tan
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. May 2022, 144(5): 053302.
Paper No: MD-21-1286
https://doi.org/10.1115/1.4053043
Published Online: December 6, 2021
View Articletitled, Design, Analysis, and Test of a Novel Cylinder-Driven Mode Applied to Microgripper
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Topics: Cylinders, Design, Displacement, Finite element analysis, Grasping, Modeling, Hinges, Pressure
Journal Articles

Force Evaluation of Tendon Routing for Underactuated Grasping

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Angus B. Clark, Lois Liow, Nicolas Rojas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. October 2021, 143(10): 104502.
Paper No: MD-20-1822
https://doi.org/10.1115/1.4050382
Published Online: April 9, 2021
View Articletitled, Force Evaluation of Tendon Routing for Underactuated Grasping
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Topics: Grasping, Tendons, Design, Pulleys
Journal Articles

Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots

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Jonathan Eden, Darwin Lau, Ying Tan, Denny Oetomo
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2019, 141(9): 092305.
Paper No: MD-18-1547
https://doi.org/10.1115/1.4043932
Published Online: July 19, 2019
View Articletitled, Unilateral Manipulability Quality Indices: Generalized Manipulability Measures for Unilaterally Actuated Robots
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Topics: Actuators, Failure, Jacobian matrices, Robots, Robotics, Cables, End effectors, Grasping, Optimization
Journal Articles

Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms

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Shengnan Lu, Zeshan Ahmad, Matteo Zoppi, Xilun Ding, Dimiter Zlatanov, Rezia Molfino
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovation Paper
J. Mech. Des. August 2016, 138(8): 085001.
Paper No: MD-15-1418
https://doi.org/10.1115/1.4033037
Published Online: June 16, 2016
View Articletitled, Design and Testing of a Highly Reconfigurable Fixture With Lockable Robotic Arms
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Topics: Design, Robots, Robotics, Testing, Stress, Engineering prototypes, Torque, Stiffness, Grasping
Journal Articles

An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration

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Lei Cui, Ugo Cupcic, Jian S. Dai
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. September 2014, 136(9): 091005.
Paper No: MD-13-1483
https://doi.org/10.1115/1.4027759
Published Online: June 13, 2014
View Articletitled, An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration
Open the PDF for An Optimization Approach to Teleoperation of the Thumb of a Humanoid Robot Hand: Kinematic Mapping and Calibration in another window
Topics: Calibration, Kinematics, Optimization, Robotics, Sensors, Shades and shadows, End effectors, Hardware, Robots, Computers
Journal Articles

On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper

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Mathieu Baril, Thierry Laliberté, Clément Gosselin, François Routhier
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research-Article
J. Mech. Des. December 2013, 135(12): 121008.
Paper No: MD-12-1520
https://doi.org/10.1115/1.4025493
Published Online: October 4, 2013
View Articletitled, On the Design of a Mechanically Programmable Underactuated Anthropomorphic Prosthetic Gripper
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Topics: Artificial limbs, Design, Grasping, Grippers, Levers, Tendons, Friction
Journal Articles

Design and Realization of Multimobile Robot System With Docking Manipulator

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Wei Wang, Houxiang Zhang, Wenpeng Yu
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. November 2010, 132(11): 114502.
https://doi.org/10.1115/1.4002719
Published Online: November 3, 2010
View Articletitled, Design and Realization of Multimobile Robot System With Docking Manipulator
Open the PDF for Design and Realization of Multimobile Robot System With Docking Manipulator in another window
Topics: Design, Grippers, Manipulators, Robots, Errors, Rotation, Grasping
Journal Articles

A Platform for Grasp Performance Assessment in Compliant or Underactuated Hands

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Gert A. Kragten, Just L. Herder
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Briefs
J. Mech. Des. February 2010, 132(2): 024502.
https://doi.org/10.1115/1.4000761
Published Online: January 20, 2010
View Articletitled, A Platform for Grasp Performance Assessment in Compliant or Underactuated Hands
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Topics: Design, Friction, Grasping, Springs, Displacement, Robotics, Stress, Screws, Symmetry (Physics)
Journal Articles

Gripper Design With Spherical Parallelogram Mechanism

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Hikmet Kocabas
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Design Innovations
J. Mech. Des. July 2009, 131(7): 075001.
https://doi.org/10.1115/1.3125891
Published Online: May 27, 2009
View Articletitled, Gripper Design With Spherical Parallelogram Mechanism
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Topics: Grasping, Grippers, Linkages, Design
Journal Articles

Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping

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Scott L. Springer, Nicola J. Ferrier
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. June 2002, 124(2): 277–283.
https://doi.org/10.1115/1.1470493
Published Online: May 16, 2002
View Articletitled, Design and Control of a Force-Reflecting Haptic Interface for Teleoperational Grasping
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Topics: Control algorithms, Design, Grasping, Haptics, Manipulators, Actuators, Control equipment, Linkages, Degrees of freedom, Design engineering
Journal Articles

Analysis of Underactuated Mechanical Grippers

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Serge Montambault, Cle´ment M. Gosselin
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Technical Papers
J. Mech. Des. September 2001, 123(3): 367–374.
https://doi.org/10.1115/1.1374198
Published Online: July 1, 1998
View Articletitled, Analysis of Underactuated Mechanical Grippers
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Topics: Actuators, Design, Grasping, Grippers, Kinematics, Modeling, Pinch effect, Springs, Torque
Journal Articles

A Programmable RCC Hand

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D. Gershon
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. September 1994, 116(3): 884–889.
https://doi.org/10.1115/1.2919464
Published Online: September 1, 1994
View Articletitled, A Programmable RCC Hand
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Topics: Geometry, Grasping, Grippers, Kinematics, Manufacturing, Robots
Journal Articles

Inverse Dynamic Models of Closed-Chain Mechanisms With Contact Compliance

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D. J. Manko, W. L. Whittaker
Journal: Journal of Mechanical Design
Publisher: ASME
Article Type: Research Papers
J. Mech. Des. March 1992, 114(1): 82–86.
https://doi.org/10.1115/1.2916929
Published Online: March 1, 1992
View Articletitled, Inverse Dynamic Models of Closed-Chain Mechanisms With Contact Compliance
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Topics: Chain, Dynamic models, Algebra, Approximation, Compliant mechanisms, Equations of motion, Grasping, Machinery, Mobile robots