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Nabil Simaan
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Journal Articles

On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots

Neel Shihora, Jared Lawson, Paul Moubarak, Maximilian Reese, Long Wang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061013.
Paper No: JMR-24-1386
https://doi.org/10.1115/1.4067432
Published Online: January 20, 2025
View Articletitled, On the Use of Tension Transition Zones for Kinematic and Compliance Performance Analysis of Wire-Actuated Continuum Robots
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Topics: Kinematics, Tension, Uncertainty, Wire, Design, End effectors, Robots
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
Publisher: ASME
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 Articletitled, 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

Special Section: Mechanisms and Robots for Safe Human–Robot Physical Interaction

Nabil Simaan, Carl A. Nelson, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Guest Editorial
J. Mechanisms Robotics. December 2019, 11(6): 060301.
Paper No: JMR-19-1338
https://doi.org/10.1115/1.4044541
Published Online: September 11, 2019
View Articletitled, Special Section: Mechanisms and Robots for Safe Human–Robot Physical Interaction
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Topics: Robots
Journal Articles

Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration

Long Wang, Giuseppe Del Giudice, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051013.
Paper No: JMR-18-1255
https://doi.org/10.1115/1.4044162
Published Online: July 18, 2019
View Articletitled, Simplified Kinematics of Continuum Robot Equilibrium Modulation via Moment Coupling Effects and Model Calibration
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Topics: Calibration, Equilibrium (Physics), Kinematics, Modeling, Robots, Errors
Journal Articles

Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints

Andrew L. Orekhov, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051003.
Paper No: JMR-18-1197
https://doi.org/10.1115/1.4043685
Published Online: July 8, 2019
View Articletitled, Directional Stiffness Modulation of Parallel Robots With Kinematic Redundancy and Variable Stiffness Joints
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Topics: Kinematics, Redundancy (Engineering), Stiffness, Robots
Journal Articles

Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation

Long Wang, Zihan Chen, Preetham Chalasani, Rashid M. Yasin, Peter Kazanzides, Russell H. Taylor, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021010.
Paper No: JMR-16-1304
https://doi.org/10.1115/1.4035684
Published Online: March 9, 2017
View Articletitled, Force-Controlled Exploration for Updating Virtual Fixture Geometry in Model-Mediated Telemanipulation
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Topics: Control equipment, Geometry, Robots, Errors, Phantoms, Ablation (Vaporization technology)
Journal Articles

Design of Underactuated Steerable Electrode Arrays for Optimal Insertions

Jian Zhang, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2013, 5(1): 011008.
Paper No: JMR-11-1029
https://doi.org/10.1115/1.4007005
Published Online: January 24, 2013
View Articletitled, Design of Underactuated Steerable Electrode Arrays for Optimal Insertions
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Topics: Electrodes, Shapes, Optimization algorithms, Modeling, Robots
Journal Articles

Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention

Wei Wei, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011012.
https://doi.org/10.1115/1.4000522
Published Online: January 11, 2010
View Articletitled, Design of Planar Parallel Robots With Preloaded Flexures for Guaranteed Backlash Prevention
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Topics: Robots, Springs, Stiffness, Statics, Actuators, Algorithms, Design
Journal Articles

Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals

Kai Xu, Nabil Simaan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2010, 2(1): 011006.
https://doi.org/10.1115/1.4000519
Published Online: November 24, 2009
View Articletitled, Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals
Open the PDF for Analytic Formulation for Kinematics, Statics, and Shape Restoration of Multibackbone Continuum Robots Via Elliptic Integrals in another window
Topics: Kinematics, Robots, Shapes, Statics, Disks, Equilibrium (Physics)