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Journal Articles

A Quotient Manifold Identification Method Based on the Chasles Decomposition Models for the Quotient Mechanis

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Accepted Manuscript
Tao Liu, Yanzhi Zhao, Shijun Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-25-1108
https://doi.org/10.1115/1.4068722
Published Online: May 20, 2025
View Articletitled, A Quotient Manifold Identification Method Based on the Chasles Decomposition Models for the Quotient Mechanis
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Topics: Design, Innovation, Kinematics, Manifolds, Robots
Journal Articles

Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs

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Sushant Maurya, Ashish Dutta
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091006.
Paper No: JMR-24-1509
https://doi.org/10.1115/1.4068431
Published Online: May 7, 2025
View Articletitled, Dynamic Manipulability for a Two-Link Manipulator Driven By Pneumatic Artificial Muscles and Passive Springs
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Topics: Manipulators, Pneumatic artificial muscles, Springs, Trajectories (Physics), Dynamics (Mechanics), Stiffness, Optimization
Journal Articles

Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control

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Manivannan Sivaperuman Kalairaj, Hritwick Banerjee, Kirthika Senthil Kumar, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081008.
Paper No: JMR-24-1475
https://doi.org/10.1115/1.4068241
Published Online: April 3, 2025
View Articletitled, Hydrogel Soft Valve With Shape-Memory Actuators for Advanced Cuff Gripping and Fluid Control
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Topics: Actuators, Cycles, Flow control, Fluids, Hydrogels, Manufacturing, Shapes, Valves, Wire, Biomedicine
Journal Articles

Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance

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Sipeng Zhou, Zihan Pu, Shaoke Yuan, Yanqiong Fei
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. July 2025, 17(7): 075003.
Paper No: JMR-24-1295
https://doi.org/10.1115/1.4068019
Published Online: March 10, 2025
View Articletitled, Bidirectional Asymmetric Accordion-Type Soft Robot for Respiratory Assistance
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Topics: Actuators, Airbags, Design, Kinematics, Muscle, Pneumatic actuators, Pressure, Robots, Rotation, Soft robots
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

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Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
View Articletitled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes

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Qian Yin, Ming-hai Xia, Wen-bin Zhang, Yuan Luo, Jian-zhong Shang, Zi-rong Luo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2024, 16(12): 124503.
Paper No: JMR-23-1584
https://doi.org/10.1115/1.4065137
Published Online: April 23, 2024
View Articletitled, Hydrodynamic Performance Research of Underwater Oscillating Fin With the Compound Locomotion of Two Modes
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Topics: Oscillations, Robots, Propulsion
Journal Articles

Ring Origami Spring Capable of Eversion Morphing

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Yu Zou, Qianying Chen, Lu Lu, Xiying Li, Hongyuan Li, Li-Hua Shao, Huiling Duan, Pengyu Lv
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081004.
Paper No: JMR-23-1348
https://doi.org/10.1115/1.4063978
Published Online: December 11, 2023
View Articletitled, Ring Origami Spring Capable of Eversion Morphing
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Topics: Springs, Water, Shapes
Includes: Supplementary data
Journal Articles

Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space

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Shuyan Wang, Yu Han, Zhiming Wu, Zhiliang Huang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. May 2024, 16(5): 054504.
Paper No: JMR-23-1038
https://doi.org/10.1115/1.4062862
Published Online: July 21, 2023
View Articletitled, Numerical and Experimental Study on Caudal Fin Oscillation Mode in Hemispherical Space
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Topics: Computer simulation, Lift (Fluid dynamics), Oscillations, Robotics, Rotation
Journal Articles

kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries

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Marios Vasileiou, Nikolaos Manos, Nikos Vasilopoulos, Anastasia Douma, Ergina Kavallieratou
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2024, 16(4): 041003.
Paper No: JMR-23-1169
https://doi.org/10.1115/1.4062355
Published Online: May 2, 2023
View Articletitled, kalypso Autonomous Underwater Vehicle: A 3D-Printed Underwater Vehicle for Inspection at Fisheries
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Topics: Additive manufacturing, Autonomous underwater vehicles, Design, Flow simulation, Inspection, Mechanical admittance, Underwater vehicles, Vehicles, Robots, Navigation
Journal Articles

Static Hovering Realization for Multirotor Aerial Vehicles With Tiltable Propellers

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Mahmoud Hamandi, Lakmal Seneviratne, Yahya Zweiri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031004.
Paper No: JMR-22-1534
https://doi.org/10.1115/1.4056829
Published Online: March 8, 2023
View Articletitled, Static Hovering Realization for Multirotor Aerial Vehicles With Tiltable Propellers
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Topics: Propellers, Thrust, Aircraft, Design
Journal Articles

A Novel Morphing Propeller System Inspired by Origami-Based Structure

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Kan Ye, J.C. Ji
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011006.
Paper No: JMR-21-1609
https://doi.org/10.1115/1.4054249
Published Online: April 25, 2022
View Articletitled, A Novel Morphing Propeller System Inspired by Origami-Based Structure
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Topics: Blades, Design, Propellers, Thrust, Deformation
Journal Articles

Hydrodynamics Modeling of a Piezoelectric Micro-Robotic Fish With Double Caudal Fins

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Quanliang Zhao, Jinghao Chen, Hongkuan Zhang, Zhonghai Zhang, Zhikai Liu, Shiqi Liu, Jiejian Di, Guangping He, Lei Zhao, Mengying Zhang, Tingting Su, Xu Liang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. June 2022, 14(3): 034502.
Paper No: JMR-21-1336
https://doi.org/10.1115/1.4052973
Published Online: December 8, 2021
View Articletitled, Hydrodynamics Modeling of a Piezoelectric Micro-Robotic Fish With Double Caudal Fins
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Topics: Fins, Hydrodynamics, Robotics
Journal Articles

A Simple Physical Model for Control of a Propellerless Aquatic Robot

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Yury L. Karavaev, Anton V. Klekovkin, Ivan S. Mamaev, Valentin A. Tenenev, Evgeny V. Vetchanin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011007.
Paper No: JMR-20-1368
https://doi.org/10.1115/1.4051240
Published Online: July 13, 2021
View Articletitled, A Simple Physical Model for Control of a Propellerless Aquatic Robot
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Topics: Robots, Rotors, Trajectories (Physics)
Journal Articles

Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle

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Tyler Jenkins, Stefan Atay, Gregory Buckner, Matthew Bryant
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. October 2021, 13(5): 050907.
Paper No: JMR-20-1478
https://doi.org/10.1115/1.4050811
Published Online: June 3, 2021
View Articletitled, Genetic Algorithm-Based Optimal Design of a Rolling-Flying Vehicle
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Topics: Design, Motors, Propellers, Vehicles, Batteries, Engines, Rotors, Wheels
Journal Articles

Untethered Microrobot Motion Mechanism With Increased Longitudinal Force

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Ali Anil Demircali, Rahmetullah Varol, Kadir Erkan, Huseyin Uvet
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061005.
Paper No: JMR-20-1598
https://doi.org/10.1115/1.4050468
Published Online: May 31, 2021
View Articletitled, Untethered Microrobot Motion Mechanism With Increased Longitudinal Force
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Topics: Displacement, Drag (Fluid dynamics), Flow (Dynamics), Levitation, Magnetic fields, Magnets, Permanent magnets, Simulation results, Graphite, Stability
Journal Articles

Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators

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Nianfeng Wang, Bicheng Chen, XianDong Ge, Xianmin Zhang, Wei Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021019.
Paper No: JMR-20-1135
https://doi.org/10.1115/1.4049973
Published Online: March 5, 2021
View Articletitled, Design, Kinematics, and Application of Axially and Radially Expandable Modular Soft Pneumatic Actuators
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Topics: Deformation, Design, Kinematics, Manufacturing, Modeling, Pneumatic actuators, Pressure, Robots
Journal Articles

Balloon Locomotion for Extreme Terrain

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Hari D. Nayar, Michael T. Pauken, Morgan L. Cable, Michael A. Hans, Manit Ginoya
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021001.
Paper No: JMR-20-1332
https://doi.org/10.1115/1.4049006
Published Online: January 18, 2021
View Articletitled, Balloon Locomotion for Extreme Terrain
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Topics: Aerodynamics, Buoyancy, Cables, Fluid-dynamic forces, Instrumentation, Mechanical admittance, Simulation, Stability, Vehicles, Visualization
Journal Articles

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

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Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011002.
Paper No: JMR-20-1141
https://doi.org/10.1115/1.4047987
Published Online: August 17, 2020
View Articletitled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake
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Topics: Brakes, Orthotics, Robotics, Torque, Rheology, Engines, Motors, Actuators, Braking, Seas
Journal Articles

A New Type of Soft Pneumatic Torsional Actuator With Helical Chambers for Flexible Machines

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Wei Xiao, Dean Hu, Weixiong Chen, Gang Yang, Xu Han
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011003.
Paper No: JMR-19-1471
https://doi.org/10.1115/1.4047989
Published Online: August 17, 2020
View Articletitled, A New Type of Soft Pneumatic Torsional Actuator With Helical Chambers for Flexible Machines
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Topics: Actuators, Pressure, Torsion
Journal Articles

Theoretical and Experimental Study and Design Method of Blade Height of a Rotational-Flow Suction Unit in a Wall-Climbing Robot

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Ningning Chen, Kaige Shi, Xin Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. August 2020, 12(4): 045002.
Paper No: JMR-19-1223
https://doi.org/10.1115/1.4045652
Published Online: March 6, 2020
View Articletitled, Theoretical and Experimental Study and Design Method of Blade Height of a Rotational-Flow Suction Unit in a Wall-Climbing Robot
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Topics: Blades, Robots, Rotational flow, Suction, Flow (Dynamics), Design methodology, Pressure, Engines, Motors, Rotation