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Journal Articles

Case Study and Preliminary Validation of a Parametric, Three-Dimensional Printable Tendon-Driven Biomimetic Hand Exoskeleton

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Vitthal Khatik, Burkhard Corves, Anupam Saxena
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091004.
Paper No: JMR-24-1706
https://doi.org/10.1115/1.4068399
Published Online: May 7, 2025
View Articletitled, Case Study and Preliminary Validation of a Parametric, Three-Dimensional Printable Tendon-Driven Biomimetic Hand Exoskeleton
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Topics: Biomimetics, Design, Exoskeleton devices, Grasping, Pulleys, Tendons, Stiffness, Testing, Manufacturing
Journal Articles

Harnessing Biomechanical Energy Using Shoulder Exoskeleton: Electrical Energy Regeneration

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Ali Nasr, John McPhee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091005.
Paper No: JMR-24-1224
https://doi.org/10.1115/1.4068430
Published Online: May 7, 2025
View Articletitled, Harnessing Biomechanical Energy Using Shoulder Exoskeleton: Electrical Energy Regeneration
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Topics: Engines, Exoskeleton devices, Motors, Torque, Dynamometers, Robotics
Journal Articles

Improving Exoskeleton Brace Design: Alleviating Misalignment and Parasitic Forces

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Suleyman Can Cevik, Ahmed Fahmy Soliman, Mustafa Derman, Sinan Coruk, Ramazan Unal, Barkan Ugurlu, Ozkan Bebek
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. September 2025, 17(9): 091002.
Paper No: JMR-25-1048
https://doi.org/10.1115/1.4068379
Published Online: April 17, 2025
View Articletitled, Improving Exoskeleton Brace Design: Alleviating Misalignment and Parasitic Forces
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Topics: Bracing (Construction), Exoskeleton devices, Design
Journal Articles

A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation

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Qiang Cao, Yongqi Yuan, Guoyu Li, Wenhao Shan, Yue Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2025, 17(8): 081007.
Paper No: JMR-24-1633
https://doi.org/10.1115/1.4068185
Published Online: April 3, 2025
View Articletitled, A Study on the Comparative Analysis of Self-Aligned and Alignment-Free Mechanisms for Shoulder Rehabilitation
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Topics: Design, Exoskeleton devices, Kinematics, Robots, Displacement
Journal Articles

Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace

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Jilong Xu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. July 2025, 17(7): 074502.
Paper No: JMR-24-1325
https://doi.org/10.1115/1.4067682
Published Online: March 4, 2025
View Articletitled, Configuration Synthesis of Weakly Coupled Parallel Hip Exoskeletons With Large Workspace
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Topics: Exoskeleton devices, Screws
Includes: Multimedia, Supplementary data
Journal Articles

Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons

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Yu Wang, Jian Li, Peng Liang, Riwei Ye
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2025, 17(7): 071011.
Paper No: JMR-24-1474
https://doi.org/10.1115/1.4067874
Published Online: February 27, 2025
View Articletitled, Dynamics Modeling and Control Strategy Research on Multi-Joint Soft Lower Limb Assistive Exoskeletons
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Topics: Cables, Exoskeleton devices, Knee, Dynamics (Mechanics), Cycles, Stiffness, Displacement
Journal Articles

Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation

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Lihong Zhu, Can Cui, Dong Zhang, Jiamin Tan, Changxing Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2025, 17(6): 061010.
Paper No: JMR-23-1792
https://doi.org/10.1115/1.4067305
Published Online: December 12, 2024
View Articletitled, Modeling and Control of Cable-Driven Exoskeleton for Arm Rehabilitation
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Topics: Cables, Exoskeleton devices, Pulleys, Design
Journal Articles

Safety in Wearable Robotic Exoskeletons: Design, Control, and Testing Guidelines

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Ali Nasr, Keaton Inkol, John McPhee
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Review Articles
J. Mechanisms Robotics. May 2025, 17(5): 050801.
Paper No: JMR-24-1094
https://doi.org/10.1115/1.4066900
Published Online: November 1, 2024
View Articletitled, Safety in Wearable Robotic Exoskeletons: Design, Control, and Testing Guidelines
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Topics: Design, Exoskeleton devices, Safety, Sensors, Testing
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

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Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Articletitled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements

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Jilong Xu, Yunzhan Niu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031001.
Paper No: JMR-23-1755
https://doi.org/10.1115/1.4066039
Published Online: August 8, 2024
View Articletitled, Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements
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Topics: Exoskeleton devices, Motors, Torque, Human-machine systems, Rotation
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

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Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Articletitled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

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Zhengyu Wang, Wenjun Song, Wenjie Bian, Ziqian Li, Zirui Jia, Xiang Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2024, 16(10): 101010.
Paper No: JMR-23-1615
https://doi.org/10.1115/1.4064636
Published Online: February 27, 2024
View Articletitled, Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery
Open the PDF for Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery in another window
Topics: Design, Engineering prototypes, Exoskeleton devices, Rotation, Surgery, Tendons, Torque, Kinematics, Cables, Mechanical admittance
Journal Articles

Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control

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Wenda Xu, Yunfei Guo, Yujiong Liu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081016.
Paper No: JMR-23-1460
https://doi.org/10.1115/1.4064283
Published Online: January 12, 2024
View Articletitled, Development of a Novel Compact Robotic Exoskeleton Glove With Reinforcement Learning Control
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Topics: Actuators, Design, Exoskeleton devices, Reinforcement learning, Simulation, Grasping
Journal Articles

A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting

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Asif Arefeen, Yujiang Xiang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2024, 16(8): 081010.
Paper No: JMR-23-1209
https://doi.org/10.1115/1.4064234
Published Online: December 22, 2023
View Articletitled, A Comparative Analysis of Optimal and Biomechanical Torque Control Strategies for Powered Knee Exoskeletons in Squat Lifting
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Topics: Biomechanics, Exoskeleton devices, Knee, Torque, Torque control, Optimization
Journal Articles

Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks

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Bing Chen, Xiang Ni, Bin Zi, Qingsong Xu, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. July 2024, 16(7): 071007.
Paper No: JMR-23-1199
https://doi.org/10.1115/1.4063455
Published Online: October 16, 2023
View Articletitled, Design and Implementation of Upper-Body Exoskeleton for Assistance of Individuals With Manual Handling Tasks
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Topics: Exoskeleton devices, Muscle, Design, Stress, Torque, Cables
Journal Articles

Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint

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Bing Chen, Chenpu Shi, Chengwang Zheng, Bin Zi, Ping Zhao, Yuan Li
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051007.
Paper No: JMR-22-1333
https://doi.org/10.1115/1.4055936
Published Online: November 24, 2022
View Articletitled, Development of Lower Limb Exoskeleton for Walking Assistance Using Energy Recycled From Human Knee Joint
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Topics: Exoskeleton devices, Knee, Cycles, Recycling
Journal Articles

Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting

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Zhuo Ma, Jianbin Liu, Guoyu Ma, Jingshuo Gao, Baojun Chen, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2023, 15(5): 051008.
Paper No: JMR-22-1077
https://doi.org/10.1115/1.4055964
Published Online: November 24, 2022
View Articletitled, Lockable Lower-Limb Exoskeleton Based on a Novel Variable-Stiffness Joint: Reducing Physical Fatigue at Squatting
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Topics: Exoskeleton devices, Fatigue, Stiffness, Torque, Pressure, Muscle, Energy consumption, Knee
Journal Articles

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

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Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Articletitled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time

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Tun Wang, Emmanouil Spyrakos-Papastavridis, Jian S. Dai
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011011.
Paper No: JMR-21-1668
https://doi.org/10.1115/1.4054313
Published Online: May 2, 2022
View Articletitled, Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
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Topics: Design, Exoskeleton devices, Kinematics, Rotation, Robots
Journal Articles

Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation

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Liu Biao, Liu Youwei, Xian Xiaoming, Wu Haoyi, Xie Longhan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2023, 15(1): 011005.
Paper No: JMR-21-1407
https://doi.org/10.1115/1.4054248
Published Online: April 25, 2022
View Articletitled, Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation
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Topics: Cables, Exoskeleton devices, Torque, Muscle, Robots, Knee