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Journal Articles

Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties

Vu Linh Nguyen, Chin-Hsing Kuo, Po Ting Lin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031016.
Paper No: JMR-21-1399
DOI: https://doi.org/10.1115/1.4053048
Published Online: December 9, 2021
View Article titled, Reliability-Based Analysis and Optimization of the Gravity Balancing Performance of Spring-Articulated Serial Robots With Uncertainties
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Topics: Gravity (Force), Reliability, Robots, Springs, Uncertainty, Design, Torque, Event history analysis, Optimization
Journal Articles

Design of the Wearable Spatial Gravity Balance Mechanism

Yijia Peng, Wanghui Bu, Jing Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031006.
Paper No: JMR-21-1196
DOI: https://doi.org/10.1115/1.4052446
Published Online: November 18, 2021
View Article titled, Design of the Wearable Spatial Gravity Balance Mechanism
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Topics: Gravity (Force), Rotation, Design
Journal Articles

Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011011.
Paper No: JMR-20-1533
DOI: https://doi.org/10.1115/1.4051132
Published Online: July 21, 2021
View Article titled, Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
Click here to open pdf in another window PDF for Intuitive Physical Human–Robot Interaction Using an Underactuated Redundant Manipulator With Complete Spatial Rotational Capabilities
Topics: Calibration, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Redundant manipulators, Robots, Engineering prototypes, Actuators
Journal Articles

Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy

Julien M. Audet, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2021, 13(1): 014503.
Paper No: JMR-20-1117
DOI: https://doi.org/10.1115/1.4048258
Published Online: October 22, 2020
View Article titled, Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
Click here to open pdf in another window PDF for Rotational Low-Impedance Physical Human–Robot Interaction Using Underactuated Redundancy
Topics: Actuators, Architecture, Equilibrium (Physics), Gravity (Force), Human-robot interaction, Manipulators, Redundancy (Engineering), Robots, Manufacturing, Springs
Journal Articles

Modeling and Analysis of a Planar Soft Panel Continuum Mechanism

Wenbin Wang, Fengfeng Xi, Yingzhong Tian, Yinjun Zhao, Yuwen Li
Journal: Journal of Mechanisms and Robotics
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2020, 12(4): 044503.
Paper No: JMR-19-1075
DOI: https://doi.org/10.1115/1.4046029
Published Online: March 9, 2020
View Article titled, Modeling and Analysis of a Planar Soft Panel Continuum Mechanism
Click here to open pdf in another window PDF for Modeling and Analysis of a Planar Soft Panel Continuum Mechanism
Topics: Deformation, Gravity (Force), Kinematics, Modeling, Optimization, Shapes, Statics, Euler-Bernoulli beam theory
Journal Articles

Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules

Vu Linh Nguyen, Chyi-Yeu Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031014.
Paper No: JMR-19-1279
DOI: https://doi.org/10.1115/1.4045650
Published Online: February 6, 2020
View Article titled, Gravity Compensation Design of Planar Articulated Robotic Arms Using the Gear-Spring Modules
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Topics: Design, Gears, Gravity (Force), Robots, Springs, Stiffness, Engines, Motors, Torque
Journal Articles

A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms

Hossein Habibi, Chenghao Yang, Isuru S. Godage, Rongjie Kang, Ian D. Walker, David T. Branson, III
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011014.
Paper No: JMR-19-1021
DOI: https://doi.org/10.1115/1.4045037
Published Online: October 22, 2019
View Article titled, A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms
Click here to open pdf in another window PDF for A Lumped-Mass Model for Large Deformation Continuum Surfaces Actuated by Continuum Robotic Arms
Topics: Actuators, Deformation, Developing nations, Displacement, Modeling, Robotics, Springs, Errors, Gravity (Force), Shear (Mechanics)
Journal Articles

An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism

Vigen Arakelian, Yang Zhang
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 034501.
Paper No: JMR-18-1353
DOI: https://doi.org/10.1115/1.4043049
Published Online: April 9, 2019
View Article titled, An Improved Design of Gravity Compensators Based on the Inverted Slider-Crank Mechanism
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Topics: Gravity (Force), Springs, Design
Journal Articles

Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot

Emmanouil Spyrakos-Papastavridis, Jian S. Dai, Peter R. N. Childs, Nikos G. Tsagarakis
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031009.
Paper No: JMR-17-1137
DOI: https://doi.org/10.1115/1.4039394
Published Online: April 5, 2018
View Article titled, Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
Click here to open pdf in another window PDF for Selective-Compliance-Based Lagrange Model and Multilevel Noncollocated Feedback Control of a Humanoid Robot
Topics: Control equipment, Stability, Feedback, Gravity (Force), Robots, Trajectories (Physics)
Journal Articles

Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion

Bob G. Bijlsma, Giuseppe Radaelli, Just L. Herder
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061003.
Paper No: JMR-16-1260
DOI: https://doi.org/10.1115/1.4037616
Published Online: September 18, 2017
View Article titled, Design of a Compact Gravity Equilibrator With an Unlimited Range of Motion
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Topics: Design, Gears, Pendulums, Gravity (Force)
Journal Articles

A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise

Tzu-Yu Tseng, Yi-Jia Lin, Wei-Chun Hsu, Li-Fong Lin, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. August 2017, 9(4): 041002.
Paper No: JMR-16-1039
DOI: https://doi.org/10.1115/1.4036218
Published Online: April 27, 2017
View Article titled, A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise
Click here to open pdf in another window PDF for A Novel Reconfigurable Gravity Balancer for Lower-Limb Rehabilitation With Switchable Hip/Knee-Only Exercise
Topics: Gravity (Force), Knee, Potential energy, Springs, Design, Muscle, Electromyography, Simulation
Journal Articles

A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload

Yu-Lin Chu, Chin-Hsing Kuo
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. April 2017, 9(2): 021006.
Paper No: JMR-16-1321
DOI: https://doi.org/10.1115/1.4035561
Published Online: March 9, 2017
View Article titled, A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload
Click here to open pdf in another window PDF for A Single-Degree-of-Freedom Self-Regulated Gravity Balancer for Adjustable Payload
Topics: Gravity (Force), Springs, Design
Journal Articles

Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism

Bongsu Kim, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. November 2014, 6(4): 041009.
Paper No: JMR-13-1136
DOI: https://doi.org/10.1115/1.4027513
Published Online: June 12, 2014
View Article titled, Design of Nonlinear Rotational Stiffness Using a Noncircular Pulley-Spring Mechanism
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Topics: Design, Pulleys, Springs, Torque, Gravity (Force), Shapes, Stiffness
Journal Articles

Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems

Nick Eckenstein, Mark Yim
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. November 2013, 5(4): 041013.
Paper No: JMR-11-1076
DOI: https://doi.org/10.1115/1.4025218
Published Online: October 4, 2013
View Article titled, Modular Advantage and Kinematic Decoupling in Gravity Compensated Robotic Systems
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Topics: Gravity (Force), Kinematics, Springs, Engineering prototypes, Robotics
Journal Articles

Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments

Tianjiang Zheng, David T. Branson, Emanuele Guglielmino, Rongjie Kang, Gustavo A. Medrano Cerda, Matteo Cianchetti, Maurizio Follador, Isuru S. Godage, Darwin G. Caldwell
Journal: Journal of Mechanisms and Robotics
Article Type: Research-Article
J. Mechanisms Robotics. May 2013, 5(2): 021004.
Paper No: JMR-12-1047
DOI: https://doi.org/10.1115/1.4023636
Published Online: March 26, 2013
View Article titled, Model Validation of an Octopus Inspired Continuum Robotic Arm for Use in Underwater Environments
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Topics: Actuators, Cables, Dynamic models, Engineering prototypes, Gravity (Force), Kinematics, Model validation, Muscle, Robotics, Stiffness
Journal Articles

Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators

Tetsuyou Watanabe
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. November 2011, 3(4): 041007.
DOI: https://doi.org/10.1115/1.4004895
Published Online: September 27, 2011
View Article titled, Effect of Torque-Velocity Relationship on Manipulability for Robot Manipulators
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Topics: Manipulators, Torque, Gravity (Force)
Journal Articles

Static Joint Torque Determination of a Human Model for Standing and Seating Tasks Considering Balance

Jingzhou (James) Yang, Joo H. Kim
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031005.
DOI: https://doi.org/10.1115/1.4001782
Published Online: July 14, 2010
View Article titled, Static Joint Torque Determination of a Human Model for Standing and Seating Tasks Considering Balance
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Topics: Gravity (Force), Stability, Stress, Torque, Wounds, Dynamics (Mechanics), Equations of state
Journal Articles

Design of a Gravity-Balanced General Spatial Serial-Type Manipulator

Po-Yang Lin, Win-Bin Shieh, Dar-Zen Chen
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2010, 2(3): 031003.
DOI: https://doi.org/10.1115/1.4001816
Published Online: June 21, 2010
View Article titled, Design of a Gravity-Balanced General Spatial Serial-Type Manipulator
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Topics: Gravity (Force), Manipulators, Springs, Design, Potential energy
Journal Articles

A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation

Marco Carricato, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031005.
DOI: https://doi.org/10.1115/1.3147192
Published Online: July 14, 2009
View Article titled, A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
Click here to open pdf in another window PDF for A Statically Balanced Gough/Stewart-Type Platform: Conception, Design, and Simulation
Topics: Design, Gravity (Force), Manipulators, Simulation, Springs, Trajectories (Physics), Universal joints, Weight (Mass), Motors, Engineering prototypes
Journal Articles

An Empirical Approach to Performance Criteria for Manipulation

Mark Tisius, Mitch Pryor, Chetan Kapoor, Delbert Tesar
Journal: Journal of Mechanisms and Robotics
Article Type: Research Papers
J. Mechanisms Robotics. August 2009, 1(3): 031002.
DOI: https://doi.org/10.1115/1.3147194
Published Online: July 9, 2009
View Article titled, An Empirical Approach to Performance Criteria for Manipulation
Click here to open pdf in another window PDF for An Empirical Approach to Performance Criteria for Manipulation
Topics: Decision making, Kinematics, Manipulators, Resolution (Optics), Potential energy, Simulation, Stress, Robotics, Gravity (Force), Inertia (Mechanics)