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Journal Articles

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

Available to Purchase
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

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

Open Access
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

Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects

Available to Purchase
Seon Mi Jo, Hae-Sung Yoon
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2024, 16(2): 021013.
Paper No: JMR-22-1521
https://doi.org/10.1115/1.4062983
Published Online: August 8, 2023
View Articletitled, Energy-Efficient Tristable Soft Gripper Using Shape Memory Alloy Wires for Gripping Convex and Concave Objects
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Topics: Design, Energy efficiency, Grippers, Shape memory alloys, Springs, Wire, Shapes, Manufacturing
Journal Articles

Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms

Free
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
Open the PDF for Design Considerations and Robustness to Parameter Uncertainty in Wire-Wrapped Cam Mechanisms in another window
Topics: Design, Springs, Torque, Wire, Degrees of freedom, Friction, Cams
Journal Articles

Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery

Available to Purchase
Tianci Zhang, Zhongyuan Ping, Siyang Zuo
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 041002.
Paper No: JMR-20-1252
https://doi.org/10.1115/1.4049976
Published Online: April 9, 2021
View Articletitled, Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery
Open the PDF for Miniature Continuum Manipulator With Three Degrees-of-Freedom Force Sensing for Retinal Microsurgery in another window
Topics: Design, Manipulators, Nickel titanium alloys, Fiber Bragg gratings, Bending (Stress), Surgery, Resolution (Optics), Calibration, Degrees of freedom, Force sensors
Journal Articles

Modeling and Design Exploration of a Tensegrity-Based Twisting Wing

Available to Purchase
Nguyen K. Pham, Edwin A. Peraza Hernandez
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031019.
Paper No: JMR-20-1461
https://doi.org/10.1115/1.4050149
Published Online: March 26, 2021
View Articletitled, Modeling and Design Exploration of a Tensegrity-Based Twisting Wing
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Topics: Design, Wings, Wire, Tensegrity, Tensegrity mechanisms
Journal Articles

Master Device With Bending Safety for Flexible Surgical Robots

Available to Purchase
Daekeun Ji, Seongbo Shim, Seunguk Kim, Sanghyun Joung, Jaesung Hong
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061003.
Paper No: JMR-19-1468
https://doi.org/10.1115/1.4046996
Published Online: May 11, 2020
View Articletitled, Master Device With Bending Safety for Flexible Surgical Robots
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Topics: Robots, Surgery, Wire, Tension, Design, Kinematics
Journal Articles

Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures

Available to Purchase
Manivannan Sivaperuman Kalairaj, Bok Seng Yeow, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031015.
Paper No: JMR-19-1028
https://doi.org/10.1115/1.4045646
Published Online: February 18, 2020
View Articletitled, Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures
Open the PDF for Needle-Size Bending Actuators Based on Controlled Nitinol Curvatures and Elastic Structures in another window
Topics: Actuators, Deflection, Engineering prototypes, Nickel titanium alloys, Springs, Wire, Additive manufacturing, Manipulators, Temperature
Includes: Supplementary data
Journal Articles

Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition

Available to Purchase
Yeong-min Na, Hyun-seok Lee, Jong-kyu Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2020, 12(1): 011017.
Paper No: JMR-18-1434
https://doi.org/10.1115/1.4045246
Published Online: October 31, 2019
View Articletitled, Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition
Open the PDF for Fabrication and Experiment of an Automatic Continuum Robot System Using Image Recognition in another window
Topics: Design, Disks, Manipulators, Manufacturing, Motors, Robots, Wire, Errors
Journal Articles

Design of a High-Concentration Microtracking Photovoltaic System

Free
Gregory S. Brulo, Alex J. Grede, Andrew J. Ren, Christopher D. Rahn, Noel C. Giebink
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2019, 11(6): 065001.
Paper No: JMR-17-1443
https://doi.org/10.1115/1.4044412
Published Online: October 8, 2019
View Articletitled, Design of a High-Concentration Microtracking Photovoltaic System
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Topics: Actuators, Design, Kinematics, Wire, Photovoltaic power systems
Journal Articles

A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism

Available to Purchase
Ming Zhang, Lijin Fang, Feng Sun, Koichi Oka
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2019, 11(5): 051001.
Paper No: JMR-18-1194
https://doi.org/10.1115/1.4043684
Published Online: July 8, 2019
View Articletitled, A Novel Wire-Driven Variable-Stiffness Joint Based on a Permanent Magnetic Mechanism
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Topics: Stiffness, Wire
Journal Articles

Design of a Two-Wheeled Rover With Sprawl Ability and Metal Brush Traction

Available to Purchase
Ivan A. Davydychev, Jaakko T. Karras, Kalind C. Carpenter
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2019, 11(3): 035002.
Paper No: JMR-18-1387
https://doi.org/10.1115/1.4043051
Published Online: April 9, 2019
View Articletitled, Design of a Two-Wheeled Rover With Sprawl Ability and Metal Brush Traction
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Topics: Design, Traction, Wheels, Linkages, Wire
Journal Articles

Sliding Filament Joint Mechanism: Biomimetic Artificial Joint Mechanism for Artificial Skeletal Muscles

Available to Purchase
Kyeong Ho Cho, Ho Sang Jung, Sang Yul Yang, Youngeun Kim, Hugo Rodrigue, Hyungpil Moon, Ja Choon Koo, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2019, 11(2): 021004.
Paper No: JMR-18-1265
https://doi.org/10.1115/1.4042349
Published Online: February 27, 2019
View Articletitled, Sliding Filament Joint Mechanism: Biomimetic Artificial Joint Mechanism for Artificial Skeletal Muscles
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Topics: Artificial joints, Biomimetics, Displacement, Gears, Muscle, Rotation, Wire, Actuators, Weight (Mass), Shrinkage (Materials)
Includes: Supplementary data
Journal Articles

Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism

Available to Purchase
Boyu Zhang, Zhuxiu Liao, Penghui Yang, Hongen Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011012.
Paper No: JMR-18-1055
https://doi.org/10.1115/1.4041941
Published Online: December 10, 2018
View Articletitled, Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism
Open the PDF for Robotic Visible Forceps Manipulator With a Novel Linkage Bending Mechanism in another window
Topics: Linkages, Manipulators, Robotics, Surgery, Phantoms, Visualization, Design, Engineering prototypes, Endoscopic devices, Wire
Journal Articles

Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators

Available to Purchase
Kyeong Ho Cho, Ho Moon Kim, Youngeun Kim, Sang Yul Yang, Hyouk Ryeol Choi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. February 2019, 11(1): 011007.
Paper No: JMR-18-1008
https://doi.org/10.1115/1.4041632
Published Online: November 13, 2018
View Articletitled, Multiple Inputs-Single Accumulated Output Mechanism for Soft Linear Actuators
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Topics: Actuators, Displacement, Robotics, Wire, Differential gears, Design, Gears, Torque, Motors, Robots
Journal Articles

Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles

Available to Purchase
Jaeyeon Lee, Jing Wang, Wooram Park
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. December 2018, 10(6): 065001.
Paper No: JMR-18-1099
https://doi.org/10.1115/1.4041259
Published Online: September 17, 2018
View Articletitled, Efficient Mechanism Design and Systematic Operation Planning for Tube-Wire Flexible Needles
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Topics: Needles, Design, Wire, Biological tissues, Switches
Journal Articles

Design and Implementation of a Leg–Wheel Robot: Transleg

Available to Purchase
Zhong Wei, Guangming Song, Guifang Qiao, Ying Zhang, Huiyu Sun
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2017, 9(5): 051001.
Paper No: JMR-16-1327
https://doi.org/10.1115/1.4037018
Published Online: June 22, 2017
View Articletitled, Design and Implementation of a Leg–Wheel Robot: Transleg
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Topics: Actuators, Design, Knee, Robots, Wheels, Wire, Yaw, Rotation
Journal Articles

Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization

Available to Purchase
Sreeshankar Satheeshbabu, Girish Krishnan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2016, 8(6): 061012.
Paper No: JMR-16-1001
https://doi.org/10.1115/1.4033859
Published Online: September 8, 2016
View Articletitled, Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization
Open the PDF for Qualitative Mobility Analysis of Wire Flexure Systems Using Load Flow Visualization in another window
Topics: Bending (Stress), Flow (Dynamics), Mechanical admittance, Stress, Wire
Journal Articles

Design of a Novel Flexible Endoscope—Cardioscope

Available to Purchase
Zheng Li, Min Zin Oo, Varun Nalam, Vu Duc Thang, Hongliang Ren, Theodoros Kofidis, Haoyong Yu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051014.
Paper No: JMR-15-1257
https://doi.org/10.1115/1.4032272
Published Online: May 4, 2016
View Articletitled, Design of a Novel Flexible Endoscope—Cardioscope
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Topics: Design, Endoscopes, Wire
Journal Articles

On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators

Available to Purchase
Leila Notash
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2016, 8(4): 044506.
Paper No: JMR-15-1288
https://doi.org/10.1115/1.4032593
Published Online: March 25, 2016
View Articletitled, On the Solution Set for Positive Wire Tension With Uncertainty in Wire-Actuated Parallel Manipulators
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Topics: Manipulators, Tension, Wire, Jacobian matrices, Uncertainty