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Keywords: soft robots
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Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1579
Published Online: July 21, 2022
... Platforms Soft Robots Theoretical Kinematics Journal of Mechanisms and Robotics. Received November 02, 2021; Accepted manuscript posted July 07, 2022. doi:10.1115/1.4055062 Copyright © 2022 by ASME Modelling and Analysis of Tendon-Driven Parallel Continuum Robots under Constant Curvature and Pseudo...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021015.
Paper No: JMR-21-1384
Published Online: July 19, 2022
...Oyuna Angatkina; Andrew G. Alleyne; Aimy Wissa This article presents critical design modifications for an O rigami-enabled S oft C rawling A utonomous R obot (OSCAR). OSCAR’s upgraded design mitigates motion uncertainties, which often plague soft robots. More specifically, we present a design...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1741
Published Online: July 14, 2022
... for publication in the J ournal of M echanisms and R obotics . 25 12 2021 04 07 2022 07 07 2022 14 07 2022 Cable Driven Mechanisms Control Folding and Origami Mechanism Design Parallel Platforms robot design Soft Robots Journal of Mechanisms and Robotics. Received...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021012.
Paper No: JMR-21-1510
Published Online: June 23, 2022
... was supported by the US National Science Foundation (Grant No. 1832795), “EFRI C3 SoRo: Muscle-like Cellular Architectures and Compliant, Distributed Sensing and Control for Soft Robots.” There are no conflicts of interest. The datasets generated and supporting the findings of this article...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021013.
Paper No: JMR-21-1511
Published Online: June 23, 2022
... the range of deformation behavior. Finally, we compare the actuation effort required to actuate different MACRO meshes and show that the actuation effort is related to the nodal connectivity of the mesh. bio-inspired design compliant mechanisms robot design soft robots The goal of this paper...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021010.
Paper No: JMR-21-1459
Published Online: June 22, 2022
... echanisms and R obotics . 12 09 2021 31 05 2022 31 05 2022 22 06 2022 bio-inspired design mechanism design mobile robots robot design soft robots Japan Society for the Promotion of Science 10.13039/501100001691 JP19K23502 Pipes are essential...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2022, 14(6): 064504.
Paper No: JMR-21-1722
Published Online: June 21, 2022
... of joints that are constructed by parallel actuators, achieving rotation and extension. The inability to output twisting and lateral translations concurrently in the joints hinders the applications of such soft manipulators that require dexterous manipulation. In this work, the tilted actuator soft robotic...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021006.
Paper No: JMR-22-1026
Published Online: June 21, 2022
... was fabricated and tested, which can move smoothly along the ground. 16 01 2022 12 05 2022 13 05 2022 21 06 2022 mobile robots robot design soft robots Guangzhou Science and Technology Program key projects 10.13039/501100004000 201904020020 National Natural Science...
Journal Articles
Accepted Manuscript
Article Type: Research Papers
J. Mechanisms Robotics.
Paper No: JMR-21-1347
Published Online: June 20, 2022
...Walid Amehri; Gang Zheng; Alexandre Kruszewski In this paper, we investigate the workspace estimation of soft manipulators controlled via arranged bounded actuators. For this, we implement an interval analysis approach on the mathematical model of the investigated soft robot deduced via the adopted...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061006.
Paper No: JMR-21-1730
Published Online: May 26, 2022
...Peilin Cheng; Yuze Ye; Bo Yan; Yebo Lu; Chuanyu Wu Soft pneumatic actuators (SPAs) play an important role in leading the development of soft robotics. However, due to the inherent characteristics of soft materials, the low driving force limits the application of SPAs. This study presents a high...
Journal Articles
Article Type: Technical Briefs
J. Mechanisms Robotics. February 2023, 15(1): 014501.
Paper No: JMR-21-1478
Published Online: April 25, 2022
...Xianpai Zeng; Hai-Jun Su This article presents a novel soft robotic gripper with a high payload capacity based on the layer jamming technology. Soft robots have a high adaptability, however suffer a low payload capacity. To overcome these conflicting challenges, here we introduce a 3D printed multi...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051002.
Paper No: JMR-21-1186
Published Online: February 18, 2022
... medical robotics robot design soft robots Procedures in the natural lumina of the human body are indispensable in minimally invasive diagnostic and therapeutic procedures [ 1 ]; however, complete controlled access to the entire gastrointestinal (GI) tract [ 2 ] and circulatory system [ 3...
Topics: Design, Robots
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2022, 14(5): 051003.
Paper No: JMR-21-1284
Published Online: February 18, 2022
...Zhili Chen; Hamed Rahimi Nohooji; Chee-Meng Chew This paper proposed a systematic framework to automatically design and fabricate optimized soft robotic fingers. The soft finger is composed of a soft silicone structure with inner air chambers and a harder outer layer, which are fabricated...
Includes: Supplementary data
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031004.
Paper No: JMR-21-1064
Published Online: November 16, 2021
... are often used as the basis for multi-chamber soft robotic systems, for example, bending actuators. In the virtual work model, each type of reinforcement leads to particular geometric constraints; the energy of the stretched material is determined by the Yeoh material model. Finally, the stretch...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. June 2022, 14(3): 031001.
Paper No: JMR-21-1109
Published Online: November 15, 2021
...Yitong Zhou; Leon M. Headings; Marcelo J. Dapino Soft robotic grippers can gently grasp and maneuver objects. However, they are difficult to model and control due to their highly deformable fingers and complex integration with robotic systems. This paper investigates the design requirements as well...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061015.
Paper No: JMR-21-1069
Published Online: September 13, 2021
... There is a surge of research interest in the field of soft robotics. Soft robotics can transfer motion and force using flexure structures, enabling shape adaptation to various locomotion modes [ 1 , 2 ]. However, soft robotics cannot transmit strong forces to interact with the environment due to their lack...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011012.
Paper No: JMR-20-1574
Published Online: August 11, 2021
...Amehri Walid; Gang Zheng; Alexandre Kruszewski; Federico Renda This article investigates the workspace estimation of soft manipulators. Given a configuration of such a soft robot, with the bounded actuators, the discrete Cosserat method is adopted to deduce the mathematical model of soft...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. February 2022, 14(1): 011006.
Paper No: JMR-20-1425
Published Online: July 13, 2021
...Gina Olson; Holly Manjarrez; Julie A. Adams; Yiğit Mengüç Soft robots join body and actuation, forming their structure from the same elements that induce motion. Soft actuators are commonly modeled or characterized as primary movers, but their second role as support structure introduces strain...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. August 2021, 13(4): 040904.
Paper No: JMR-20-1611
Published Online: May 31, 2021
... . 13 12 2020 05 05 2021 06 05 2021 31 05 2021 tensegrity joint compliant mechanisms mechanism design parallel platforms soft robots Tensegrity systems are composed of compression elements and tension elements and kept in a self-stressed equilibrium state...
Journal Articles
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 051005.
Paper No: JMR-20-1258
Published Online: May 20, 2021
... by the Mechanisms and Robotics Committee of ASME for publication in the J ournal of M echanisms and R obotics . 02 07 2020 04 02 2021 10 02 2021 20 05 2021 adhesion gecko robot adduction abduction bio-inspired design actuators and transmissions manufacturing soft robots...