Journal of Mechanisms and Robotics: Recent submissions
Now showing items 521-540 of 1771
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UPed: A Quadruped Robot Platform to Study Directional Leg Compliance
(The American Society of Mechanical Engineers (ASME), 2022)This paper presents UPed, a quadruped robot platform, for studying passive, directional, leg compliance in robots. This work was motivated by the benefits provided by passively and directionally compliant legs in humans ... -
Experimental Verification of Kinematics and Kinetics in a Biomimetic Bipedal Robot
(The American Society of Mechanical Engineers (ASME), 2022)This article presents experimental test results for joints used in a biomimetic bipedal robot. In this work, magnetic resonance imaging (MRI) and computed tomography (CT) scans are utilized to inform the design of joints ... -
Feasibility Design and Control of a Lower Leg Gait Emulator Utilizing a Mobile 3-Revolute, Prismatic, Revolute Parallel Manipulator
(The American Society of Mechanical Engineers (ASME), 2022)Design and control of lower extremity robotic prostheses are iterative tasks that would greatly benefit from testing platforms that would autonomously replicate realistic gait conditions. This paper presents the design of ... -
A High Performance Pneumatically Actuated Soft Gripper Based on Layer Jamming
(The American Society of Mechanical Engineers (ASME), 2022)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 ... -
Operational Space Iterative Learning Control of Coupled Active/Passive Multilink Cable-Driven Hyper-Redundant Robots
(The American Society of Mechanical Engineers (ASME), 2022)The operational space control (OSC) of multilink cable-driven hyper-redundant robots (MCDHRs) is required to perform tasks in many applications. As a new coupled active-passive (CAP) MCDHR system, due to the multiple ... -
Dynamic Modeling and Simulation of a Hybrid Robot
(The American Society of Mechanical Engineers (ASME), 2022)The unique structure of hybrid robot makes its dynamic characteristic different from that of the traditional machine tools. Therefore, the dynamic model is crucial to both designing and application of hybrid robot. In this ... -
Design and Analysis of a Novel Reconfigurable Ankle Rehabilitation Exoskeleton Capable of Matching the Mobile Biological Joint Center in Real-Time
(The American Society of Mechanical Engineers (ASME), 2022)This paper proposes a novel reconfigurable exoskeleton for ankle rehabilitation, which is capable of realizing both static and dynamic rehabilitation exercises. The conceptual design is based on a reduced representation ... -
Three-Dimensional Dynamic Modeling and Analysis of Flexible Robot With Coupling Deformation Based on Spinor Theory
(The American Society of Mechanical Engineers (ASME), 2022)Flexible manipulators are longer and lighter, which allows them to undergo elastic deformation and vibration. It affects the working accuracy and flexibility of the robot. To enhance the flexibility and flexibility of robot ... -
Neural Network-Based Pose Estimation Approaches for Mobile Manipulation
(The American Society of Mechanical Engineers (ASME), 2022)This paper illustrates two approaches for the mobile manipulation of factory robots using deep neural networks. The networks are trained using synthetic datasets unique to the factory environment. Approach I uses depth and ... -
Modeling and Prototype of a Machining Robot With R(3-RUHR)/UURP Hybrid Module
(The American Society of Mechanical Engineers (ASME), 2022)Hybrid mechanisms combine the advantages of serial mechanisms and parallel mechanisms and have better stiffness and a larger workspace. In this paper, a novel workspace strongly coupled machining robot mechanism with a ... -
A Novel Morphing Propeller System Inspired by Origami-Based Structure
(The American Society of Mechanical Engineers (ASME), 2022)For a standard propeller system, the thrust output and the energy dissipation are proportionally dependent on its rotating speed, as its physical characteristics and working conditions are normally fixed during its operation. ... -
Design and Control of a Flexible Exoskeleton to Generate a Natural Full Gait for Lower-Limb Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2022)Strokes caused by cerebrovascular diseases often result in severe damage to locomotion, movement, and cognitive functions. Rehabilitation is an effective way to regain locomotion ability in daily life. However, there are ... -
Development and Evaluation of a Passive Multiloop Wearable Hand Device for Natural Motion
(The American Society of Mechanical Engineers (ASME), 2022)This article describes the development and evaluation of our passively actuated closed-loop articulated wearable (CLAW) that uses a common slider to passively drive its exo-fingers for use in physical training of people ... -
Design of a Two-Speed Load Adaptive Variable Transmission for Energetic Optimization of an Accessible Prosthetic Hand
(The American Society of Mechanical Engineers (ASME), 2022)This work proposed the design of a simple, robust, and inexpensive motion transmission for hand prostheses. The main challenge to be solved is to generate not only fast movements for the closing of the fingers during the ... -
Modeling, Control, and Simulation of a 3-Degrees of Freedom Mechanism Actuated by Pneumatic Artificial Muscles for Upper Limb Prosthesis Application
(The American Society of Mechanical Engineers (ASME), 2022)This work reports advances in enabling the use of pneumatic artificial muscles (PAM) as an alternative to electromechanical actuators in upper-limb prostheses to take advantage of their low weight, clean, renewable energy ... -
Singularity Analysis and Dimensional Synthesis of a 2R1T 3-UPU Parallel Mechanism Based on Performance Atlas
(The American Society of Mechanical Engineers (ASME), 2022)In this paper, a symmetric 3-UPU (U and P represent universal and prismatic joints, individually) parallel mechanism and its variant mechanism under different geometric and assembly conditions are analyzed. Both have two ... -
Actuation Arrangement of Rigid Foldable Waterbomb Origami
(The American Society of Mechanical Engineers (ASME), 2022)A novel approach is proposed to arrange the actuations of rigid foldable waterbomb origami with multiple facet loops such that the number of actuations equaled the degrees-of-freedom (DOF) of the origami. In this approach, ... -
Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
(The American Society of Mechanical Engineers (ASME), 2022)This article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, ... -
Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
(The American Society of Mechanical Engineers (ASME), 2022)Due to the inherent deformability of continuum robots (CRs), closed-loop control strategies of CRs come with some challenges, including sensor integration within a limited dimension and uncertainties with the CR system. ... -
Design and Control of SLPM-Based Extensible Continuum Arm
(The American Society of Mechanical Engineers (ASME), 2022)As an important branch of reconfigurable robots, extensible continuum robots are soft and light, with the flexibility of movement and high adaptability in complex environments. These robots have very broad applications in ...