Journal of Mechanisms and Robotics: Recent submissions
Now showing items 1-20 of 1771
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Design, Development, and Functional Evaluation of Neck Assistive Cervical Kit: NACK
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Neck pain is a common issue caused by prolonged static postures and cumulative fatigue, negatively impacting quality of life. While cervical collars support individuals with chronic neck injuries, there is a need ... -
Lie Group Formulation of Recursive Dynamics Algorithms of Higher Order for Floating-Base Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. In this article, we describe procedures for computing higher-order time derivatives of the Lie group Newton–Euler, articulated body inertia, and hybrid dynamics algorithms for floating-base trees, where the base ... -
Gravity Compensation for Variable Payloads Using Slider-Guided Compression Springs
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Gravity compensation is crucial for improving the energy efficiency of robotic systems, but achieving static balancing with variable payloads remains a design challenge. This article proposes a gravity compensation ... -
Exact Kinematic Synthesis of a Novel Planar Eight-Bar Mechanism for Advanced Motion Generation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents a successful design method of a novel planar linkage with a single degree-of-freedom, intended for advanced motion generation, which allows one to visit, in an exact manner, up to nine ... -
Geometric Configuration Optimization of 8-Cable 6-Degree-of-Freedom Cable-Driven Parallel Mechanism
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This paper presents a Multi-Index Collaborative Screening-based Optimization Method (MICSOM) for the geometric configuration optimization of 8-cable 6-DOF cable-driven parallel mechanisms (CDPMs). The method ... -
Design of Novel Cable-Driven Continuum Robot for Fish Gait Emulation Using Kinetostatic Modeling Approach
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The design of robotic fish is an active area of research due to their significant potential in unique underwater applications. Recent developments have suggested using flexible fish bodies for improved locomotion ... -
Stiffness Modeling and Analysis of a Parallel Manipulator With Multi-Motion Modes
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Parallel manipulators (PMs) have demonstrated significant potential in facility agriculture due to high-speed, high-accuracy, and high-dynamic response. Stiffness is a crucial indicator for PMs applied in precision ... -
Research on Control and Experiments of the Wire-Driven Waist Rehabilitation Training Parallel Robot Based on a Non-Standard Experimental Model
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This paper introduces a wire-driven waist rehabilitation training parallel robot (WRTPR) and a computer-controlled upper motion system based on human–machine interaction to enhance rehabilitation training for ... -
Dual-Space Dynamics Adaptive Synchronization Control for Redundantly Actuated Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Redundantly Actuated Parallel Robots (RAPRs) utilize multiple coordinated actuators to enhance structural stiffness, load capacity, and motion flexibility, making them suitable for high-precision manufacturing ... -
Magneto-Active Compliant Slider-Rocker Mechanisms for Creating High-Energy Linear Motion
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This study investigates the design of magneto-active bistable compliant mechanisms for creating high-energy motion. Compared to traditional actuation methods, magneto-active actuation can enable remote and wireless ... -
Distance-to-Instability and Distance-to-Singularity Metrics for Continuum Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Existing metrics defined to evaluate the proximity of continuum robots (CRs) to singularities or instability areas are frequently based on matrices involving mixed units, making them sensitive to a change in the ... -
The Space of Passive Planar Compliances Achieved by a Multifinger Hand
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. In this article, the limitations on the space of object planar compliant behaviors that can be passively achieved by a multifinger grasp are identified. A general planar compliance can be completely characterized ... -
Parameter-Learning Active Disturbance Rejection Controller for a Novel Variable-Stiffness Gripper
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. The growing demand for flexible robotic grasping in industry calls for adaptable solutions capable of handling diverse objects across stiffness regimes. We present a novel variable-stiffness gripper with a ... -
Coupled Dynamic Analysis and Prototype Implementation of a Anchor Platform for the Mobile Cable-Driven Parallel Robots
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. With the increasing demand for mobile cable-driven robots in various fields, enhancing their reconfigurability and stability has become a critical challenge. A mobile anchor platform for cable-driven robots is ... -
Utilizing Spatially Varying Fiber Arrays in Soft Morphing Surfaces for Grasping Applications
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Soft robotic grippers have the potential for dexterous manipulation of delicate, irregularly shaped objects that conventional end effectors lack the finesse to handle; however, the infinite dimensionality resulting ... -
EIM-FK: Efficient Iterative Method for Forward Kinematics of 3-RPS Parallel Robot
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Accurate and efficient kinematic solutions are essential for stable real-time control in robotics. While inverse kinematics (IK) in parallel robots is straightforward, forward kinematics (FK) remains challenging ... -
Analysis and Design of a Novel Compact Four-Degree-of-Freedom Parallel Robot With Unlimited Rotation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. Parallel robots are known for their high stiffness, excellent load capacity, and precision; however, their rotational capabilities are often limited. To address this challenge, we propose a novel compact ... -
Research on Full Closed-Loop Control of Suspended Four-Cable-Driven Parallel Mechanism With Multisource Sensor Fusion
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This study addresses the challenge of controlling an under-constrained, suspended four-cable-driven parallel mechanism (CDPM). The inherent geometrico-static problem introduces complex inverse kinematics and ... -
Development and Verification of a Model to Predict the Adjustable Force Transmission Capabilities of a Passive, Lower Back Exoskeleton
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This work describes the development and verification of an analytical modeling tool for a passive, lower back exoskeleton with adjustable force transmission capabilities. The analytical model allows for rapid ... -
Adaptive Patient-Cooperative Control of an Omnidirectional Mobile Exoskeleton Robot for Lower Limb Rehabilitation
(The American Society of Mechanical Engineers (ASME), 2026)Abstract. This article presents an adaptive patient-cooperative control strategy and implements it on an originally designed lower limb rehabilitation robot. The robot structure comprises a lower limb exoskeleton and an ...