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Journal Articles

Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion

Inseung Kang, Reese R. Peterson, Kinsey R. Herrin, Anirban Mazumdar, Aaron J. Young
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2023, 15(2): 021007.
Paper No: JMR-22-1025
https://doi.org/10.1115/1.4054724
Published Online: June 21, 2022
View Article titled, Design and Validation of a Torque-Controllable Series Elastic Actuator-Based Hip Exoskeleton for Dynamic Locomotion
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Topics: Actuators, Design, Exoskeleton devices, Seas, Torque, Control equipment, Feedforward control, Motors
Includes: Supplementary data
Journal Articles

Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake

Bing Chen, Bin Zi, Zhengyu Wang, Yuan Li, Jun Qian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2021, 13(1): 011002.
Paper No: JMR-20-1141
https://doi.org/10.1115/1.4047987
Published Online: August 17, 2020
View Article titled, Development of Robotic Ankle–Foot Orthosis With Series Elastic Actuator and Magneto-Rheological Brake
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Topics: Brakes, Orthotics, Robotics, Torque, Rheology, Engines, Motors, Actuators, Braking, Seas
Journal Articles

Stable Grasp Control With a Robotic Exoskeleton Glove

Teja Vanteddu, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2020, 12(6): 061015.
Paper No: JMR-19-1472
https://doi.org/10.1115/1.4047724
Published Online: July 28, 2020
View Article titled, Stable Grasp Control With a Robotic Exoskeleton Glove
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Topics: Algorithms, Deformation, Exoskeleton devices, Optimization, Linkages, Actuators, Grasping, Engineering prototypes, Seas
Journal Articles

A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation

Eric M. Refour, Bijo Sebastian, Raghuraj J. Chauhan, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2019, 11(6): 060902.
Paper No: JMR-19-1086
https://doi.org/10.1115/1.4044543
Published Online: September 10, 2019
View Article titled, A General Purpose Robotic Hand Exoskeleton With Series Elastic Actuation
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Topics: Actuators, Design, Exoskeleton devices, Grasping, Kinematics, Linkages, Seas, Engineering prototypes, Force control
Journal Articles

Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis

Alexander Agboola-Dobson, Guowu Wei, Lei Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2019, 11(4): 041012.
Paper No: JMR-18-1195
https://doi.org/10.1115/1.4043603
Published Online: May 17, 2019
View Article titled, Biologically Inspired Design and Development of a Variable Stiffness Powered Ankle-Foot Prosthesis
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Topics: Actuators, Cycles, Design, Prostheses, Springs, Stiffness, Torque, Universal joints, Artificial limbs, Kinematics
Journal Articles

Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds

Yevgeniy Yesilevskiy, Zhenyu Gan, C. David Remy
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2018, 10(3): 031008.
Paper No: JMR-17-1063
https://doi.org/10.1115/1.4039496
Published Online: April 5, 2018
View Article titled, Energy-Optimal Hopping in Parallel and Series Elastic One-Dimensional Monopeds
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Topics: Actuators, Engines, Friction, Mechanical drives, Motors, Seas, Springs, Optimization, Robots, Damping
Journal Articles

Wrench Capability of a Stewart Platform With Series Elastic Actuators

Chawin Ophaswongse, Rosemarie C. Murray, Sunil K. Agrawal
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2018, 10(2): 021002.
Paper No: JMR-17-1309
https://doi.org/10.1115/1.4038976
Published Online: January 29, 2018
View Article titled, Wrench Capability of a Stewart Platform With Series Elastic Actuators
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Topics: Actuators, Kinematics, Springs, Robots, Seas
Journal Articles

Series Elastic Actuators for Small-Scale Robotic Applications

Priyanshu Agarwal, Ashish D. Deshpande
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. June 2017, 9(3): 031016.
Paper No: JMR-16-1168
https://doi.org/10.1115/1.4035987
Published Online: March 24, 2017
View Article titled, Series Elastic Actuators for Small-Scale Robotic Applications
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Topics: Actuators, Exoskeleton devices, Seas, Torque, Cables, Stiffness, Springs, Design
Journal Articles

A Compact, Modular Series Elastic Actuator

Jonathan P. Cummings, Dirk Ruiken, Eric L. Wilkinson, Michael W. Lanighan, Roderic A. Grupen, Frank C. Sup, IV
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2016, 8(4): 041016.
Paper No: JMR-15-1140
https://doi.org/10.1115/1.4032975
Published Online: April 1, 2016
View Article titled, A Compact, Modular Series Elastic Actuator
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Topics: Actuators, Control equipment, Deflection, Design, Motors, Seas, Sensors, Springs, Torque, Engineering prototypes
Journal Articles

Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs

Rongfu Lin, Weizhong Guo, Feng Gao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021023.
Paper No: JMR-15-1095
https://doi.org/10.1115/1.4032201
Published Online: January 6, 2016
View Article titled, Type Synthesis of a Family of Novel Four, Five, and Six Degrees-of-Freedom Sea Lion Ball Mechanisms With Three Limbs
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Topics: Degrees of freedom, End effectors, Rotation, Seas, Design, Robots
Journal Articles

On the Technological Instantiation of a Biomimetic Leg Concept for Agile Quadrupedal Locomotion

Elena Garcia, Juan C. Arevalo, Manuel Cestari, Daniel Sanz-Merodio
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2015, 7(3): 031005.
Paper No: JMR-13-1124
https://doi.org/10.1115/1.4028306
Published Online: August 1, 2015
View Article titled, On the Technological Instantiation of a Biomimetic Leg Concept for Agile Quadrupedal Locomotion
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Topics: Actuators, Biomimetics, Engineering prototypes, Kinematics, Robots, Springs, Torque, Cycles, Energy storage, Muscle
Journal Articles

Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs

Simon Curran, Brian T. Knox, James P. Schmiedeler, David E. Orin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2009, 1(1): 011006.
https://doi.org/10.1115/1.2960535
Published Online: July 30, 2008
View Article titled, Design of Series-Elastic Actuators for Dynamic Robots With Articulated Legs
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Topics: Actuators, Design, Engineering prototypes, Engines, Impulse (Physics), Knee, Motors, Robots, Seas, Simulation