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Journal Articles

Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions

Rongfu Lin, Weizhong Guo, Wenhui Zeng, Kim Yan, Chun Ping Lam, Shing Shin Cheng
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021010.
Paper No: JMR-24-1062
https://doi.org/10.1115/1.4066132
Published Online: September 3, 2024
View Article titled, Novel Design and Performance Analysis of 1R1T Remote Center-of-Motion Mechanisms With Partially Decoupled T- and R-Motions
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Topics: Design, Kinematics, End effectors, Jacobian matrices, Rotation, Screws, Engineering prototypes
Journal Articles

Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism

Xiaolu Zhao, Fujun Wang, Changping Tao, Beichao Shi, Zhichen Huo, Yanling Tian
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031002.
Paper No: JMR-24-1102
https://doi.org/10.1115/1.4066135
Published Online: September 3, 2024
View Article titled, Development of a Novel Retinal Surgery Robot Based on Spatial Variable Remote Center-of-Motion Mechanism
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Topics: Design, Kinematics, Robots, Surgery, Errors, Modeling
Journal Articles

Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance

Sen Xu, Kai Tang, Lingmin Xu, Ye Ding
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031003.
Paper No: JMR-24-1141
https://doi.org/10.1115/1.4066136
Published Online: September 3, 2024
View Article titled, Design, Analysis, and Validation of a Passive Parallel Continuum Ankle Exoskeleton for Support and Walking Assistance
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Topics: Calibration, Design, Exoskeleton devices, Modeling, Rods, Stiffness, Torque, Parallel mechanisms, Errors
Journal Articles

Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper

Yoshinobu Onozawa, Keisuke Yagi, Yoshikazu Mori
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021011.
Paper No: JMR-24-1201
https://doi.org/10.1115/1.4066133
Published Online: September 3, 2024
View Article titled, Development of a Jumping Mechanism Inspired by Leg Synchronization of Planthopper
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Topics: Design, Springs, Synchronization, Torque, Rotation
Journal Articles

Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers

Shuguang Huang, Joseph M. Schimmels
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031004.
Paper No: JMR-24-1072
https://doi.org/10.1115/1.4066168
Published Online: September 3, 2024
View Article titled, Passive Realization of Object Spatial Compliance by a Hand Having Multiple Four-Joint Hard Fingers
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Topics: Stiffness
Journal Articles

The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains

Vaughn Chambers, Bradley Hobbs, William Gaither, Zachary Thé, Anthony Zhou, Chrysostomos Karakasis, Panagiotis Artemiadis
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031005.
Paper No: JMR-23-1825
https://doi.org/10.1115/1.4066173
Published Online: September 3, 2024
View Article titled, The Variable Stiffness Treadmill 2: Development and Validation of a Unique Tool to Investigate Locomotion on Compliant Terrains
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Topics: Stiffness, Deflection, Belts, Design
Journal Articles

Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion

Jason Gurney
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031006.
Paper No: JMR-24-1040
https://doi.org/10.1115/1.4066185
Published Online: September 3, 2024
View Article titled, Proximal Joint Compliance as a Passive Method for Ground Reaction Force Redirection During Legged Locomotion
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Topics: Control equipment, Knee, Legged locomotion, Simulation, Stiffness, Torque, Springs, Robotics, Stability
Journal Articles

Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds

Chungang Zhuang, Wanhao Niu, Hesheng Wang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031007.
Paper No: JMR-24-1219
https://doi.org/10.1115/1.4066281
Published Online: September 3, 2024
View Article titled, Sparse Convolution-Based 6D Pose Estimation for Robotic Bin-Picking With Point Clouds
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Topics: Image segmentation, Robotics, Simulation, Robots, Grasping
Journal Articles

A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots

Jianyu Yang, Xuanting Li, Zhongqi Sheng, Xiaofeng Ma, Hui Shi, Hualong Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021009.
Paper No: JMR-23-1618
https://doi.org/10.1115/1.4066000
Published Online: August 8, 2024
View Article titled, A Novel Head-Following Algorithm for Multi-Joint Articulated Driven Continuum Robots
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Topics: Algorithms, Errors, Robots, Simulation, Kinematics, End effectors, Trajectories (Physics)
Journal Articles

Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements

Jilong Xu, Yunzhan Niu, Fucai Liu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2025, 17(3): 031001.
Paper No: JMR-23-1755
https://doi.org/10.1115/1.4066039
Published Online: August 8, 2024
View Article titled, Development and Analysis of a Novel Bio-Syncretic Parallel Hip Exoskeleton Based on Torque Requirements
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Topics: Exoskeleton devices, Motors, Torque, Human-machine systems, Rotation
Journal Articles

Architecture Singularity Distance Computations for Linear Pentapods

Aditya Kapilavai, Georg Nawratil
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021008.
Paper No: JMR-24-1034
https://doi.org/10.1115/1.4065789
Published Online: July 23, 2024
View Article titled, Architecture Singularity Distance Computations for Linear Pentapods
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Topics: Design, Optimization, Computation, Manipulators, Robots, Algorithms
Journal Articles

Towing an Object With a Rover

Matteo Caruso, Nicholas Sesto Gorella, Paolo Gallina, Stefano Seriani
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021001.
Paper No: JMR-23-1486
https://doi.org/10.1115/1.4065697
Published Online: July 19, 2024
View Article titled, Towing an Object With a Rover
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Topics: Dynamics (Mechanics), Friction, Kinematics, Path planning, Pressure, Sensitivity analysis, Simulation, Trajectories (Physics), Geometry, Wheels
Journal Articles

Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots

A. Ghoul, S. Djeffal, H. Wang, K. Kara, M. L. Hadjili
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021002.
Paper No: JMR-23-1749
https://doi.org/10.1115/1.4065698
Published Online: July 19, 2024
View Article titled, Enhancing Surgical Robotics: A Dynamic Model and Optimized Control Strategy for Cable-Driven Continuum Robots
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Topics: Cables, Robots, Control equipment, Dynamic models, Kinematics
Journal Articles

Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands

Sheng-Guan Lin, Jen-Yuan (James) Chang
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021003.
Paper No: JMR-24-1055
https://doi.org/10.1115/1.4065750
Published Online: July 19, 2024
View Article titled, Modeling Abduction Mechanism of Soft Actuator With Elastica for Robotic Hands
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Topics: Actuators, Membranes, Springs, Deformation, Robotics, Stiffness, Modeling
Journal Articles

Design of High-Performance Triple-Axis Cross Pivots

Simone Serafino, Luca Bruzzone, Pietro Fanghella, Matteo Verotti
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021004.
Paper No: JMR-24-1145
https://doi.org/10.1115/1.4065749
Published Online: July 19, 2024
View Article titled, Design of High-Performance Triple-Axis Cross Pivots
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Topics: Design, Finite element analysis, Stiffness, Stress, Bending (Stress), Rotation
Journal Articles

Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion

Peng Cheng, Wen-ao Cao, Tianlong Wang, Guodong Chen
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021005.
Paper No: JMR-23-1686
https://doi.org/10.1115/1.4065795
Published Online: July 19, 2024
View Article titled, Design and Analysis of a New Deployable Articulated Mast Mechanism With Two-Dimensional Deploying-Folding Motion
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Topics: Design, Kinematics, Linkages, Topology, Dynamics (Mechanics), Prisms (Optics), Engineering prototypes
Journal Articles

Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing

Chengleng Han, Lin Xu, Mohamed A. A. Abdelkareem, Jia Mi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021006.
Paper No: JMR-23-1606
https://doi.org/10.1115/1.4065891
Published Online: July 19, 2024
View Article titled, Improving Terrain Adaptability and Compliance in Closed-Chain Leg: Design, Control, and Testing
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Topics: Chain, Cylinders, Design, Engines, Kinematics, Motors, Robots, Sliding mode control, Hydraulic cylinders, Trajectories (Physics)
Journal Articles

Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery

Alizée Koszulinski, Juan Sandoval, Marc Arsicault, Med Amine Laribi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. February 2025, 17(2): 021007.
Paper No: JMR-24-1137
https://doi.org/10.1115/1.4065917
Published Online: July 19, 2024
View Article titled, Development of a 6-Degrees-of-Freedom Hybrid Interface Intended for Teleoperated Robotic Cervical Spine Surgery
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Topics: Cervical spine, Design, Drilling, Kinematics, Parallel mechanisms, Surgery, Robotics, Optimization, Force feedback, Motors
Journal Articles

Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference

Sekar Anup Chander, Ashutosh Mukherjee, Vhatkar Dattatraya Shivling, Ashish Singla
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011006.
Paper No: JMR-24-1049
https://doi.org/10.1115/1.4065520
Published Online: June 24, 2024
View Article titled, Enhanced Euler–Lagrange Formulation for Analyzing Human Gait With Moving Base Reference
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Topics: Dynamics (Mechanics), Knee, Torque, Kinematics, Exoskeleton devices, Dynamic models, Manipulators, Modeling
Journal Articles

Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases

Feng Wang, Fan Zhang, Guohua Cui
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. January 2025, 17(1): 011001.
Paper No: JMR-23-1751
https://doi.org/10.1115/1.4065461
Published Online: June 18, 2024
View Article titled, Analysis of the Rigid Foldability of Origami Patterns Based on Spatial Positions of Creases
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Topics: Deformation, Rotation, Stiffness, Design, Linkages, Kinematics, Plates (structures)