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Journal Articles

Robust Autonomous Mobile Manipulation for Substation Inspection

Erik Pearson, Benjamin Mirisola, Cameron Murphy, Christine Huang, Connor O’Leary, Franklin Wong, Julia Meyerson, Luisa Bonfim, Matthew Zecca, Noah Spina, Paul Szenher, Shalemuraju Katari, Shiv Bhatt, Takumasa Dohi, Thomas Colarusso, Thomas Gana, Brendan Englot
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. November 2024, 16(11): 115001.
Paper No: JMR-23-1685
https://doi.org/10.1115/1.4065613
Published Online: June 24, 2024
View Article titled, Robust Autonomous Mobile Manipulation for Substation Inspection
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Topics: Inspection, Sensors, Manipulators, Hardware, Robots, Navigation, Vehicles
Journal Articles

Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper

Hongliang Hua, Jie Song, Jingbo Zhao, Zhenqiang Liao
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. March 2024, 16(3): 031005.
Paper No: JMR-22-1246
https://doi.org/10.1115/1.4056955
Published Online: March 8, 2023
View Article titled, Sensor-Less Grasping Force Control of a Pneumatic Underactuated Robotic Gripper
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Topics: Force control, Grasping, Modeling, Pressure, Sensors, End effectors
Journal Articles

Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback

Yongfeng Cao, Fan Feng, Zefeng Liu, Le Xie
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2022, 14(6): 061004.
Paper No: JMR-22-1068
https://doi.org/10.1115/1.4054997
Published Online: September 12, 2022
View Article titled, Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback
Open the PDF for Closed-Loop Trajectory Tracking Control of a Cable-Driven Continuum Robot With Integrated Draw Tower Grating Sensor Feedback in another window
Topics: Diffraction gratings, Robots, Sensors, Shapes, Tracking control, Trajectories (Physics), Algorithms, Cables, Feedback
Journal Articles

A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots

Chao Liu, Tarik Tosun, Mark Yim
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. December 2021, 13(6): 061004.
Paper No: JMR-20-1210
https://doi.org/10.1115/1.4050249
Published Online: May 31, 2021
View Article titled, A Low-Cost, Highly Customizable Solution for Position Estimation in Modular Robots
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Topics: Kalman filters, Sensors, Wheels, Robots, Manufacturing
Journal Articles

Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study

Francisco Yandun, Miguel Torres-Torriti, Fernando Auat Cheein
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2021, 13(5): 050902.
Paper No: JMR-21-1027
https://doi.org/10.1115/1.4051016
Published Online: May 17, 2021
View Article titled, Markov Chain Monte Carlo Parameter Estimation for Nonzero Slip Models of Wheeled Mobile Robots: A Skid-Steer Case Study
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Topics: Algorithms, Calibration, Chain, Errors, Kinematics, Mobile robots, Parameter estimation, Robot motion, Robots, Sensors
Journal Articles

Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism

Nishant Jalgaonkar, Adam Kim, Shorya Awtar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. June 2021, 13(3): 035003.
Paper No: JMR-20-1450
https://doi.org/10.1115/1.4050103
Published Online: April 9, 2021
View Article titled, Design of an Ankle Rehab Robot With a Compliant Parallel Kinematic Mechanism
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Topics: Design, Kinematics, Robots, Actuators, Patient rehabilitation, Sensors
Journal Articles

Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow

Jun Liang Lau, Gim Song Soh
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2021, 13(3): 031012.
Paper No: JMR-20-1418
https://doi.org/10.1115/1.4050142
Published Online: March 15, 2021
View Article titled, Characterization, Design, and Experimentation of a Fabric-Based Wearable Joint Sensing Device on Human Elbow
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Topics: Sensors, Design, Textiles
Journal Articles

Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction

Gabriel Boucher, Thierry Laliberté, Clément Gosselin
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. April 2021, 13(2): 021002.
Paper No: JMR-20-1132
https://doi.org/10.1115/1.4049191
Published Online: January 18, 2021
View Article titled, Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction
Open the PDF for Mechanical Design of a Low-Impedance 6-Degree-of-Freedom Displacement Sensor for Intuitive Physical Human–Robot Interaction in another window
Topics: Design, Design engineering, Displacement, Engineering prototypes, Kinematics, Robots, Sensors, Shells, Human-robot interaction, Springs
Journal Articles

Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism

Shorya Awtar, Jason Quint, John Ustick
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. February 2021, 13(1): 015001.
Paper No: JMR-20-1056
https://doi.org/10.1115/1.4048259
Published Online: October 7, 2020
View Article titled, Experimental Characterization of a Large-Range Parallel Kinematic XYZ Flexure Mechanism
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Topics: Actuators, Design, Errors, Flexure mechanisms, Kinematics, Manufacturing, Sensors, Stiffness, Finite element analysis, Bending (Stress)
Journal Articles

Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification

Huan Liu, Bin Zhao, Zenghui Liu, Kai Xu
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. October 2020, 12(5): 051014.
Paper No: JMR-19-1463
https://doi.org/10.1115/1.4047438
Published Online: July 17, 2020
View Article titled, Design of a Lightweight Single-Actuator Multi-Grasp Prosthetic Hand With Force Magnification
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Topics: Actuators, Artificial limbs, Design, Motors, Prostheses, Stress, Grasping, Hardware, Sensors
Journal Articles

A Vision-Based Referencing Procedure for Cable-Driven Parallel Manipulators

Michele Zavatta, Mattia Chianura, Andreas Pott, Marco Carricato
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. August 2020, 12(4): 044502.
Paper No: JMR-19-1049
https://doi.org/10.1115/1.4045745
Published Online: March 6, 2020
View Article titled, A Vision-Based Referencing Procedure for Cable-Driven Parallel Manipulators
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Topics: Cables, Errors, Robots, Kinematics, Manipulators, Sensors, Calibration
Journal Articles

Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing

Hritwick Banerjee, Tai Kai Li, Godwin Ponraj, Senthil Kumar Kirthika, Chwee Ming Lim, Hongliang Ren
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research Papers
J. Mechanisms Robotics. June 2020, 12(3): 031010.
Paper No: JMR-19-1184
https://doi.org/10.1115/1.4045424
Published Online: January 14, 2020
View Article titled, Origami-Layer-Jamming Deployable Surgical Retractor With Variable Stiffness and Tactile Sensing
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Topics: Manufacturing, Sensors, Stiffness, Surgery, Design, Tactile sensors, Stress, Biological tissues, Pressure, Robotics
Journal Articles

Cooperative Robot Exploration Strategy Using an Efficient Backtracking Method for Multiple Robots

Jinho Kim, Stephanie Bonadies, Charles D. Eggleton, S. Andrew Gadsden
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Technical Briefs
J. Mechanisms Robotics. December 2018, 10(6): 064502.
Paper No: JMR-17-1322
https://doi.org/10.1115/1.4041332
Published Online: October 1, 2018
View Article titled, Cooperative Robot Exploration Strategy Using an Efficient Backtracking Method for Multiple Robots
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Topics: Algorithms, Robots, Sensors
Journal Articles

Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail

William S. Rone, Wael Saab, Pinhas Ben-Tzvi
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. August 2018, 10(4): 041001.
Paper No: JMR-17-1360
https://doi.org/10.1115/1.4039500
Published Online: April 5, 2018
View Article titled, Design, Modeling, and Integration of a Flexible Universal Spatial Robotic Tail
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Topics: Cables, Design, Robotics, Robots, Yaw, Universal joints, Sensors, Springs, Displacement
Journal Articles

Design of the Interacting-BoomCopter Unmanned Aerial Vehicle for Remote Sensor Mounting

Daniel R. McArthur, Arindam B. Chowdhury, David J. Cappelleri
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Design Innovation Paper
J. Mechanisms Robotics. April 2018, 10(2): 025001.
Paper No: JMR-17-1306
https://doi.org/10.1115/1.4038973
Published Online: January 29, 2018
View Article titled, Design of the Interacting-BoomCopter Unmanned Aerial Vehicle for Remote Sensor Mounting
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Topics: Design, End effectors, Sensors, Unmanned aerial vehicles, Flight, Vehicles
Journal Articles

Design and Development of a Dual-Axis Force Sensing MEMS Microgripper

Sijie Yang, Qingsong Xu, Zhijie Nan
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. December 2017, 9(6): 061011.
Paper No: JMR-17-1098
https://doi.org/10.1115/1.4038010
Published Online: October 9, 2017
View Article titled, Design and Development of a Dual-Axis Force Sensing MEMS Microgripper
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Topics: Design, Displacement, Force sensors, Grippers, Sensors, Microelectromechanical systems, Finite element analysis, Actuators, Simulation, Manufacturing
Journal Articles

Aggressive Flight With Quadrotors for Perching on Inclined Surfaces

Justin Thomas, Morgan Pope, Giuseppe Loianno, Elliot W. Hawkes, Matthew A. Estrada, Hao Jiang, Mark R. Cutkosky, Vijay Kumar
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. October 2016, 8(5): 051007.
Paper No: JMR-15-1275
https://doi.org/10.1115/1.4032250
Published Online: May 4, 2016
View Article titled, Aggressive Flight With Quadrotors for Perching on Inclined Surfaces
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Topics: Adhesives, Dynamics (Mechanics), Flight, Grippers, Robots, Trajectories (Physics), Vehicles, Sensors, Actuators, Springs
Includes: Supplementary data
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

Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope

Vishesh Vikas, Carl D. Crane, III
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021003.
Paper No: JMR-14-1328
https://doi.org/10.1115/1.4031299
Published Online: November 24, 2015
View Article titled, Joint Angle Measurement Using Strategically Placed Accelerometers and Gyroscope
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Topics: Accelerometers, Sensors, Universal joints, Microelectromechanical systems, Design, Errors
Journal Articles

Trackhold: A Novel Passive Arm-Support Device

Basilio Lenzo, Marco Fontana, Simone Marcheschi, Fabio Salsedo, Antonio Frisoli, Massimo Bergamasco
Journal: Journal of Mechanisms and Robotics
Publisher: ASME
Article Type: Research-Article
J. Mechanisms Robotics. April 2016, 8(2): 021007.
Paper No: JMR-15-1020
https://doi.org/10.1115/1.4031716
Published Online: November 24, 2015
View Article titled, Trackhold: A Novel Passive Arm-Support Device
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Topics: Design, Kinematics, Weight (Mass), End effectors, Sensors, Torsion